humanoid_everyday_g1 (TsFile)

Apache TsFile version of the LeRobot dataset skyzos/Humanoid-Everyday-G1.

Overview

Everyday humanoid manipulation demonstrations on a Unitree G1 robot.

• Robot: g1 (humanoid)
• Episodes: 4064
• Frames: 1,779,287
• Sampling rate: 30 fps
• Tasks: 124

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_arm_joints / leg_joints / hand_joints (flattened), action_* (flattened)) as single-precision FLOAT.

next.done is kept as next_done.

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: skyzos/Humanoid-Everyday-G1
• Author / publisher: skyzos
• License: not declared by the original dataset; please defer to the original.