Search is not available for this dataset
observation.state listlengths 49 49 | action listlengths 32 32 | timestamp float64 0 101 | annotation.human.action.task_description int64 0 0 | task_index int64 0 0 | annotation.human.validity int64 1 1 | episode_index int64 0 497 | index int64 0 509k |
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End of preview. Expand in Data Studio
G1 Locomanipulation SDG
Synthetic visuomotor dataset for Unitree G1 locomanipulation (pick-and-place with point-to-point navigation), generated from Isaac Lab's locomanipulation-SDG pipeline and converted to LeRobot v2.0 format for GR00T N1.6 finetuning.
Dataset summary
- 55 episodes, ~58k frames total
- 20 fps
- Ego-view camera:
observation.images.ego_view, 160×256×3 - Task prompt:
"Pick up and drop off the object"
State (49 dims)
| Key | Range | Description |
|---|---|---|
left_hand_pose |
0:7 | Left wrist pose (pos + quat, base-relative) |
right_hand_pose |
7:14 | Right wrist pose (pos + quat, base-relative) |
left_hand_joint_positions |
14:21 | 7-DOF left hand joints |
right_hand_joint_positions |
21:28 | 7-DOF right hand joints |
object_pose |
28:35 | Object pose (base-relative) |
goal_pose |
35:42 | Base goal pose (base-relative) |
end_fixture_pose |
42:49 | Drop-off fixture pose (base-relative) |
Action
Hand poses + hand joint positions + base velocity + base height (exact slicing in meta/modality.json).
Generation pipeline
- Teleoperation recording via Quest controllers (Isaac Lab Mimic)
- Manual subtask annotation
- Isaac Lab Mimic dataset generation (state-only, ~1000 source demos)
- Locomanipulation SDG with randomized obstacle/fixture placement and AGILE locomotion policy
- LeRobot v2.0 conversion (this dataset)
See the Isaac Lab imitation-learning docs for the full pipeline.
Intended use
Finetuning NVIDIA GR00T N1.5/N1.6 for G1 locomanipulation. Training is driven by the g1_locomanipulation_sdg entry in GR00T's DATA_CONFIG_MAP (see scripts/imitation_learning/locomanipulation_sdg/gr00t/data_config.py in Isaac Lab).
Visualize
- Local:
python -m lerobot.scripts.visualize_dataset --repo-id SensoriRobotics/g1_locomanipulation_sdg --root <local_path> --local-files-only --episode-index 0 - HF Space: lerobot/visualize_dataset
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