| --- |
| pretty_name: OMG-Data |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - humanoid |
| - motion-generation |
| --- |
| |
| # OMG-Data |
|
|
| Official LeRobotDataset v3.0 release for [OMG](https://github.com/Tsinghua-MARS-Lab/OMG). |
| It contains Unitree G1 reference motion with text, audio, human reference conditioning. |
|
|
| ## Dataset |
|
|
| - Episodes: 798181 |
| - Frames: 121171939 |
| - FPS: 30 |
| - Robot: Unitree G1, 29 actuated joints |
|
|
| - `train`: episodes 0:636865 |
| - `val`: episodes 636865:716840 |
| - `test`: episodes 716840:798181 |
|
|
| `observation.state` is the 36D G1 `qpos` at frame `t`. `action` is the target |
| 36D G1 `qpos` at frame `t+1`; it is a reference-motion target, not a low-level |
| motor command. Text conditions use the standard LeRobot task table. Optional |
| aligned conditions are stored in `omg.audio.feature` and |
| `omg.humanref.motion`; their per-frame masks are `omg.condition.has_audio` and |
| `omg.condition.has_humanref`. |
|
|
| ## Loading |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset("THU-MARS/OMG-Data") |
| sample = dataset[0] |
| ``` |
|
|
| OMG training converts these source episodes into fixed windows and the 125D |
| motion representation. See the repository data documentation for direct and |
| materialized training commands. |
|
|
| ## Terms |
|
|
| OMG-Data aggregates motions derived from multiple research datasets. Original |
| source licenses and usage terms continue to apply to their corresponding |
| motions; users must review those terms before redistribution or commercial use. |
|
|
