hojjunekim/teleop_turn_uni

LEGS Task 3, long-horizon: Teleop (50)

A training set of the paper's Teleop (50) condition for Task 3 (long-horizon), from LEGS (code, paper). Real-robot demonstrations recorded with SONIC's VR teleoperation.

Episodes	50
Frames	51,927 at 30 fps
Prompt	"pick the orange, turn right, and place it on the plate"
Camera	observation.images.ego_view, 640×480
State and action	observation.state_psi0_18 and action.psi0_18, the 18-D end-effector layout described under State and action
Format	LeRobot v2.1

Use

From a clone of the code repository:

bash scripts/train/download.sh --dataset hojjunekim/teleop_turn_uni
TASK=turn DATASET=hojjunekim/teleop_turn_uni bash scripts/train/psi0.sh   # or pi05.sh / groot.sh

The other sets of the paper are listed under Paper datasets.

License

Apache License 2.0, the license of the LEGS code.

Citation

@inproceedings{kim2026legs,
  title     = {LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World},
  author    = {Kim, Hojune and Chen, Timothy and Sun, Jiankai and Osterberg, Lars W. and Chen, Qianzhong and Wang, Ke and Schwager, Mac},
  booktitle = {Conference on Robot Learning (CoRL)},
  year      = {2026}
}