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Datasets:
VGalaxies666
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G1_Dex1_Stack_Block

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
tsfile
timeseries
time-series
LeRobot
robotics
License:
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - time-series
  - LeRobot
  - robotics
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

G1_Dex1_Stack_Block (TsFile)

Apache TsFile version of unitreerobotics/G1_Dex1_Stack_Block.

Overview

A 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/.

Usage

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

Source & license