G1-DexManip
Collection
Simulated manipulation datasets for the Unitree G1 humanoid robot with Dex3, Dex5, and Inspire singleand bimanual hands manipulation. • 5 items • Updated
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The dataset generation failed
Error code: DatasetGenerationError
Exception: TypeError
Message: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1539, in _prepare_split_single
for key, record in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 621, in wrapped
for item in generator(*args, **kwargs):
~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 131, in _generate_examples
for example_idx, example in enumerate(self._get_pipeline_from_tar(tar_path, tar_iterator)):
~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 32, in _get_pipeline_from_tar
for filename, f in tar_iterator:
^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/track.py", line 49, in __iter__
for x in self.generator(*self.args):
~~~~~~~~~~~~~~^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 1419, in _iter_from_urlpath
with xopen(urlpath, "rb", download_config=download_config, block_size=0) as f:
~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 976, in xopen
file_obj = fs.open(paths[0], mode)
File "<string>", line 3, in open
File "/usr/local/lib/python3.14/unittest/mock.py", line 1176, in __call__
return self._mock_call(*args, **kwargs)
~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/unittest/mock.py", line 1180, in _mock_call
return self._execute_mock_call(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/unittest/mock.py", line 1247, in _execute_mock_call
result = effect(*args, **kwargs)
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 794, in wrapped
tracker.files[urlpath] = {"read": 0, "size": int(f.size)}
~~~^^^^^^^^
TypeError: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1379, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 956, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1401, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1579, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
mp4 video | __key__ string | __url__ string |
|---|---|---|
./videos/observation.images.rgb_head/chunk-000/file-002 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_head/chunk-000/file-000 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_head/chunk-000/file-001 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_head/chunk-000/file-003 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_head/chunk-000/file-004 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_head/chunk-000/file-005 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_wrist_right/chunk-000/file-000 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_wrist_right/chunk-000/file-001 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_wrist_left/chunk-000/file-000 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_wrist_left/chunk-000/file-001 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz | |
Not supported with pagination yet | ./meta/episodes/chunk-000/file-000 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz |
Not supported with pagination yet | ./meta/info | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz |
Not supported with pagination yet | ./meta/tasks | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz |
Not supported with pagination yet | ./meta/stats | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz |
Not supported with pagination yet | ./data/chunk-000/file-000 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz |
./videos/observation.images.rgb_head/chunk-000/file-002 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_head/chunk-000/file-006 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_head/chunk-000/file-000 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_head/chunk-000/file-001 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_head/chunk-000/file-003 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_head/chunk-000/file-004 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_head/chunk-000/file-005 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_head/chunk-000/file-007 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_wrist_right/chunk-000/file-000 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_wrist_right/chunk-000/file-001 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz | |
./videos/observation.images.rgb_wrist_left/chunk-000/file-000 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz | |
Not supported with pagination yet | ./meta/episodes/chunk-000/file-000 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz |
Not supported with pagination yet | ./meta/info | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz |
Not supported with pagination yet | ./meta/tasks | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz |
Not supported with pagination yet | ./meta/stats | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz |
Not supported with pagination yet | ./data/chunk-000/file-001 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz |
Not supported with pagination yet | ./data/chunk-000/file-000 | hf://datasets/Simaihub/unitree-g1-bimanual-dex3-manipulation-sample@e3a84ac858e966c07c4928b3e498648cd4131de6/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz |
This dataset repository is a placeholder for Simaihub/unitree-g1-bimanual-dex3-manipulation-sample. No data has been uploaded yet;
sample and full data are in preparation. The dataset will contain simulated bimanual manipulation data for the Unitree G1 humanoid robot with Dex3,
generated in Isaac Sim and Isaac Lab. It will cover single-hand and bimanual grasping, placing, and carrying tasks,
with multimodal observations (RGB-D, joint states, actions) in HDF5 + MP4 format, including successful and failed episodes,
as well as grasp-pose diversity, object diversity, domain randomization, and noise randomization.
The sample will be publicly released, while the full dataset will be available under commercial licensing via gated access.
Please check back for updates.
Note: This dataset is in LeRobot v3.0 format. The currently uploaded data is single-hand grasping pose data. The bimanual coordinated dataset was uploaded by mistake. Awaiting manual data correction.
Contact:
Email:support@simaihub.com
Website: https://www.simaihub.com
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