| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - tsfile |
| - modality:timeseries |
| - timeseries |
| - format:tsfile |
| pretty_name: G1_Dex1_Stack_Block (TsFile) |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/g1_dex1_stack_block.tsfile |
| modality: |
| - tabular |
| - timeseries |
| --- |
| |
| # G1_Dex1_Stack_Block (TsFile) |
| |
| Apache TsFile version of [`unitreerobotics/G1_Dex1_Stack_Block`](https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Stack_Block). |
| |
| ## Overview |
| |
| A [LeRobot](https://github.com/huggingface/lerobot) robot-manipulation dataset |
| collected on a Unitree G1 dual-arm humanoid (`G1_ALL`). Each episode records the |
| robot stacking colored blocks — the commanded action and the measured arm/body |
| state, sampled frame by frame. |
|
|
| - **Robot:** Unitree G1 dual-arm humanoid (`G1_ALL`). |
| - **Task:** "Stack the red, green, and yellow blocks." (1 task). |
| - **Scale:** 200 episodes, 93,131 frames, single `train` split. |
| - **Sampling rate:** 30 fps. |
| - **Videos:** four camera streams (cam_left_high, cam_right_high, cam_left_wrist, |
| cam_right_wrist) in the original dataset; not included here (see below). |
|
|
| ## Schema (TsFile structure) |
|
|
| - **Time** (INT64, milliseconds) — `round(timestamp * 1000)`, restarts per episode. |
| - **episode_index** (TAG) — episode device dimension; query one episode with |
| `WHERE episode_index=0`. |
| - **task_index** (TAG) — task device dimension (single task here). |
| - **frame_index** (FIELD, INT64) — original per-episode frame counter. |
| - **sample_index** (FIELD, INT64) — source `index` column, renamed. |
| - **observation/action vector fields** (FIELD, FLOAT) — the measured state and |
| commanded action, flattened from the source vector columns: |
| - `observation.left_arm[7]`, `observation.right_arm[7]`, |
| `observation.left_gripper[1]`, `observation.right_gripper[1]`, |
| `observation.left_ee[6]`, `observation.right_ee[6]`, `observation.body[29]` |
| - `action.left_arm[7]`, `action.right_arm[7]`, `action.left_gripper[1]`, |
| `action.right_gripper[1]`, `action.left_ee[6]`, `action.right_ee[6]`, |
| `action.body[7]` |
| |
| Vector columns are flattened by preserving the source name (`.` → `_`) and |
| appending the element index (e.g. `observation.left_arm` → |
| `observation_left_arm_0..observation_left_arm_6`). The source `timestamp` column |
| is dropped because it equals `Time ÷ 1000` seconds. |
|
|
| ## Videos |
|
|
| The four camera video streams are not included in this TsFile repository. They |
| remain in the original dataset under |
| [`videos/`](https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Stack_Block/tree/main/videos). |
|
|
| ## Usage |
|
|
| Read the `.tsfile` files with the Apache TsFile Java or Python SDK. |
|
|
| ## Source & license |
|
|
| - Original dataset: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Stack_Block |
| - Author / publisher: unitreerobotics |
| - Created with: [LeRobot](https://github.com/huggingface/lerobot) |
| - License: apache-2.0 |
| |
