---
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:** 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](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": 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:**

```bibtex
[More Information Needed]
```