Datasets:

lt-s
/

LIG_STR_WEAK_v30

observation.state list	action list	timestamp float32 0 35.7	frame_index int64 0 1.07k	index int64 0 19.6k
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[ -0.2927961051464081, 0.39726194739341736, 0.20775242149829865, 0.03930153325200081, -0.09646405279636383, -0.2351415604352951, -0.2254655659198761, -0.5967578887939453, -0.04241867735981941, 0.046911027282476425, 1.225057601928711, -0.20809701085090637, -1.0170401334762573, -0.268499016761...	[ -0.31971290707588196, 0.4164230525493622, 0.2175222486257553, 0.02957255393266678, -0.08608854562044144, -0.21908721327781677, -0.21900981664657593, -0.28686651587486267, -0.031640831381082535, 0.05361497774720192, 1.2572824954986572, -0.21467474102973938, -1.0294272899627686, -0.265480667...	3.3	99	99

End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "Unitree_G1_Dex3_Sim",
    "total_episodes": 20,
    "total_frames": 19603,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:20"
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    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
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            "names": [
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                    "kLeftShoulderYaw",
                    "kLeftElbow",
                    "kLeftWristRoll",
                    "kLeftWristPitch",
                    "kLeftWristYaw",
                    "kRightShoulderPitch",
                    "kRightShoulderRoll",
                    "kRightShoulderYaw",
                    "kRightElbow",
                    "kRightWristRoll",
                    "kRightWristPitch",
                    "kRightWristYaw",
                    "kLeftHandThumb0",
                    "kLeftHandThumb1",
                    "kLeftHandThumb2",
                    "kLeftHandMiddle0",
                    "kLeftHandMiddle1",
                    "kLeftHandIndex0",
                    "kLeftHandIndex1",
                    "kRightHandThumb0",
                    "kRightHandThumb1",
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                    "kLeftShoulderYaw",
                    "kLeftElbow",
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                    "kLeftWristYaw",
                    "kRightShoulderPitch",
                    "kRightShoulderRoll",
                    "kRightShoulderYaw",
                    "kRightElbow",
                    "kRightWristRoll",
                    "kRightWristPitch",
                    "kRightWristYaw",
                    "kLeftHandThumb0",
                    "kLeftHandThumb1",
                    "kLeftHandThumb2",
                    "kLeftHandMiddle0",
                    "kLeftHandMiddle1",
                    "kLeftHandIndex0",
                    "kLeftHandIndex1",
                    "kRightHandThumb0",
                    "kRightHandThumb1",
                    "kRightHandThumb2",
                    "kRightHandIndex0",
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        "observation.images.cam_left_wrist": {
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        "observation.images.cam_right_wrist": {
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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Unitree_G1_v30

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