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timestamp
float32
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45.8
frame_index
int64
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1.37k
episode_index
int64
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467
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int64
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332k
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2.666667
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2.7
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2.733333
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2.766667
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2.8
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2.833333
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2.866667
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2.9
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2.966667
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3
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3.033333
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3.066667
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3.1
93
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3.133333
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3.166667
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3.2
96
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3.233333
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97
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3.266667
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3.3
99
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99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

  • Important Notes:
  1. This is a G1 diversity dataset that can be used for video generation models, world models, and other applications [Lee et al., 2018].
  2. If you want to use the lerobotv2.1 format, refer to this file for conversion: convert_v3_to_v2.py
  3. 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.
  4. 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:

{
    "codebase_version": "v3.0",
    "robot_type": "Unitree_G1_Dex1",
    "total_episodes": 468,
    "total_frames": 331555,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:468"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                [
                    "kLeftShoulderPitch",
                    "kLeftShoulderRoll",
                    "kLeftShoulderYaw",
                    "kLeftElbow",
                    "kLeftWristRoll",
                    "kLeftWristPitch",
                    "kLeftWristYaw",
                    "kRightShoulderPitch",
                    "kRightShoulderRoll",
                    "kRightShoulderYaw",
                    "kRightElbow",
                    "kRightWristRoll",
                    "kRightWristPitch",
                    "kRightWristYaw",
                    "kLeftGripper",
                    "kRightGripper"
                ]
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                [
                    "kLeftShoulderPitch",
                    "kLeftShoulderRoll",
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                    "kLeftElbow",
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                    "kRightShoulderYaw",
                    "kRightElbow",
                    "kRightWristRoll",
                    "kRightWristPitch",
                    "kRightWristYaw",
                    "kLeftGripper",
                    "kRightGripper"
                ]
            ]
        },
        "observation.images.cam_left_high": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "h264",
                "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": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "h264",
                "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",
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                1
            ],
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        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

@article{lee2018stochastic,
  title={Stochastic Adversarial Video Prediction},
  author={Lee, Alex X. and Zhang, Richard and Ebert, Frederik and Abbeel, Pieter and Finn, Chelsea and Levine, Sergey},
  journal={arXiv preprint arXiv:1804.01523},
  year={2018},
  url={https://arxiv.org/abs/1804.01523}
}
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