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Private real-robot training data (Unitree G1, conveyor pick tasks). Access is granted manually by the owner; please do not redistribute.
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Unitree G1 Dynamic Task: training data
Real-robot demonstrations on a Unitree G1 picking cups from a moving conveyor. This is the exact training data used for the per-task Long-WAM / Fast-WAM fine-tunes. There are 5 tasks, 250 episodes and 69750 frames in total, recorded at 30 Hz.
| task | instruction | episodes | frames | duration | action dim | cameras |
|---|---|---|---|---|---|---|
Dynamic_Cup |
pick up the blue cup and the green cup from the moving conveyor and stack the green cup into the blue cup. | 50 | 28643 | 15.9 min | 16 | color_0, color_2, color_3 |
Speed_Cup_20 |
pick up the cup. | 50 | 11502 | 6.4 min | 8 | color_0, color_3 |
Speed_Cup_30 |
pick up the cup. | 51 | 10344 | 5.7 min | 8 | color_0, color_3 |
Speed_Cup_40 |
pick up the cup. | 50 | 10462 | 5.8 min | 8 | color_0, color_3 |
Speed_Cup_50 |
pick up the cup. | 49 | 8799 | 4.9 min | 8 | color_0, color_3 |
Format
Each task is a standalone LeRobot v2.1 dataset (codebase_version: v2.1, robot_type: unitree_g1):
<task>/meta/{info.json, episodes.jsonl, episodes_stats.jsonl, tasks.jsonl}
<task>/data/chunk-000/episode_NNNNNN.parquet action, observation.state, timestamp, indices
<task>/videos/chunk-000/observation.images.<cam>/episode_NNNNNN.mp4 480x640, h264, 30 fps
<task>/fastwam_dataset_stats.json normalization stats used in training
<task>/conversion_manifest.json which source dims/cameras were kept
Cameras: color_0 = head camera (left eye), color_2 = left wrist camera, color_3 = right wrist camera.
- Dynamic_Cup: 16-D action and state
[left_arm.qpos 0-6, right_arm.qpos 0-6, left_ee, right_ee], 3 cameras. - Speed_Cup_20/30/40/50: only the right arm moves, so the data is right-arm only. It uses an 8-D action and state
[right_arm.qpos 0-6, right_ee]and 2 cameras (head plus right wrist).
action is the absolute joint-position target and observation.state is the measured joint position. Both use the
units of the original Unitree export.
Provenance
These files were converted from the original Unitree LeRobot v3.0 recordings, which have a 19-D action, a 51-D state and 4 cameras. The conversion made these changes:
- dropped the 3 always-zero body dimensions
- dropped the second head camera (
color_1) - reduced Speed_Cup to the right arm only
- replaced the placeholder instruction "pick up cube." with the task instructions in the table above
Episode lengths and frame timing are unchanged.
Loading
Each task folder is its own dataset. Download the task you need, then point LeRobot at that folder:
huggingface-cli download AaronHuangWei/Unitree-G1-Dynamic-Task --repo-type dataset --include "Dynamic_Cup/*" --local-dir g1_dynamic_task
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset # a lerobot version that reads v2.1
ds = LeRobotDataset("g1_dynamic_task/Dynamic_Cup", root="g1_dynamic_task/Dynamic_Cup")
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