Datasets:
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states list | action list | timestamp float32 0 139 ⌀ | frame_index int64 0 1.39k ⌀ | episode_index int64 0 19 ⌀ | index int64 0 11.3k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
4in1 — Unitree G1 teleoperation datasets (one folder per task)
Whole-body teleoperation demonstrations of a Unitree G1 (29 DoF + Dex3 hands) recorded with MA-Teleop (PICO VR → GR00T-WholeBodyControl / SONIC motion tokens). Each folder is a complete, independent LeRobot v3 dataset with its own dataset card:
| folder | episodes | frames @ 10 Hz | sessions | task instruction (as stored) |
|---|---|---|---|---|
4in1/ |
20 | 11348 | 4 | "4in14in1" |
4in12/ |
20 | 10758 | 1 | "4in2" |
allin13/ |
12 | 7628 | 1 | "allin13" |
allin14/ |
12 | 6233 | 1 | "allin14" |
Common schema: states[43] = 29 measured body joints + 7+7 hand joints, action[78] = 64-d SONIC motion token +
7+7 hand joints, observation.images.egocentric = ZED head camera (1280×720, undistorted). Episodes within a folder
are in chronological session order. Load one task with LeRobot by downloading its folder and passing it as root:
from huggingface_hub import snapshot_download
from lerobot.datasets.lerobot_dataset import LeRobotDataset
root = snapshot_download("DONG3344/4in1", repo_type="dataset", allow_patterns=["allin13/*"]) + "/allin13"
ds = LeRobotDataset("DONG3344/4in1", root=root)
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