File size: 6,844 Bytes
470e959 cc4f312 470e959 cc4f312 adfe712 cc4f312 adfe712 cc4f312 470e959 2c43fec 470e959 cc4f312 470e959 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 | ---
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:** [unitreerobotics](https://github.com/unitreerobotics)
- **License:** apache-2.0
- **Task Objective:** Organize and tidy the items on the table.
- **Operation Duration:** Each operation takes approximately 20 to 40 seconds.
- **Recording Frequency:** 30 Hz.
- **Robot Type:** 7-DOF single-arm G1 robot.
- **End Effector:** Gripper.
- **Dual-Arm Operation:** No.
- **Image Resolution:** 256x256.
- **Camera Positions:** 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).
<table>
<tr>
<td><img src="assets/0.gif" width="200px" /></td>
<td><img src="assets/1.gif" width="200px" /></td>
<td><img src="assets/2.gif" width="200px" /></td>
<td><img src="assets/3.gif" width="200px" /></td>
</tr>
</table>
- **Important Notes:**
1. This is a G1 diversity dataset that can be used for video generation models, world models, and other applications \[[Lee et al., 2018](#citation)\].
2. If you want to use the lerobotv2.1 format, refer to this file for conversion: [convert_v3_to_v2.py](https://github.com/NVIDIA/Isaac-GR00T/blob/main/scripts/lerobot_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](https://github.com/unitreerobotics/avp_teleoperate).
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](meta/info.json):
```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": [
16
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftGripper",
"kRightGripper"
]
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"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": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"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
@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}
}
``` |