| | --- |
| | 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:** Store the ping-pong paddle in its case and zip it. |
| | - **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": 160593, |
| | "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] |
| | ``` |
