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.gitattributes

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 *.7z filter=lfs diff=lfs merge=lfs -text
 *.arrow filter=lfs diff=lfs merge=lfs -text
-*.avro filter=lfs diff=lfs merge=lfs -text
 *.bin filter=lfs diff=lfs merge=lfs -text
 *.bz2 filter=lfs diff=lfs merge=lfs -text
 *.ckpt filter=lfs diff=lfs merge=lfs -text

README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+## Dataset Description
+
+
+
+- **Homepage:** [UnifoLM-VLA-0](https://unigen-x.github.io/unifolm-vla.github.io/)
+- **License:** apache-2.0
+
+
+- **Task Objective:** Stack the red, green, and yellow blocks.  
+- **Operation Duration:** Each operation takes approximately 20 to 40 seconds.  
+- **Recording Frequency:** 30 Hz.  
+- **Robot Type:** 7-DOF dual-arm G1 robot.  
+- **End Effector:** Gripper.  
+- **Dual-Arm Operation:** Yes.  
+- **Image Resolution:** 640x480.  
+- **Camera Positions:** Wrist-mounted (monocular camera) + head-mounted (binocular cameras).  
+- **Data Content:**  
+• Robot's current state.  
+• Robot's next action.  
+• Current camera view images.  
+- **Robot Initial Posture:** The first robot state in each dataset entry.  
+- **Object Placement:** Randomly placed within the robot arm's motion range and the field of view of the robot's head-mounted camera.  
+- **Camera View:** Follow the guidelines in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).  
+
+- **Important Notes:**  
+1. Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).  
+2. Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.  
+
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.1",
+    "robot_type": "G1_ALL",
+    "total_episodes": 200,
+    "total_frames": 93131,
+    "total_tasks": 1,
+    "total_videos": 800,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:200"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.left_arm": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "kLeftShoulderPitch",
+                "kLeftShoulderRoll",
+                "kLeftShoulderYaw",
+                "kLeftElbow",
+                "kLeftWristRoll",
+                "kLeftWristPitch",
+                "kLeftWristYaw"
+            ]
+        },
+        "observation.right_arm": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "kRightShoulderPitch",
+                "kRightShoulderRoll",
+                "kRightShoulderYaw",
+                "kRightElbow",
+                "kRightWristRoll",
+                "kRightWristPitch",
+                "kRightWristYaw"
+            ]
+        },
+        "observation.left_gripper": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "kLeftGripper"
+            ]
+        },
+        "observation.right_gripper": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "kRightGripper"
+            ]
+        },
+        "observation.left_ee": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "kLeftEEX",
+                "kLeftEEY",
+                "kLeftEEZ",
+                "kLeftEER",
+                "kLeftEEP",
+                "kLeftEEY"
+            ]
+        },
+        "observation.right_ee": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "kRightEEX",
+                "kRightEEY",
+                "kRightEEZ",
+                "kRightEER",
+                "kRightEEP",
+                "kRightEEY"
+            ]
+        },
+        "observation.body": {
+            "dtype": "float32",
+            "shape": [
+                29
+            ],
+            "names": [
+                "kLeftHipPitch",
+                "kLeftHipRoll",
+                "kLeftHipYaw",
+                "kLeftKnee",
+                "kLeftAnklePitch",
+                "kLeftAnkleRoll",
+                "kRightHipPitch",
+                "kRightHipRoll",
+                "kRightHipYaw",
+                "kRightKnee",
+                "kRightAnklePitch",
+                "kRightAnkleRoll",
+                "kWaistYaw",
+                "kWaistRoll",
+                "kWaistPitch",
+                "kLeftShoulderPitch",
+                "kLeftShoulderRoll",
+                "kLeftShoulderYaw",
+                "kLeftElbow",
+                "kLeftWristRoll",
+                "kLeftWristPitch",
+                "kLeftWristYaw",
+                "kRightShoulderPitch",
+                "kRightShoulderRoll",
+                "kRightShoulderYaw",
+                "kRightElbow",
+                "kRightWristRoll",
+                "kRightWristPitch",
+                "kRightWristYaw"
+            ]
+        },
+        "action.left_arm": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "kLeftShoulderPitch",
+                "kLeftShoulderRoll",
+                "kLeftShoulderYaw",
+                "kLeftElbow",
+                "kLeftWristRoll",
+                "kLeftWristPitch",
+                "kLeftWristYaw"
+            ]
+        },
+        "action.right_arm": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "kRightShoulderPitch",
+                "kRightShoulderRoll",
+                "kRightShoulderYaw",
+                "kRightElbow",
+                "kRightWristRoll",
+                "kRightWristPitch",
+                "kRightWristYaw"
+            ]
+        },
+        "action.left_gripper": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "kLeftGripper"
+            ]
+        },
+        "action.right_gripper": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "kRightGripper"
+            ]
+        },
+        "action.left_ee": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "kLeftEEX",
+                "kLeftEEY",
+                "kLeftEEZ",
+                "kLeftEER",
+                "kLeftEEP",
+                "kLeftEEY"
+            ]
+        },
+        "action.right_ee": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "kRightEEX",
+                "kRightEEY",
+                "kRightEEZ",
+                "kRightEER",
+                "kRightEEP",
+                "kRightEEY"
+            ]
+        },
+        "action.body": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "RobotVX",
+                "RobotVY",
+                "RobotAngZ",
+                "RobotYaw",
+                "RobotPitch",
+                "RobotRoll",
+                "RobotHeight"
+            ]
+        },
+        "observation.images.cam_left_high": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_right_high": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
+```

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