OMG-Data

Official LeRobotDataset v3.0 release for OMG. It contains Unitree G1 reference motion with text, audio, human reference conditioning.

Dataset

• Episodes: 798181

• Frames: 121171939

• FPS: 30

• Robot: Unitree G1, 29 actuated joints

• train: episodes 0:636865

• val: episodes 636865:716840

• test: episodes 716840:798181

observation.state is the 36D G1 qpos at frame t. action is the target 36D G1 qpos at frame t+1; it is a reference-motion target, not a low-level motor command. Text conditions use the standard LeRobot task table. Optional aligned conditions are stored in omg.audio.feature and omg.humanref.motion; their per-frame masks are omg.condition.has_audio and omg.condition.has_humanref.

Loading

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("THU-MARS/OMG-Data")
sample = dataset[0]

OMG training converts these source episodes into fixed windows and the 125D motion representation. See the repository data documentation for direct and materialized training commands.

Terms

OMG-Data aggregates motions derived from multiple research datasets. Original source licenses and usage terms continue to apply to their corresponding motions; users must review those terms before redistribution or commercial use.