Datasets:

---

BitRobot

/

HIW-500-LeRobot

like 18

Follow

BitRobot 46

Unfortunately the whole body controller that was use to record this is proprietary, but in terms of open-source wbc i'm you can replicate this closed-source controller's behaviour with groot-wbc (https://github.com/huggingface/lerobot/blob/main/src/lerobot/robots/unitree_g1/gr00t_locomotion.py): in LeRobot we also support holosoma, and we will be porting sonic wbc in the coming weeks (PR here https://github.com/huggingface/lerobot/pull/3827)

No idea what gripper is being used, i'll try asking the authors but maybe they can answer here.

The observations we support can be visualized here: https://huggingface.co/spaces/lerobot/visualize_dataset?path=%2FBitRobot%2FHIW-500-LeRobot%2Fepisode_0. In short, yes, the original dataset BitRobot/HIW-500 contains more (IR camera, odometry etc, these are not included as we do not support them in LeRobot yet)

To deploy on real G1 follow this guide https://huggingface.co/docs/lerobot/en/unitree_g1. For current wbc compatibility, as it currently stands I would recommend replaying one episode on the G1 scaling pivot_vx, vy, height and vyaw in sim (https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main) until sim and 3d replay match, then simply training on them. Ideally if you wanna wait until SONIC is ported then training would be much simpler, full robot pose is included in the observations so you could just output robot state and let sonic approximate it directly which should be easier.

Thanks for the previous clarification about the WBC deployment path. The Groot / Sonic-style WBC replay side is working well on our end now. The remaining blocker is the gripper semantics.

We are replaying HIW-500-LeRobot episodes on a Unitree G1 with a Dex1-1 parallel-jaw gripper, and we found that the gripper channels do not look like direct jaw-position targets.

In both action and observation.state.wbc, the last 4 dimensions are:

[19] left_trigger
[20] left_squeeze
[21] right_trigger
[22] right_squeeze

From meta/stats.json, trigger is roughly in [0, 10], while squeeze is in [0, 1]. Also, for the episodes we checked, the gripper part of action and observation.state.wbc is bit-identical, so it looks like observation.state.wbc is echoing the command rather than providing independent jaw-width feedback.

The ambiguity is that trigger does not behave like a continuous open/close position. It stays near 10 for most frames and only briefly dips toward 0. In the videos, the same value trigger = 10 can correspond to both an open and a closed gripper depending on history.

For example, in episode 12, hang keys on a hook, right gripper:

time 12s: right_trigger = 10, gripper open
time 16s: right_trigger = 0,  gripper closed / grasping
time 22s: right_trigger = 10, gripper still closed / holding keys

So trigger = 10 cannot simply mean “fully open”. Similar behavior appears in other episodes. If we treat downward pulses of trigger as toggle events, where each pull toward 0 flips the latched gripper state open/closed, the predicted open/close state matches the videos much better.

Could you clarify the intended semantics?

1. Is trigger supposed to be a continuous jaw opening / position target, or is it a teleoperation trigger event that toggles a latched open/closed gripper state?

2. If it is stateful/latched, what is the initial gripper state at the start of an episode? We are currently assuming open.

3. What does squeeze represent for Dex1-1? Is it an extra grip-force / hard-close command, or something else? Since it is near zero in most frames, is it safe to ignore for basic open/close reconstruction?

4. Is there any documented mapping from (trigger, squeeze) to the actual Dex1-1 command, such as jaw position, velocity, force, or open/close latch state?

5. Are these gripper fields synchronized to the same timestamp as the camera frames, or is there a known latency between the low-dimensional stream and the videos?

This matters because if we map trigger directly to jaw width, the simulated gripper appears open for most of the episode, which disagrees with the real wrist/head videos. If the correct interpretation is a toggle/latch event, we should reconstruct the gripper state before training or replaying policies.

Thanks again for the help!