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 the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 10;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This… See the full description on the dataset page:
https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-10.
