G1_Dex3_datasets
Collection
13 items
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Updated
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observation.state
listlengths 28
28
| action
listlengths 28
28
| timestamp
float32 0
22.5
| frame_index
int64 0
675
| episode_index
int64 0
310
| index
int64 0
122k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
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
{
"codebase_version": "v2.0",
"robot_type": "Unitree_G1",
"total_episodes": 311,
"total_frames": 121587,
"total_tasks": 1,
"total_videos": 1244,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:311"
},
"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": {
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"names": [
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"kLeftShoulderPitch",
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"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
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"kRightHandIndex1",
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"kRightHandMiddle1"
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"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
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"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
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},
"observation.images.cam_left_high": {
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640
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"names": [
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"info": {
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}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 387
License:
apache-2.0
Task Objective:
Take the water bottle and simulate pouring water into a transparent glass cup.
Operational Objects:
CZ001 「娃哈哈 纯净水饮用水350ml*24瓶整箱瓶装企业会议用水」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).
• Robot's current state.
• Robot's current state.
• Robot's next action.
• Robot's next action.
• Current camera view images.
• Current camera view images.
Robot Initial Posture:
The first robot state in each dataset entry.
Object Placement:
Place the water cup adjacent to the three-fingered dexterous hand on the robot's left arm in its initial position (arm vertical); position the water bottle within reach of the right hand.
Camera View:
.
Important Notes:
Important Notes:
Size of downloaded dataset files:
26.6 MB
Size of the auto-converted Parquet files:
26.6 MB
Number of rows:
121,587