Unitree Robotics lists G1_Dex1_Arrange_Surgical_Kits dataset on Hugging Face

SUMMARY

Unitree Robotics has a dataset named G1_Dex1_Arrange_Surgical_Kits on Hugging Face. It sits in a collection called UnifoLM_G1_Dex1_Dataset, which the page shows with 81 items. The page tags the dataset with an Apache licence and says it was created with the LeRobot framework.

The card describes 100 episodes recorded at 30 fps, with 297,368 rows and a total file size of 24.5 GB. All cameras are AV1-encoded at 480×640×3. The video streams cover raw and rectified head stereo cameras, left and right wrist colour cameras, and two infrared cameras on each wrist.

Observations include 7-dimensional left and right arm states (three shoulder joints, the elbow and three wrist joints), a 15-dimensional lower body state covering both legs and the waist, and 6-dimensional end-effector poses in both the base frame and the torso frame. The torso pose and a camera pose are also recorded, each as 6 values, along with a flag showing whether the wrist infrared streams are valid.

The action space mirrors the arms, lower body and waist, and adds target end-effector poses in base and torso frames. It also includes a 4-dimensional base command (vx, vy, angle_z, height) and 4 gripper control channels: left and right trigger and squeeze.

The dataset uses Dex1 grippers, with one channel per side. The card gives the gripper range as 5.5 to 0.0, from open to close. The page lists the Hugging Face task as robotics and the format as parquet.

Drafted with AI assistance from the source and reviewed by WBH. Follow the source link for the full text.