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README.md
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| frame selection | velocity-normalized 30→10 Hz | uniform 30→10 Hz downsample |
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### Data
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- **Source:** `pantheon-lerobot-mix/data_pi05_ready/pantheon_yam` (Pantheon mid-training mix, LeRobot v2.0).
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- **Task:** *"swap the tool head on the screwdriver"* (task_index 16) — **379 episodes, ~5.2 h**,
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the task with the most episodes. Bimanual YAM, 14-D joints (zero-padded to 20), 3 cameras
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(top / wrist-L / wrist-R), 30 fps.
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| frame selection | velocity-normalized 30→10 Hz | uniform 30→10 Hz downsample |
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### Data
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- **Task:** *"swap the tool head on the screwdriver"* (task_index 16) — **379 episodes, ~5.2 h**,
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| 29 |
the task with the most episodes. Bimanual YAM, 14-D joints (zero-padded to 20), 3 cameras
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(top / wrist-L / wrist-R), 30 fps.
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