WB-WAM/Pico

PICO Dataset

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Pico motion-transfer data for WB-WAM intermediate training. LeRobot v3.0, 20 Hz, RGB 360 × 270. The release contains 13,396 episodes, 1,579,028 frames, 73 tasks, and 302 independent recordings (21.931 hours).

Each <task>/record_XXXX/ is an independent LeRobot dataset. Recordings of the same task remain separate:

<task>/record_XXXX/
  data/chunk-000/file-000.parquet
  videos/<camera>/chunk-000/file-000.mp4
  meta/info.json
  meta/stats.json
  meta/tasks.parquet
  meta/episodes/chunk-000/file-000.parquet

The Dataset Viewer plays the MP4 files. The corresponding Parquet state/action rows and metadata are available under each recording in Files and versions.

Field	Meaning
observation.state	float32[110]: body state[9], G1 joint angles[29], G1 joint velocities[29], left/right Wuji hands[40], root[3]
action	float32[136]: next SONIC token[64], left/right Wuji hands[40], G1 joints[29], root[3]
state_mask_110, action_mask_136	bool[110/136]; True means invalid. Both hands have supervision.
timestamp, frame_index, episode_index, index, task_index	Time and row/episode/task indices.
next.done	Last frame of an episode.

The action contains absolute next-frame joint targets (+50 ms), not joint increments. Root[3] denotes roll, pitch, and body-frame z angular velocity, not XYZ position. Pico hand data may include reconstructed or held values. See each record's meta/info.json for exact slices and camera keys.

Download the unpacked files directly:

hf download WB-WAM/Pico --repo-type dataset --local-dir ./data/pico_archive

To load one recording with LeRobot 0.4.4, use its local record directory as root:

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("WB-WAM/Pico", root="./data/pico_archive/<task>/record_XXXX")
sample = dataset[0]

Training code and instructions: WB-WAM Official.