diff --git a/.gitattributes b/.gitattributes index 738e4c771bc5e311c7e757652fdd486523c2de67..0904612b4a5a27976250fc29363ed2703d73401c 100644 --- a/.gitattributes +++ b/.gitattributes @@ -1591,3 +1591,37 @@ humanoid_v21_samples/unitreerobotics/sample_04/videos/observation.images.head_st humanoid_v21_samples/unitreerobotics/sample_04/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text humanoid_v21_samples/unitreerobotics/sample_04/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text humanoid_v21_samples/unitreerobotics/sample_04/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_00/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_00/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_00/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_00/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_01/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_01/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_01/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_01/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_02/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_02/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_02/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_02/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_03/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_03/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_03/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_03/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_04/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_04/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_04/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_04/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_05/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_05/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_05/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_05/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_06/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_06/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_06/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_06/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_07/videos/observation.images.cam_0.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_07/videos/observation.images.cam_1.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_08/videos/observation.images.cam_0.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_08/videos/observation.images.cam_1.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_09/videos/observation.images.cam_0.mp4 filter=lfs diff=lfs merge=lfs -text +humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_09/videos/observation.images.cam_1.mp4 filter=lfs diff=lfs merge=lfs -text diff --git a/humanoid_v21_samples/README.md b/humanoid_v21_samples/README.md index 8c2ce6ae2525abc292f86806007a6cba0d3c91d2..f48fce8db31a598de3041a4707350353fc332e8b 100644 --- a/humanoid_v21_samples/README.md +++ b/humanoid_v21_samples/README.md @@ -4,6 +4,10 @@ This folder contains **40 complete episodes**: five representative samples from The parquet, video, depth and ancillary payloads are byte-for-byte copies of the source files. This is an inspection/interoperability bundle, not a re-indexed drop-in LeRobot dataset: original episode indices are retained in `sample.json` and `manifest.json`. +## Additional Unitree WBT sample set + +`unitreerobotics_wbt_10samples/` adds 10 complete episodes from 10 distinct WBT leaf datasets. It covers BrainCo, Dex1, Inspire regular four-view data and all three MainCamOnly two-view variants. This add-on has its own manifest and checksums and is not included in the 40-episode core summary below. + ## Summary | Source | Robot type | Samples | Frames | Duration (min) | State dim | Action dim | Video files/sample | diff --git a/humanoid_v21_samples/unitreerobotics_wbt_10samples/PAYLOAD_CHECKSUMS.sha256 b/humanoid_v21_samples/unitreerobotics_wbt_10samples/PAYLOAD_CHECKSUMS.sha256 new file mode 100644 index 