---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- robotics
- tsfile
- modality:timeseries
- timeseries
- format:tsfile
pretty_name: G1_Dex1_Stack_Block (TsFile)
size_categories:
- 10K<n<100K
configs:
- config_name: default
  data_files:
  - split: train
    path: data/g1_dex1_stack_block.tsfile
modality:
- tabular
- timeseries
---

# G1_Dex1_Stack_Block (TsFile)

Apache TsFile version of [`unitreerobotics/G1_Dex1_Stack_Block`](https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Stack_Block).

## Overview

A [LeRobot](https://github.com/huggingface/lerobot) robot-manipulation dataset
collected on a Unitree G1 dual-arm humanoid (`G1_ALL`). Each episode records the
robot stacking colored blocks — the commanded action and the measured arm/body
state, sampled frame by frame.

- **Robot:** Unitree G1 dual-arm humanoid (`G1_ALL`).
- **Task:** "Stack the red, green, and yellow blocks." (1 task).
- **Scale:** 200 episodes, 93,131 frames, single `train` split.
- **Sampling rate:** 30 fps.
- **Videos:** four camera streams (cam_left_high, cam_right_high, cam_left_wrist,
  cam_right_wrist) in the original dataset; not included here (see below).

## Schema (TsFile structure)

- **Time** (INT64, milliseconds) — `round(timestamp * 1000)`, restarts per episode.
- **episode_index** (TAG) — episode device dimension; query one episode with
  `WHERE episode_index=0`.
- **task_index** (TAG) — task device dimension (single task here).
- **frame_index** (FIELD, INT64) — original per-episode frame counter.
- **sample_index** (FIELD, INT64) — source `index` column, renamed.
- **observation/action vector fields** (FIELD, FLOAT) — the measured state and
  commanded action, flattened from the source vector columns:
  - `observation.left_arm[7]`, `observation.right_arm[7]`,
    `observation.left_gripper[1]`, `observation.right_gripper[1]`,
    `observation.left_ee[6]`, `observation.right_ee[6]`, `observation.body[29]`
  - `action.left_arm[7]`, `action.right_arm[7]`, `action.left_gripper[1]`,
    `action.right_gripper[1]`, `action.left_ee[6]`, `action.right_ee[6]`,
    `action.body[7]`

Vector columns are flattened by preserving the source name (`.` → `_`) and
appending the element index (e.g. `observation.left_arm` →
`observation_left_arm_0..observation_left_arm_6`). The source `timestamp` column
is dropped because it equals `Time ÷ 1000` seconds.

## Videos

The four camera video streams are not included in this TsFile repository. They
remain in the original dataset under
[`videos/`](https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Stack_Block/tree/main/videos).

## Usage

Read the `.tsfile` files with the Apache TsFile Java or Python SDK.

## Source & license

- Original dataset: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Stack_Block
- Author / publisher: unitreerobotics
- Created with: [LeRobot](https://github.com/huggingface/lerobot)
- License: apache-2.0