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Datasets:
unitreerobotics
/
G1_Stack_Block

Tasks:
Robotics
Modalities:
Video
Tags:
LeRobot
License:
Dataset card Data Studio Files
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [UnifoLM-VLA-0](https://unigen-x.github.io/unifolm-vla.github.io/)
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+ - **License:** apache-2.0
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+
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+
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+ - **Task Objective:** Stack the red, green, and yellow blocks.
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+ - **Operation Duration:** Each operation takes approximately 20 to 40 seconds.
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+ - **Recording Frequency:** 30 Hz.
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+ - **Robot Type:** 7-DOF dual-arm G1 robot.
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+ - **End Effector:** Gripper.
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+ - **Dual-Arm Operation:** Yes.
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+ - **Image Resolution:** 640x480.
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+ - **Camera Positions:** Wrist-mounted (monocular camera) + head-mounted (binocular cameras).
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+ - **Data Content:**
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+ • Robot's current state.
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+ • Robot's next action.
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+ • Current camera view images.
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+ - **Robot Initial Posture:** The first robot state in each dataset entry.
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+ - **Object Placement:** Randomly placed within the robot arm's motion range and the field of view of the robot's head-mounted camera.
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+ - **Camera View:** Follow the guidelines in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).
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+
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+ - **Important Notes:**
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+ 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).
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+ 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.
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+
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v2.1",
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+ "robot_type": "G1_ALL",
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+ "total_episodes": 200,
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+ "total_frames": 93131,
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+ "total_tasks": 1,
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+ "total_videos": 800,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 30,
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+ "splits": {
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+ "train": "0:200"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "observation.left_arm": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw"
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+ ]
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+ },
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+ "observation.right_arm": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": [
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw"
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+ ]
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+ },
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+ "observation.left_gripper": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": [
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+ "kLeftGripper"
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+ ]
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+ },
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+ "observation.right_gripper": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": [
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+ "kRightGripper"
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+ ]
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+ },
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+ "observation.left_ee": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "kLeftEEX",
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+ "kLeftEEY",
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+ "kLeftEEZ",
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+ "kLeftEER",
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+ "kLeftEEP",
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+ "kLeftEEY"
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+ ]
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+ },
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+ "observation.right_ee": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "kRightEEX",
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+ "kRightEEY",
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+ "kRightEEZ",
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+ "kRightEER",
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+ "kRightEEP",
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+ "kRightEEY"
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+ ]
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+ },
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+ "observation.body": {
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+ "dtype": "float32",
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+ "shape": [
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+ 29
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+ ],
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+ "names": [
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+ "kLeftHipPitch",
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+ "kLeftHipRoll",
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+ "kLeftHipYaw",
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+ "kLeftKnee",
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+ "kLeftAnklePitch",
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+ "kLeftAnkleRoll",
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+ "kRightHipPitch",
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+ "kRightHipRoll",
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+ "kRightHipYaw",
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+ "kRightKnee",
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+ "kRightAnklePitch",
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+ "kRightAnkleRoll",
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+ "kWaistYaw",
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+ "kWaistRoll",
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+ "kWaistPitch",
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw"
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+ ]
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+ },
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+ "action.left_arm": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
184
+ "kLeftShoulderYaw",
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+ "kLeftElbow",
186
+ "kLeftWristRoll",
187
+ "kLeftWristPitch",
188
+ "kLeftWristYaw"
189
+ ]
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+ },
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+ "action.right_arm": {
192
+ "dtype": "float32",
193
+ "shape": [
194
+ 7
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+ ],
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+ "names": [
197
+ "kRightShoulderPitch",
198
+ "kRightShoulderRoll",
199
+ "kRightShoulderYaw",
200
+ "kRightElbow",
201
+ "kRightWristRoll",
202
+ "kRightWristPitch",
203
+ "kRightWristYaw"
204
+ ]
205
+ },
206
+ "action.left_gripper": {
207
+ "dtype": "float32",
208
+ "shape": [
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+ 1
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+ ],
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+ "names": [
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+ "kLeftGripper"
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+ ]
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+ },
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+ "action.right_gripper": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": [
221
+ "kRightGripper"
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+ ]
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+ },
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+ "action.left_ee": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "kLeftEEX",
231
+ "kLeftEEY",
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+ "kLeftEEZ",
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+ "kLeftEER",
234
+ "kLeftEEP",
235
+ "kLeftEEY"
236
+ ]
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+ },
238
+ "action.right_ee": {
239
+ "dtype": "float32",
240
+ "shape": [
241
+ 6
242
+ ],
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+ "names": [
244
+ "kRightEEX",
245
+ "kRightEEY",
246
+ "kRightEEZ",
247
+ "kRightEER",
248
+ "kRightEEP",
249
+ "kRightEEY"
250
+ ]
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+ },
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+ "action.body": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": [
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+ "RobotVX",
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+ "RobotVY",
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+ "RobotAngZ",
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+ "RobotYaw",
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+ "RobotPitch",
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+ "RobotRoll",
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+ "RobotHeight"
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+ ]
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+ },
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+ "observation.images.cam_left_high": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "info": {
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.cam_right_high": {
291
+ "dtype": "video",
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+ "shape": [
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+ 480,
294
+ 640,
295
+ 3
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+ ],
297
+ "names": [
298
+ "height",
299
+ "width",
300
+ "channel"
301
+ ],
302
+ "info": {
303
+ "video.height": 480,
304
+ "video.width": 640,
305
+ "video.codec": "av1",
306
+ "video.pix_fmt": "yuv420p",
307
+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
310
+ "has_audio": false
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+ }
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+ },
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+ "observation.images.cam_left_wrist": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
317
+ 640,
318
+ 3
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+ ],
320
+ "names": [
321
+ "height",
322
+ "width",
323
+ "channel"
324
+ ],
325
+ "info": {
326
+ "video.height": 480,
327
+ "video.width": 640,
328
+ "video.codec": "av1",
329
+ "video.pix_fmt": "yuv420p",
330
+ "video.is_depth_map": false,
331
+ "video.fps": 30,
332
+ "video.channels": 3,
333
+ "has_audio": false
334
+ }
335
+ },
336
+ "observation.images.cam_right_wrist": {
337
+ "dtype": "video",
338
+ "shape": [
339
+ 480,
340
+ 640,
341
+ 3
342
+ ],
343
+ "names": [
344
+ "height",
345
+ "width",
346
+ "channel"
347
+ ],
348
+ "info": {
349
+ "video.height": 480,
350
+ "video.width": 640,
351
+ "video.codec": "av1",
352
+ "video.pix_fmt": "yuv420p",
353
+ "video.is_depth_map": false,
354
+ "video.fps": 30,
355
+ "video.channels": 3,
356
+ "has_audio": false
357
+ }
358
+ },
359
+ "timestamp": {
360
+ "dtype": "float32",
361
+ "shape": [
362
+ 1
363
+ ],
364
+ "names": null
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+ },
366
+ "frame_index": {
367
+ "dtype": "int64",
368
+ "shape": [
369
+ 1
370
+ ],
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+ "names": null
372
+ },
373
+ "episode_index": {
374
+ "dtype": "int64",
375
+ "shape": [
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+ 1
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+ ],
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+ "names": null
379
+ },
380
+ "index": {
381
+ "dtype": "int64",
382
+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
387
+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
393
+ }
394
+ }
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+ }
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+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
402
+
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+ ```bibtex
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+ [More Information Needed]
405
+ ```