zero-wandering grab-bottle, smoothing half-width 20

README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- robotics
+- so100
+- grab-bottle
+- curated
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# Grab-Bottle (zero-wandering, smoothing half-width 20)
+
+LeRobot **v2.1** dataset for the Unitree G1 right-hand bottle-grab task, curated to
+remove non-purposeful arm motion ("wandering") so a trained policy does not learn
+unstable behavior. Derived from a 105-episode teleoperation set; each surviving clean
+sub-segment is emitted as its own episode (no action chunk ever spans a cut).
+
+This is **one of four variants**. They differ only in the smoothing half-width — how
+briefly a motion may drift outward before it is removed. Larger = more permissive.
+
+| metric (all 105 source episodes) | value |
+|:---|:---:|
+| smoothing half-width | **20** frames |
+| clean segments kept | 314 |
+| frames removed | 28.6% |
+| training samples removed | 42.6% |
+
+### The four variants
+
+- [`gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-5`](https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-5) (half-width 5)
+- [`gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-10`](https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-10) (half-width 10)
+- [`gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-15`](https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-15) (half-width 15)
+- [`gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-20`](https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-20) — **this dataset**
+
+---
+
+# Curation Assumptions
+
+We know the `(x, y, z)` of the right-wrist each frame.
+The `goal_position` is the wrist's position at the moment the grip is ~95% closed.
+**Wandering** happens whenever the distance between `current_position` and `goal_position` grows.
+
+But we control how sensitive the wandering is with a parameter **smoothing radius**.
+Like a low-pass filter: larger means we ignore briefer wandering.
+We test it at half-widths of 5, 10, 15, and 20 frames; all other params are already chosen in a principled manner.
+
+**Never removed (two gates):**
+- before the point of **maximum distance** (hand getting into position)
+- at or after the **grasp** (always kept)
+
+**Post-processing:**
+- pad each removed block by the smoothing half-width (compensates the blur the smoothing introduces)
+- drop kept blocks shorter than 40 frames (too short to yield any training samples under the action horizon)
+
+## The four variants
+
+Each variant differs only in the smoothing half-width; everything else is fixed.
+Metrics are aggregated over all 105 source episodes.
+
+| smoothing half-width | clean segments kept | frames removed | training samples removed |
+|:---:|:---:|:---:|:---:|
+| 5  | 417 | 31.3% | 51.5% |
+| 10 | 371 | 29.9% | 47.3% |
+| 15 | 342 | 28.4% | 44.0% |
+| 20 | 314 | 28.6% | 42.6% |
+
+A larger half-width tolerates briefer wandering, so it removes fewer, longer blocks:
+fewer (but longer) clean segments survive, and fewer training samples are discarded.

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