| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [UnifoLM-VLA-0](https://unigen-x.github.io/unifolm-vla.github.io/) |
| - **License:** apache-2.0 |
|
|
|
|
| - **Task Objective:** Stack the red, green, and yellow blocks. |
| - **Operation Duration:** Each operation takes approximately 20 to 40 seconds. |
| - **Recording Frequency:** 30 Hz. |
| - **Robot Type:** 7-DOF dual-arm G1 robot. |
| - **End Effector:** Gripper. |
| - **Dual-Arm Operation:** Yes. |
| - **Image Resolution:** 640x480. |
| - **Camera Positions:** Wrist-mounted (monocular camera) + head-mounted (binocular cameras). |
| - **Data Content:** |
| • Robot's current state. |
| • Robot's next action. |
| • Current camera view images. |
| - **Robot Initial Posture:** The first robot state in each dataset entry. |
| - **Object Placement:** Randomly placed within the robot arm's motion range and the field of view of the robot's head-mounted camera. |
| - **Camera View:** Follow the guidelines in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate). |
|
|
| - **Important Notes:** |
| 1. Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate). |
| 2. Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training. |
|
|
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v2.1", |
| "robot_type": "G1_ALL", |
| "total_episodes": 200, |
| "total_frames": 93131, |
| "total_tasks": 1, |
| "total_videos": 800, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:200" |
| }, |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| "features": { |
| "observation.left_arm": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw" |
| ] |
| }, |
| "observation.right_arm": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw" |
| ] |
| }, |
| "observation.left_gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "kLeftGripper" |
| ] |
| }, |
| "observation.right_gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "kRightGripper" |
| ] |
| }, |
| "observation.left_ee": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "kLeftEEX", |
| "kLeftEEY", |
| "kLeftEEZ", |
| "kLeftEER", |
| "kLeftEEP", |
| "kLeftEEY" |
| ] |
| }, |
| "observation.right_ee": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "kRightEEX", |
| "kRightEEY", |
| "kRightEEZ", |
| "kRightEER", |
| "kRightEEP", |
| "kRightEEY" |
| ] |
| }, |
| "observation.body": { |
| "dtype": "float32", |
| "shape": [ |
| 29 |
| ], |
| "names": [ |
| "kLeftHipPitch", |
| "kLeftHipRoll", |
| "kLeftHipYaw", |
| "kLeftKnee", |
| "kLeftAnklePitch", |
| "kLeftAnkleRoll", |
| "kRightHipPitch", |
| "kRightHipRoll", |
| "kRightHipYaw", |
| "kRightKnee", |
| "kRightAnklePitch", |
| "kRightAnkleRoll", |
| "kWaistYaw", |
| "kWaistRoll", |
| "kWaistPitch", |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw" |
| ] |
| }, |
| "action.left_arm": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw" |
| ] |
| }, |
| "action.right_arm": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw" |
| ] |
| }, |
| "action.left_gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "kLeftGripper" |
| ] |
| }, |
| "action.right_gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "kRightGripper" |
| ] |
| }, |
| "action.left_ee": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "kLeftEEX", |
| "kLeftEEY", |
| "kLeftEEZ", |
| "kLeftEER", |
| "kLeftEEP", |
| "kLeftEEY" |
| ] |
| }, |
| "action.right_ee": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "kRightEEX", |
| "kRightEEY", |
| "kRightEEZ", |
| "kRightEER", |
| "kRightEEP", |
| "kRightEEY" |
| ] |
| }, |
| "action.body": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "RobotVX", |
| "RobotVY", |
| "RobotAngZ", |
| "RobotYaw", |
| "RobotPitch", |
| "RobotRoll", |
| "RobotHeight" |
| ] |
| }, |
| "observation.images.cam_left_high": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_right_high": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
