Search is not available for this dataset
observation.state listlengths 31 31 | action listlengths 66 66 | timestamp float32 0 79.1 | frame_index int64 0 3.95k | episode_index int64 0 94 | index int64 0 187k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
can_to_martino_2
Whole-body teleoperation on a Unitree G1, recorded 2026-08-25. The robot picks a can off a low
table and places it on a white table. Successor to
nepyope/can_to_martino (44 episodes),
recorded on the same rig with the same pipeline.
| episodes | 95 |
| frames | 187,224 |
| fps | 50 |
| codebase version | v3.0 |
| task | Bring the can to the white table |
Schema
| feature | dtype | shape | contents |
|---|---|---|---|
observation.state |
float32 | [31] | 29 body joints in G1_29_JointIndex order, then left/right gripper |
action |
float32 | [66] | 64-D SONIC motion token, then left/right gripper |
observation.images.ego_view |
video | [480, 640, 3] | head camera |
observation.images.left_wrist |
video | [480, 640, 3] | left wrist camera |
observation.images.right_wrist |
video | [480, 640, 3] | right wrist camera |
action[t] is the command that produces observation.state[t+1], so each episode is one frame
shorter than its recording.
Known issue: the left gripper is dead
observation.state[29] and action[64] are identically 0.0 in every frame — the episodes were
effectively recorded one-handed. Their q01/q99 in meta/stats.json are set by hand to 0/1
so quantile normalisation does not divide by zero. A policy trained on this data will never open
or close the left hand. The right gripper is healthy (closed in 38% of frames).
No other channel is degenerate: all 64 token dimensions and all 29 joints vary.
Provenance
Merged from 11 recording sessions. Episodes the operator discarded during collection were dropped, along with one 2.2-second stub. The sessions used five different task prompts for what is the same behaviour; all episodes were relabelled to a single prompt.
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