Datasets:
metadata
license: odc-by
task_categories:
- robotics
tags:
- robotics
- embodied ai
- manipulation
- mobile manipulation
- humanoid
- unitree-g1
- proprioception
- multi-view video
- LeRobot
language:
- en
size_categories:
- 10M<n<100M
configs:
- config_name: default
data_files: data/*/*.parquet
FetchMan-data
Simulated training episodes (actions, egocentric video and proprioception) for object pick-up with a Unitree G1 humanoid, generated in MolmoSpaces.
The dataset was generated from FetchMan code developed by Omar Rayyan.
| Episodes | 352,696 |
| Frames | 52,008,151 |
| Tasks (language instructions) | 902 (pick up the <object>.) |
| Control rate | 10 fps |
| Cameras | observation.head_image, observation.wrist_image (384×224, MP4) |
| Format | LeRobot dataset v3.0 |
| Size | ~510 GB |
Data layout
meta/info.json # features, fps, path templates
meta/stats.json # dataset-wide feature statistics
meta/tasks.parquet # task string -> task_index
meta/episodes/chunk-XXX/*.parquet # per-episode index (lengths, file offsets, per-episode stats)
data/chunk-XXX/file-XXX.parquet # per-frame actions and low-dimensional observations
videos/<camera>/chunk-XXX/file-XXX.mp4
Features
| Key | Shape | Description |
|---|---|---|
action |
15 | robot action |
observation.joint_pos |
30 | full-body joint positions |
observation.upper_joint_pos |
11 | upper-body joint positions |
observation.right_gripper_pos |
1 | right gripper position |
observation.right_hand_pose |
7 | right hand pose (position + quaternion) |
observation.base_position / base_yaw / base_height |
2 / 1 / 1 | base pose |
observation.base_rpy / base_rp |
3 / 2 | base orientation |
observation.base_velocity / base_angular_velocity |
3 / 3 | base velocities |
observation.last_base_vel_cmd |
3 | last commanded base velocity |
observation.target_object_pose |
7 | pose of the object to pick |
observation.target_point |
2 | target point |
observation.head_image, observation.wrist_image |
224×384×3 | camera videos |
object_name, object_id, scene, skill_profile |
string | episode metadata |
timestamp, frame_index, episode_index, index, task_index |
1 | LeRobot indexing |
See meta/info.json for the authoritative feature specification.
Data access
With LeRobot:
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("allenai/fetchman-data")
frame = ds[0]
To download everything (or a subset) locally:
hf download allenai/fetchman-data --repo-type dataset --local-dir /path/to/fetchman-data
# low-dimensional data only (no videos):
hf download allenai/fetchman-data --repo-type dataset --include "meta/*" "data/*" --local-dir /path/to/fetchman-data
License
This dataset is licensed under ODC-BY 1.0. It is intended for research and educational use in accordance with Ai2's Responsible Use Guidelines.