unitreerobotics/G1_Dex3_ObjectPlacement_Dataset
This dataset was created using LeRobot. 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 meta/info.json: { "codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_ObjectPlacement_Dataset.
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This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
- Task Objective: Pick up the toothpaste and trash bag on the desk, and place them into the blue storage container.
- Operational Objects: Toothpaste Box (Double Thin Forest Ocean Fresh 40g, Purchase link: [【淘宝】7天无理由退货 https://e.tb.cn/h.60ZcYShH0TRbzRs?tk=i0eMeJIwD0G CZ057 「好来黑人白酵素茶倍健白桃超白小苏打40克牙膏青瓜出差旅行装小样」点击链接直接打开 或者 淘宝搜索直接打开]) + Trash Bags (Purchase link: [【淘宝】7天无理由退货 https://e.tb.cn/h.60TJUSZxTvzacVk?tk=fFIbeJsbN7s CZ225 「清亮0385加厚不渗漏平口厨房点断塑料垃圾袋家用塑料袋办公一次性」点击链接直接打开 或者 淘宝搜索直接打开]) + Blue Storage Container (25cm L × 17cm W × 7cm H, Purchase link: [【淘宝】7天无理由退货 https://e.tb.cn/h.6ZwIdtI8miQqHwe?tk=kVnbeJsPOfz HU108 「蓝色料盒塑料工具框箱胶盆方形实验室样品汽修车螺丝零件收纳盒子」点击链接直接打开 或者 淘宝搜索直接打开]).
- Operation Duration: Each operation takes approximately 20 seconds.
- Recording Frequency: 30 Hz.
- Robot Type: 7-DOF dual-arm G1 robot.
- End Effector: Three-fingered dexterous hands.
- 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: Position the blue storage container at the midpoint between the robot's hands in their initial arm position; randomly scatter the other two objects around the container.
- 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
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "Unitree_G1",
"total_episodes": 210,
"total_frames": 98266,
"total_tasks": 1,
"total_videos": 840,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:210"
},
"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.state": {
"dtype": "float32",
"shape": [
28
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
]
},
"action": {
"dtype": "float32",
"shape": [
28
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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:
[More Information Needed]