0000000000000000000000000000000000000000..1d04693313cd3c5bf778ad45526ddbf765680ea8 --- /dev/null +++ b/humanoid_v21_samples/unitreerobotics_wbt_10samples/PAYLOAD_CHECKSUMS.sha256 @@ -0,0 +1,64 @@ +b02f21db918f696003afb77a9303dfaff6f6d5e60fac61ea953a88a71f27dc25 sample_00/data.parquet +86b16460b9507ef2570d44051b027f0391e8c639cca6917f1c6c62f8ccb722b2 sample_00/source_meta/info.json +76bcbfe71480e1043f52585287b42f852132fe2b848a6c2f1429fe2429947530 sample_00/source_meta/tasks.jsonl +7a6fcacd5029422b4d25e19bd97b5f125dcc36a8783f4c66b0ced41f527d825e 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0000000000000000000000000000000000000000..18e75299897ef98c6a017e9f91c1f55edf39389c --- /dev/null +++ b/humanoid_v21_samples/unitreerobotics_wbt_10samples/README.md @@ -0,0 +1,22 @@ +# Unitree WBT 10-episode sample set + +Ten complete LeRobot v2.1 episodes selected from ten distinct WBT leaf datasets under `unitreerobotics_v21`. + +The source parquet, videos and metadata are byte-for-byte copies. Original episode indices are retained; this is an inspection/interoperability bundle rather than a re-indexed LeRobot dataset. + +| Sample | WBT leaf dataset | Episode | Frames | Seconds | State / action | Views | Task | +|---|---|---:|---:|---:|---:|---:|---| +| sample_00 | `G1_WBT_Brainco_Make_The_Bed` | 251 | 749 | 24.97 | 60 / 60 | 4 | Make the bed neatly | +| sample_01 | `G1_WBT_Brainco_Pick_Up_Medicine` | 243 | 750 | 25.00 | 60 / 60 | 4 | Open the drawer and pick up the medicine | +| sample_02 | `G1_WBT_Dex1_Put_Clothes_into_Washing_Machine` | 111 | 757 | 25.23 | 50 / 50 | 4 | Pick up the clothes and place them into the washing machine | +| sample_03 | `G1_WBT_Inspire_Clean_The_Living_Room` | 133 | 754 | 25.13 | 60 / 60 | 4 | Wipe the table with a cloth and put it in the basket. | +| sample_04 | `G1_WBT_Inspire_Pick_Up_Drinks` | 12 | 748 | 24.93 | 60 / 60 | 4 | pick up the drink and place into the basket. | +| sample_05 | `G1_WBT_Inspire_Put_Drinks_Into_Fridge` | 200 | 752 | 25.07 | 60 / 60 | 4 | put drinks into fridge and close the fridge | +| sample_06 | `G1_WBT_Inspire_Put_Vegetables_Into_Basket` | 4 | 750 | 25.00 | 60 / 60 | 4 | put vegetables into the basket | +| sample_07 | `G1_WBT_Inspire_Collect_Clothes_MainCamOnly/G1_WB_Dex5_Collect_Clothes` | 0 | 368 | 12.27 | 60 / 60 | 2 | Put the clothes on the bed into the basket. | +| sample_08 | `G1_WBT_Inspire_Pickup_Pillow_MainCamOnly/G1_WB_Dex5_Pickup_Pillow` | 351 | 389 | 12.97 | 60 / 60 | 2 | Pick up the pillow and put it on the sofa. | +| sample_09 | `G1_WBT_Inspire_Put_Clothes_into_Washing_Machine_MainCamOnly/G1_WB_Dex5_Put_Clothes_into_Washing_Machine` | 111 | 693 | 23.10 | 60 / 60 | 2 | Put the clothes in the basket into the washing machine. | + +Selection covers BrainCo, Dex1, Inspire regular four-view data and all three MainCamOnly two-view variants. Episodes already present in the earlier 40-episode bundle were excluded. + +Each `sample_XX/` contains `data.parquet`, `videos/`, `source_meta/` and `sample.json`. Use `manifest.json` for complete provenance and `PAYLOAD_CHECKSUMS.sha256` for integrity verification. diff --git a/humanoid_v21_samples/unitreerobotics_wbt_10samples/manifest.json b/humanoid_v21_samples/unitreerobotics_wbt_10samples/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..6a9d6e240b54e0c2e137f8f0cd18af05b2face7d --- /dev/null +++ b/humanoid_v21_samples/unitreerobotics_wbt_10samples/manifest.json @@ -0,0 +1,1006 @@ +{ + "format": "humanoid_v21_unitree_wbt_episode_samples", + "format_version": 1, + "created_date": "2026-08-25", + "source_base": "/mnt/data/dataset/PretrainData_v21/Humanoid", + "selection_policy": "One complete episode closest to 750 frames from each of ten distinct WBT leaf datasets; episodes from the previous upload excluded.", + "previously_uploaded_episodes_excluded": true, + "sample_count": 10, + "leaf_dataset_count": 10, + "frames": 6710, + "duration_seconds": 223.667, + "payload_file_count": 64, + "payload_bytes": 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