--- license: mit task_categories: - robotics tags: - LeRobot - humanoid - unitree-g1 - whole-body-control configs: - config_name: default data_files: data/*/*.parquet --- # SIMPLE decoupled-WBC (merged) All 17 tasks from [`SIMPLE-org/data/data-fixed`](https://huggingface.co/datasets/SIMPLE-org/data/tree/main/data-fixed), merged into a single **LeRobot v2.1** dataset, with trailing hold frames appended to the episodes whose plain replay failed (see *Trailing padding*). - Robot: Unitree G1, 50 fps, egocentric 360x640 H.264 video (libx264 crf 23, yuv420p, keyframe every 10 frames, no B-frames) - Episodes: 1517, frames: 606329, tasks: 17 - `states` (32-d) / `action` (36-d): layout in `meta/modality.json` ## State / action layout All joint values are in radians. For i < 31, `states[i]` and `action[i]` are the same joint. The names are also in `meta/info.json` under `features.states.names` and `features.action.names`. | dims | `action` (36-d) | `states` (32-d) | |---|---|---| | 0-6 | left hand joint targets: thumb_0, thumb_1, thumb_2, **middle_0, middle_1, index_0, index_1** | measured left hand joints, same order | | 7-13 | right hand joint targets: thumb_0, thumb_1, thumb_2, **index_0, index_1, middle_0, middle_1** | measured right hand joints, same order | | 14-20 | left arm joint targets: shoulder pitch/roll/yaw, elbow, wrist roll/pitch/yaw | measured left arm joints | | 21-27 | right arm joint targets, same order | measured right arm joints | | 28-30 | waist (torso) roll, pitch, yaw targets | waist roll, pitch, yaw: **controller-dependent, see below** | | 31 | base height command (m, 0.41-0.75) | previous step's base height command | | 32 | base forward velocity command vx (m/s, ±0.5) | – | | 33 | base lateral velocity command vy (m/s, ±0.5) | – | | 34 | teleop: base yaw-rate command vyaw (rad/s, ±1); MP: AMO turning flag (0/1) | – | | 35 | target heading yaw (rad, ±π) | – | Dims 0-31 are absolute targets. Dims 32-34 are velocity commands, marked `absolute: false` in `meta/modality.json`. The two hands use different finger orders: left is thumb, middle, index and right is thumb, index, middle. Both the training data and the SIMPLE eval agents use this order. The per-joint column `observation.hand_joints` uses thumb, index, middle for both hands. ## Teleop vs MP tasks The data comes from two lower-body controllers. Each task keeps its controller's own convention, and the eval agents in SIMPLE build the model input the same way. | | teleop tasks (`*Teleop`, decoupled WBC) | MP tasks (`*MP`, AMO) | |---|---|---| | `states[28:31]` waist roll, pitch, yaw | **measured** waist joint positions at the current frame | **last commanded** waist roll, pitch, yaw: `action[t-1, 28:31]`, and 0 at frame 0 | | `states[31]` height | last base height command, 0.74 at frame 0 | last base height command, 0.75 at frame 0 | | `action[34]` | yaw-rate command vyaw | AMO turning flag (0/1) | | eval agent | `simple/baselines/psi0_decoupled_wbc.py` | `simple/baselines/psi0.py` (`Psi0Agent`) | The AMO controller does not use measured waist feedback. Its policy input is the previous command, so the MP state carries that value. `action[34]` has a different name in each controller but the same job: it is the turning command. Treat it as one channel, like vyaw. The teleop data uses the full ±1 range. The MP data uses only 0 and 1, and only in the tasks that turn (BendPickAndPlaceOnSofaMP, PickAndBendPlaceMP). MP tasks: BendPickAndPlaceOnSofaMP, BendPickMP, PickAndBendPlaceMP, TabletopGraspMP, TabletopHandoverMP. All other tasks are teleop. ## Data quality - Joint order is consistent across all tasks (including the left hand) and matches the eval agents. - Time axis: `states[t]` is the observation at frame t and `action[t]` is the command sent at frame t. In the MP tasks, the waist state was corrected so that it follows the AMO convention above at every recorded frame; on appended hold frames (BendPickAndPlaceOnSofaMP and PickAndBendPlaceMP source tails, and the padded MP episodes) the last state is held, so `states[28:31]` there can differ from `action[t-1, 28:31]` by up to ~0.05 rad. - Other per-joint columns: `observation.arm_joints` (14), `observation.leg_joints` (12 leg joints, then waist yaw, roll, pitch), `observation.prev_torso_rpy` and `observation.prev_height`. In MP tasks, `observation.prev_torso_rpy` equals `states[28:31]`. ## Trailing padding Episodes whose plain replay (every recorded frame, `--no-stop-on-success`, success judged at the last step) failed got the last frame held for **50 extra rows** (base velocity 0), with the recorded rows unchanged. 