h1_humanoid_everyday (TsFile)

Apache TsFile version of the LeRobot dataset X-Humanoid/HEX-Datasets/h1_humanoid_everyday.

Overview

Everyday humanoid manipulation demonstrations on a Unitree H1 robot.

• Robot: h1 (humanoid)
• Episodes: 4883
• Frames: 1,659,318
• Sampling rate: 30 fps
• Tasks: 122

Schema (TsFile structure)

• Time (INT64, milliseconds) — round(timestamp * 1000), restarting per episode.
• episode_index / task_index (TAG) — the device dimension. Query a single episode with WHERE episode_index=N.
• FIELD — frame_index, sample_index, and the flattened state/action vectors (observation_state_0..38, action_0..25) as single-precision FLOAT.

Stored across data/h1_humanoid_everyday_1.tsfile and _2.tsfile. next.done is kept as next_done. Two byte-identical duplicate source episodes were excluded to avoid duplicate timestamps.

The robot's the egocentric camera stream are time-series-irrelevant and not uploaded to this repository; get them from the original dataset (its videos/ directory). The source meta/ is mirrored here.

Usage

Read the .tsfile files with the Apache TsFile Java or Python SDK.

Source & license

• Original dataset: X-Humanoid/HEX-Datasets/h1_humanoid_everyday
• Author / publisher: X-Humanoid
• License: not declared by the original dataset; please defer to the original.