datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
G1_WBT_Brainco_Collect_Plates_Into_Dishwasher
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Brainco_Collect_Plates_Into_Dishwasher.G1_WBT_Brainco_Plastic_Box_PartsG1_WBT_Brainco_Pick_Up_Multiple_CushionsG1_WBT_Brainco_Laundry_Basket_WasherG1_WBT_Brainco_Pickup_Pillow
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Brainco_Pickup_Pillow.G1_WBT_Brainco_Tidy_Living_Room_SlippersG1_WBT_Brainco_Pick_Up_MedicineG1_WBT_Brainco_Walk_To_Table_Put_Cups_And_Rack_Plates_In_DishwasherG1_WBT_Brainco_Make_The_Bed
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Brainco_Make_The_Bed.G1_WBT_Brainco_Pick_Up_Medicine_v0
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Brainco_Pick_Up_Medicine_v0.G1_WBT_Brainco_Put_Sink_TowelG1_WBT_Brainco_Pick_Up_ClothesG1_WBT_Brainco_Empty_Folder_In_CabinetG1_WBT_Brainco_Pick_Up_DrinksG1_WBT_Brainco_Hang_Up_ClothesG1_WBT_Brainco_Supermarket_Shelf_OrganizingG1_WBT_Brainco_Adjust_SickbedG1_WBT_Brainco_Sort_FruitG1_WBT_Brainco_Put_Plate_Into_DishwasherG1_WBT_Brainco_Put_Vegetables_Into_BasketG1_WBT_Brainco_Put_Clothes_Into_Washing_MachineG1_WBT_Brainco_Tidy_The_BedG1_WBT_Brainco_Pick_Up_CushionG1_WBT_Brainco_Make_BedG1_Brainco_PickApple_DatasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Brainco",
"total_episodes": 200,
"total_frames": 153668,
"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":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Brainco_PickApple_Dataset.G1_WBT_Brainco_Pick_Up_FruitG1_WBT_Brainco_Pick_Cloth_On_Bed_And_Put_In_LaundryG1_Brainco_GraspRubiksCube_DatasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Brainco",
"total_episodes": 197,
"total_frames": 220788,
"total_tasks": 1,
"total_videos": 788,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:197"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Brainco_GraspRubiksCube_Dataset.G1_Brainco_GraspOreo_DatasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Brainco",
"total_episodes": 201,
"total_frames": 234959,
"total_tasks": 1,
"total_videos": 804,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:201"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Brainco_GraspOreo_Dataset.G1_Brainco_PickDoll_DatasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Brainco",
"total_episodes": 200,
"total_frames": 313401,
"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":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Brainco_PickDoll_Dataset.