600 episodes are padded; the other 917 are not. Padding is capped at 50 rows per episode. The padding was first appended in up to 4 rounds of 50 (0-200 rows); 312 episodes had more than 50, and their extra rows (39750 in total) were removed from the end of the episode and its video (`scripts/cap_trailing_padding.py` in SIMPLE; per-episode record in `cap_padding_log.jsonl`). A held run at the end of an episode can be longer than 50 rows when the source recording already ends with a hold (up to 34 rows in PickAndBendPlaceMP, 21 in BendPickAndPlaceOnSofaMP and BendPickAndPlaceTeleop). ## Merge notes - Episodes are renumbered contiguously, with sources appended in alphabetical order. `index` is rewritten to a global 0..N-1. - `meta/stats.json` (and the identical `meta/stats_psi0.json`) is **recomputed over all frames** of the merged data (mean/std/min/max/q01/q99, float64 accumulation). Every row of `meta/episodes_stats.jsonl` is computed from its full episode. - Changes since the previous version (1584 episodes / 600021 frames): MP tasks re-targeted for the soft Dex3 hand gains (hand targets `action[0:14]` changed) with failed replays removed (BendPickAndPlaceOnSofaMP 99→75, BendPickMP 100→91, PickAndBendPlaceMP 57→49, TabletopGraspMP 100→98, TabletopHandoverMP 100→76); trailing padding as above. Teleop recorded rows are unchanged. - Padding capped at 50 rows (previously up to 200; 1517 episodes / 646079 frames before the cap): only padded rows were removed, `index`, `next.done`, `meta/episodes.jsonl`, `meta/episodes_stats.jsonl` and `meta/stats.json` were rewritten. - Videos re-encoded with a keyframe every 10 frames and no B-frames (`-g 10 -keyint_min 10 -sc_threshold 0 -bf 0`, SIMPLE `c5fb4bd`; previously x264 defaults: keyint 250, 3 B-frames), so a random-frame lookup decodes ~5 frames instead of ~95. Re-encoded from the previous H.264 files (PSNR vs previous ≈ 43 dB); frame counts and all parquet/meta files unchanged. ## Tasks | task_index | source | instruction | episodes | frames | |---|---|---|---|---| | 0 | G1WholebodyBendHandoverTeleop-v0 | bend the robot and pick up the cracker box, then place it on the container. | 96 | 44575 | | 1 | G1WholebodyBendPickAndPlaceOnSofaMP-v0 | g1 robot must bend and pick up an object using right hand and place it on the sofa. | 75 | 41933 | | 2 | G1WholebodyBendPickAndPlaceTeleop-v0 | bend to grasp the cracker box and drop it in the basket. | 48 | 23958 | | 3 | G1WholebodyBendPickMP-v0 | bend to pick up the cracker box | 91 | 14112 | | 4 | G1WholebodyBendPickTeleop-v0 | bend the robot and pick up the cracker box | 97 | 22473 | | 5 | G1WholebodyCloseDoorTeleop-v0 | move forward to the door and close it | 99 | 32251 | | 6 | G1WholebodyHandoverTeleop-v0 | Hand over cracker box from right hand to left hand and place it on the container. | 100 | 50530 | | 7 | G1WholebodyLocomotionPickBetweenTablesTeleop-v0 | pick up the cracker box from table1,locomotion to table2,and place on table2. | 99 | 69464 | | 8 | G1WholebodyOpenFaucetTeleop-v0 | turn the faucet | 99 | 38458 | | 9 | G1WholebodyOpenOvenTeleop-v0 | move forward to the oven and open it | 99 | 38313 | | 10 | G1WholebodyOpenTrashCanTeleop-v0 | move forward to the trash can and open it | 99 | 36985 | | 11 | G1WholebodyPickAndBendPlaceMP-v0 | pick up the cracker box, turn 180, and drop it in the cushion. | 49 | 53458 | | 12 | G1WholebodyPickAndPlaceAndHugContainerTeleop-v0 | pick up the apple from table1,hug the container,walk to table2,and place on table2. | 94 | 46588 | | 13 | G1WholebodyPushOfficeChairTeleop-v0 | move forward to the office chair and push it to the table | 99 | 35979 | | 14 | G1WholebodyTabletopGraspMP-v0 | grasp the object on the tabletop. | 98 | 11990 | | 15 | G1WholebodyTabletopHandoverMP-v0 | pick up the object, then hand it to the left hand. | 76 | 19608 | | 16 | G1WholebodyXMovePickTeleop-v0 | move forward to pick up the cracker box | 99 | 25654 |