Datasets:
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observation.state listlengths 31 31 | action listlengths 66 66 | timestamp float32 0 96.1 | frame_index int64 0 4.81k | episode_index int64 0 28 | index int64 0 57.7k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
can_to_martino_3
Whole-body teleoperation on a Unitree G1, recorded the evening of 2026-08-25. The robot picks a
can off a low table and places it on a white table. Same rig, task and pipeline as
nepyope/can_to_martino_2, recorded
in three later sessions and released separately rather than merged into it.
| episodes | 29 |
| frames | 57,651 |
| fps | 50 |
| codebase version | v3.0 |
| task | Bring the can to the white table |
Schema
Identical to can_to_martino_2, so the two can be concatenated.
| 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
As in can_to_martino_2, observation.state[29] and action[64] are identically 0.0 in every
frame — these 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.
The right gripper is healthy (closed in 40% of frames). No other channel is degenerate.
Provenance
Merged from three sessions. Episodes the operator discarded during collection were dropped, along with two stubs of 3.3 s and 0.1 s. The discard rate in these sessions was high — 49 of 80 recorded episodes, and 37 of 53 in the first session alone — so this data is a smaller, more heavily filtered sample than its recording time suggests.
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