schema string | schema_version int64 | status string | repo_id string | root string | profile string | fps int64 | frames int64 | episodes int64 | cameras list | decoded_samples int64 | failures list | warnings list |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
unitree_r1.training_dataset_validation | 1 | passed | vasco281204/r1-d002-number-pointing-pilot-20260908 | /home/ubuntu22/Projects/Happy-Baby-R1/data/lerobot/r1_d002_test | a5 | 8 | 733 | 7 | [
"observation.images.head_camera"
] | 14 | [] | [
"fewer than 10 episodes: suitable for smoke testing, usually too small for training"
] |
R1 D002 number-pointing pilot
Private engineering pilot converted to LeRobot Dataset v3.0 from the accepted
episodes of run d002_20260908T020005Z.
This upload is for validating the conversion, Hub viewer, download, and smoke training workflow. It is not a production training dataset and makes no hardware-readiness claim.
Contents
- 7 episodes, 733 frames, 8 FPS
- one 640×480 simulated head-camera stream
- Unitree R1 A5 arm state
(10,)and arm action(10,) - per-episode language instruction
- source mode: simulation only
The simulator control loop ran at 30.008 Hz. The dataset is 8 FPS by design; these are different clocks.
Known limitations
- Four of seven demonstrations approached the target with the left hand even though the task specification calls for the right hand. Do not treat these episodes as valid right-hand demonstrations.
- Even the three right-hand demonstrations moved away before the trigger was released: their minimum target distances were 2.4–3.1 cm, while their final distances were 7.2–13.2 cm. A production episode should end while the hand is still held on the requested marker.
- The source records head pitch/yaw, but this pilot conversion uses the current R1 A5 arm-only converter and therefore omits both head joints from state and action.
- Fewer than 10 episodes are present, digit 3 is absent, and this pilot does not satisfy the D002 production gate of 100 accepted episodes with at least eight examples per digit.
- Episode duration is approximately 11–18 seconds rather than the planned 4–8 seconds.
Keep this repository private unless AiRA-Laboratory explicitly approves public release.
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