unitreerobotics/G1_Dex3_ToastedBread_Dataset
This dataset was created using LeRobot. 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. 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":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_ToastedBread_Dataset.
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This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
- Task Objective: Part 1: Place the bread from the serving tray into the toaster. Part 2: After the bread is toasted, hand the toast to the human.
- Operational Objects: Bread and Toaster（Purchase link: [【淘宝】7天无理由退货 https://e.tb.cn/h.60Va2WXFUDHazdQ?tk=uzwkeJCxTWW MF278 「苏泊尔DJ805烤面包机吐司机小型家用早餐机多士炉烤吐司三明治机」点击链接直接打开 或者 淘宝搜索直接打开]）.
- Operation Duration: Each operation takes approximately 20 to 40 seconds.
- Recording Frequency: 30 Hz.
- Robot Type: 7-DOF dual-arm G1 robot.
- End Effector: Three-fingered dexterous hands.
- 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: Place the toaster and serving tray within the fully extended reach of the robotic arm, positioned at approximately a 45-degree angle relative to the robot.
- Camera View: Follow the guidelines in Part 5 of AVP Teleoperation Documentation.
- Important Notes:
- 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.
- 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": "v2.0",
"robot_type": "Unitree_G1",
"total_episodes": 418,
"total_frames": 352022,
"total_tasks": 1,
"total_videos": 1672,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:418"
},
"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.state": {
"dtype": "float32",
"shape": [
28
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
]
},
"action": {
"dtype": "float32",
"shape": [
28
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_high": {
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3,
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],
"names": [
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"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
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"shape": [
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],
"names": null
},
"frame_index": {
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"shape": [
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],
"names": null
},
"episode_index": {
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"shape": [
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"names": null
},
"index": {
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"names": null
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"task_index": {
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}
}
}Citation
BibTeX:
[More Information Needed]