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sd
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Capstone VLA Datasets LeRobot v2.1 datasets for a liquid pouring task on a KuavoV4Pro humanoid robot (34-DOF, bimanual). Used to benchmark GR00T N1.6, pi0.5, and Diffusion Policy under varying real-to-synthetic data ratios. Mixture Configurations Dataset Type Episodes human unknown 200 Dataset Structure (LeRobot v2.1) <dataset>/ ├── meta/ │ ├── info.json │ ├── tasks.jsonl │ ├── episodes.jsonl │ └── stats.safetensors ├── data/ │ └──…
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