Datasets:
Search is not available for this dataset
observation.state list | observation.eef_state list | action.wbc list | observation.root_orientation list | observation.projected_gravity list | observation.cpp_rotation_offset list | observation.init_base_quat list | teleop.delta_heading float64 0 0 | action.motion_token list | teleop.smpl_joints list | teleop.smpl_pose list | teleop.body_quat_w list | teleop.target_body_orientation list | teleop.left_hand_joints list | teleop.right_hand_joints list | teleop.smpl_frame_index int64 0 574 | teleop.left_wrist_joints list | teleop.right_wrist_joints list | teleop.stream_mode int32 1 3 | teleop.planner_mode int32 0 0 | teleop.planner_movement list | teleop.planner_facing list | teleop.planner_speed float32 -1 -1 | teleop.planner_height float32 -1 -1 | teleop.vr_3pt_position list | teleop.vr_3pt_orientation list | timestamp float32 0 19.3 | frame_index int64 0 967 | episode_index int64 0 61 | index int64 0 38.6k | task_index int64 0 3 |
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End of preview. Expand in Data Studio
G1 Dex3 table picking — ver.260909
Retained demonstrations from the September 8–9, 2026 table-picking collection. The robot approaches the table and picks the named object. This version contains 62 episodes, 38,605 frames at 50 Hz (approximately 12.87 minutes).
The user verified the full-task prompts and selected 25 of the original 87 episodes for deletion. Those episodes are absent from this dataset. Remaining episodes are renumbered contiguously from 0 to 61. No interval exclusions were set for the retained episodes at export.
GR00T training format
This is a LeRobot v2.1 dataset with per-episode Parquet and RGB video
files. meta/modality.json maps annotation.human.task_description to
task_index. Each frame's task index resolves through meta/tasks.jsonl to its
verified full-task prompt. The dataset has four prompts:
| Prompt | Episodes |
|---|---|
| approach the table and pick the bottle | 40 |
| approach the table and pick the water bottle | 1 |
| approach the table and pick the apple | 15 |
| approach the table and pick the brown bottle | 6 |
State/action values and videos are preserved from the collected episodes. Only episode/global indices and task labels are rewritten. Statistics are aggregated over the retained episodes. This export uses one full-task prompt for the entire episode; it does not divide episodes into subtasks.
Provenance
meta/dataset_version.json: version, counts, deleted source IDs and identity mapping.meta/source_episode_mapping.json: frozen annotation workflow provenance.meta/lerobot_annotations.json: verified per-episode full-task annotations.meta/annotation_reviews.json: reviews recorded after the user's prompt verification.meta/groot_instruction_export.json: training-language export mode.
The original review/source dataset remains separate and unchanged. Use revision
ver.260909 when downloading this version from
mncai/G1_Dex3_PickTable.
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