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Team-RAMEN/ramen-g1-ikea-assembly-curation

RAMEN G1 IKEA Assembly — segment curation labels Per-segment quality labels for all 533 episodes of BitRobot/G1_WBT_Dex1_Building-Children-Table (revision 4b5961c6f8b97ececa75ee73041b30bcbf463ae2), made by Team RAMEN for the IROS 2026 Humanoid IKEA Assembly Challenge (Unitree G1 + Dex1-1 assembling a children's table). Each label marks a frame range of one episode, says which skill the robot performs there, and grades how well it is done. We used the labels to cut the episodes… See the full description on the dataset page: https://huggingface.co/datasets/Team-RAMEN/ramen-g1-ikea-assembly-curation.

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RAMEN G1 IKEA Assembly — segment curation labels

Per-segment quality labels for all 533 episodes of `BitRobot/G1_WBT_Dex1_Building-Children-Table` (revision 4b5961c6f8b97ececa75ee73041b30bcbf463ae2), made by Team RAMEN for the IROS 2026 Humanoid IKEA Assembly Challenge (Unitree G1 + Dex1-1 assembling a children's table).

Each label marks a frame range of one episode, says which skill the robot performs there, and grades how well it is done. We used the labels to cut the episodes into clean per-skill training sets. This repository holds labels only, no images or robot data.

Files

file	content
`labels.parquet`	The final labels: 15,928 segments, one row each
`labels.jsonl`	The edit log behind them (16,958 lines). A later line with the same key replaces an earlier one; a line with `"__delete__": true` removes the segment. Folding the log this way gives exactly `labels.parquet`
`failure_categories.json`	The failure categories (keys and their original Japanese labels)

Columns

The key of a segment is (episode_id, frame_start).

column	content
`episode_id`	Episode index in the BitRobot dataset (0–532)
`frame_start`, `frame_end`	Frame indices within the episode at 30 fps; both ends included
`task_index`	Skill, using the BitRobot dataset's task indices (below)
`verdict`	`optimal`, `success`, `ambiguous` or `failure` (below)
`failure_category`	For `failure` only (below); empty otherwise
`reviewer`	Who labelled it (one reviewer for all segments)
`reviewed_at`	When it was labelled (ISO 8601, 2026-07-19 to 2026-08-01)
`schema_version`	`4`

Skills and verdicts

task_index	BitRobot task	optimal	success	ambiguous	failure
0	insert table leg to table base	1,664	466	576	725
1	move to table	452	53	108	898
2	flip table	5	945	26	218
3	rotate leg to tighten	439	291	1,331	1,726
4	pick table leg	786	433	1,083	220
5	rotate table base	1,430	61	81	1,390
6	building children table	0	0	2	36
7	move table base	387	34	28	34
	total	5,163	2,283	3,235	5,247

—optimal: the skill is done cleanly.
—success: the skill is done, but not cleanly (for example it needed two adjustments, or the result is slightly off).
—ambiguous: hard to judge.
—failure: the skill fails or the segment is unusable.

Failure categories (failure segments only):

key	original label	meaning	segments
`unknown`	フレーム落ちかつありえない変な行動	dropped frames together with implausible, odd motion	4,133
`fail_insert`	挿入失敗	the insertion fails	616
`hold_stack`	固まった	the robot freezes	322
`lazy_buffer`	いらない行動	unnecessary motion	125
`side_flip`	横型のまま回す	the table is turned while still on its side	25
`fail_env`	環境が違う	a different setup	22
`slip`	滑り落ち	the part slips out of the hand	4

How we used it

We built one training set per skill from these labels with data/bitrobot_lerobot_subtask_datasets/scripts/build_curated_task_dataset.py in the code repository:

skill (task_index)	segments used	episodes	dataset
inserttableleg (0)	`optimal`	1,664	`ramen-g1-ikea-assembly-ramen-ori-insert-table-leg`
flip_table (2)	`success`, only the last one in each episode (earlier ones are practice or a turn of the table)	429	`ramen-g1-ikea-assembly-ramen-ori-flip-table`
rotatelegto_tighten (3)	`success` (tight enough without over-tightening, and short)	290	`ramen-g1-ikea-assembly-ramen-ori-rotate-leg-to-tighten`
picktableleg (4)	`optimal`	786	`ramen-g1-ikea-assembly-ramen-ori-pick-table-leg`
rotatetablebase (5)	`optimal`, only after the first pick (or the first insert / tighten when there is no pick)	1,401	`ramen-g1-ikea-assembly-ramen-ori-rotate-table-base`
movetablebase (7)	`optimal`, only before the first pick	384	`ramen-g1-ikea-assembly-ramen-ori-move-table-base`

Each segment becomes one episode of the training set. Where the counts are a little lower than in the table above, the order and overlap filters (see Known issues) dropped segments. We did not use move to table (1; the robot walks with the SDK instead) or building children table (6).

Known issues

—One reviewer. All labels come from one person watching the videos; the verdicts are a judgement call.
—A few overlapping segments. Sometimes an old label was not deleted after a correction, so two segments of the same episode overlap. Our build script keeps the one with the later reviewed_at.
—`move table base` (7) and `rotate table base` (5) can be mixed up. The two motions look alike and differ mainly in when they happen (before or after the legs are picked). Our build script filters them by that order.

License and attribution

These labels are released under CC BY 4.0. They describe episodes of `BitRobot/G1_WBT_Dex1_Building-Children-Table` by BitRobot, licensed under CC BY 4.0; the skill names in task_index are that dataset's task names.