diw22/DWinters_Humanoid-data

Kraftwerk Bot: drumming takes and robot demonstrations

The data for github.com/diw22/DWinters_Humanoid: a simulated Unitree G1 humanoid that hears a drum loop with one part missing and plays that part on an Akai LPD8 (claps on pad 1, rims on pad 5, a shaker fade on knob 4).

Download it into the code's data/ folder:

hf download diw22/DWinters_Humanoid-data --repo-type dataset --local-dir data

Folder	Contents
human/<take>/	160 takes of me playing: human.mp4 (+ human_cam2.mp4, a second angle), played.wav (my part), music.wav (what the robot hears: every part but its own, 24 kHz), episode.json (part, split, hit times, camera calibration), the cached hand tracking; shakers takes also have part.wav and knob_target.npz
robot/<take>/	158 simulated G1 demonstrations made from those videos: robot.mp4 (the robot's head camera, lossless), robot.npz (joint states, actions, knob angles), robot.json (hits, checks, controller layout), compare.mp4 (me / robot, with sound)
music/	the song's loops (kick, claps, rims, shakers, 6 chord loops; 44.1 kHz stereo); training mixes each take's chord variations from them
jaco_v1/<take>/	49 demonstrations from version 1 (claps on two simulated Kinova Jaco arms)

152 robot demonstrations pass the physics check and are used for training (split train / validation / test: claps 34 / 7 / 7, rims 40 / 9 / 8, shakers 34 / 7 / 6). The demonstrations were simulated with MuJoCo 3.3.0.

Recordings and music by Dylan Winters, licensed CC BY 4.0.