FetchMan-data

Simulated training episodes (actions, egocentric video and proprioception) for object pick-up with a Unitree G1 humanoid, generated in MolmoSpaces.

The dataset was generated from FetchMan code developed by Omar Rayyan.

Episodes	352,696
Frames	52,008,151
Tasks (language instructions)	902 (pick up the <object>.)
Control rate	10 fps
Cameras	observation.head_image, observation.wrist_image (384×224, MP4)
Format	LeRobot dataset v3.0
Size	~510 GB

Data layout

meta/info.json                # features, fps, path templates
meta/stats.json               # dataset-wide feature statistics
meta/tasks.parquet            # task string -> task_index
meta/episodes/chunk-XXX/*.parquet   # per-episode index (lengths, file offsets, per-episode stats)
data/chunk-XXX/file-XXX.parquet     # per-frame actions and low-dimensional observations
videos/<camera>/chunk-XXX/file-XXX.mp4

Features

Key	Shape	Description
action	15	robot action
observation.joint_pos	30	full-body joint positions
observation.upper_joint_pos	11	upper-body joint positions
observation.right_gripper_pos	1	right gripper position
observation.right_hand_pose	7	right hand pose (position + quaternion)
observation.base_position / base_yaw / base_height	2 / 1 / 1	base pose
observation.base_rpy / base_rp	3 / 2	base orientation
observation.base_velocity / base_angular_velocity	3 / 3	base velocities
observation.last_base_vel_cmd	3	last commanded base velocity
observation.target_object_pose	7	pose of the object to pick
observation.target_point	2	target point
observation.head_image, observation.wrist_image	224×384×3	camera videos
object_name, object_id, scene, skill_profile	string	episode metadata
timestamp, frame_index, episode_index, index, task_index	1	LeRobot indexing

See meta/info.json for the authoritative feature specification.

Data access

With LeRobot:

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("allenai/fetchman-data")
frame = ds[0]

To download everything (or a subset) locally:

hf download allenai/fetchman-data --repo-type dataset --local-dir /path/to/fetchman-data
# low-dimensional data only (no videos):
hf download allenai/fetchman-data --repo-type dataset --include "meta/*" "data/*" --local-dir /path/to/fetchman-data

License

This dataset is licensed under ODC-BY 1.0. It is intended for research and educational use in accordance with Ai2's Responsible Use Guidelines.