MemWAM: Unitree R1 teleoperation recordings

Teleoperated manipulation episodes recorded on a Unitree R1 with its head camera (egocentric view), joint state and Piper grippers.

Task	Groups	Episodes	Duration	Sample images	Raw frames
r1_order_retrieval	20 × 7	140	52 min	31,242	46,106
r1_sorting	20 × 2	40	32 min	18,808	27,755
r1_hidden_color	20 × 6	120	52 min	30,605	45,187

Every image is provided twice: as recorded (fisheye) and undistorted (pinhole).

Repository layout

packed/
  <task>/<task>_000-019.tar     one uncompressed tar per task (groups 000-019)
  index.json                    per tar: groups, episodes, file counts, bytes, sha256
calibration/
  cam_param.txt                 R1 head stereo factory calibration
  undistort_r1.py               script that produced the undistorted images
README.md

Download

# one task
hf download haodotgu/MemWAM --repo-type dataset --include "packed/r1_sorting/*" --local-dir MemWAM
cd MemWAM && tar xf packed/r1_sorting/r1_sorting_000-019.tar

Use --include "packed/*" for everything. Each tar extracts to <task>_group_NNN/episode_N/. Check integrity with the sha256 in packed/index.json.

Episode format

episode_N/
  episode.json            metadata: task, times, frame counts, storage, provenance
  samples.jsonl           10 Hz state rows (also as arrays in samples.npz)
  samples.npz             qpos/qvel (26), quat (4), token_state (64), gripper_* (2), t, camera_ego_t
  images/ego/NNNNNN.png               image matched to each sample row (10 Hz)
  images/ego_undistorted/NNNNNN.png   same, undistorted
  frames/ego/NNNNNNNNN.png            every camera frame received (~15 Hz)
  frames/ego_undistorted/NNNNNNNNN.png same, undistorted
  frames.jsonl            timestamp and frame_id of every raw frame
  controller.json         controller / policy configuration
  inference_meta.json
  undistort.json          calibration and geometry used for the undistorted images

Images are 384×216 RGB PNG (resized with INTER_AREA from the camera's 1280×720 stream). Sample row i uses images/ego/{i:06d}.png; raw frames are indexed by frames.jsonl. Undistorted directories use the same file names. Timestamps are Unix seconds.

Camera and undistortion

The ego image is the R1 head stereo module's right-eye crop: rows 184–903 of the 1280×1088 right sensor. Factory calibration (calibration/cam_param.txt) uses the OpenCV rational model (k1 k2 p1 p2 k3 k4 k5 k6); the left/right extrinsics give a 58.9 mm baseline.

Undistorted images are an ideal pinhole projection at 384×216 with fx = fy = 114 px, principal point (191.5, 107.5), FOV 118.6° × 86.9°. Areas outside the camera's view are black. The exact matrices are in each episode's undistort.json.