| --- |
| 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](https://github.com/allenai/molmospaces). |
|
|
| The dataset was generated from [FetchMan](https://github.com/omarrayyann/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](https://github.com/huggingface/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: |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| ds = LeRobotDataset("allenai/fetchman-data") |
| frame = ds[0] |
| ``` |
|
|
| To download everything (or a subset) locally: |
|
|
| ```bash |
| 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](https://opendatacommons.org/licenses/by/1-0/). |
| It is intended for research and educational use in accordance with Ai2's [Responsible Use Guidelines](https://allenai.org/responsible-use). |
|
|
