metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
Homepage: UnifoLM-VLA-0
License: apache-2.0
Task Objective: Organize and tidy the items on the table.
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.
Important Notes:
- 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.
- 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
{
"codebase_version": "v2.1",
"robot_type": "G1_ALL",
"total_episodes": 200,
"total_frames": 265701,
"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:
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