Datasets:
Questions about HIW-500 teleoperation controller and deployment interface
Thank you for releasing HIW-500. I have a few questions about reproducing the control interface and deploying policies trained on HIW-500-LeRobot:
What teleoperation / whole-body controller was used during data collection on Unitree G1?
What gripper model was used? How should left_trigger, left_squeeze, right_trigger, and right_squeeze be interpreted?
Is the full robot description available, including G1 body, grippers, wrist/head cameras, TCP frames, and camera extrinsics?
If we train a VLA/policy on the 23D action in HIW-500-LeRobot, what is the recommended deployment pipeline to execute it on a real G1? For example, should it be:
policy → 23D action → WBC/IK/locomotion controller → Unitree SDK2 → G1
or is another controller/action interface recommended?
Unfortunately the whole body controller that was use to record this is proprietary, but in terms of open-source wbc i'm you can replicate this closed-source controller's behaviour with groot-wbc (https://github.com/huggingface/lerobot/blob/main/src/lerobot/robots/unitree_g1/gr00t_locomotion.py): in LeRobot we also support holosoma, and we will be porting sonic wbc in the coming weeks (PR here https://github.com/huggingface/lerobot/pull/3827)
No idea what gripper is being used, i'll try asking the authors but maybe they can answer here.
The observations we support can be visualized here: https://huggingface.co/spaces/lerobot/visualize_dataset?path=%2FBitRobot%2FHIW-500-LeRobot%2Fepisode_0. In short, yes, the original dataset BitRobot/HIW-500 contains more (IR camera, odometry etc, these are not included as we do not support them in LeRobot yet)
To deploy on real G1 follow this guide https://huggingface.co/docs/lerobot/en/unitree_g1. For current wbc compatibility, as it currently stands I would recommend replaying one episode on the G1 scaling pivot_vx, vy, height and vyaw in sim (https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main) until sim and 3d replay match, then simply training on them. Ideally if you wanna wait until SONIC is ported then training would be much simpler, full robot pose is included in the observations so you could just output robot state and let sonic approximate it directly which should be easier.