Data card
What a rhoyn recording contains, robot by robot. The G1 spec is exactly what the public sample carries.
Every recording
- LeRobotDataset v3.0. AV1 video per camera, with the extra streams in their own folders beside it.
- One timeline. A capture time on every row, and every stream mapped onto the same system clock.
- Calibration. Intrinsics and extrinsics for every sensor.
Unitree G1
| Robot | G1 Edu+, 29 DoF, Dex1-1 grippers |
|---|---|
| Teleoperation | PICO 4 Ultra VR headset |
| Cameras | D435 on the body, a D405 on each wrist; color, stereo infrared and lossless 16-bit depth from each |
| Other sensors | Livox MID-360 LiDAR, three IMUs, measured joint torque, motor temperature |
| Rates | Rows at 30 fps; D435i IMU at 200 Hz gyro, 100 Hz accelerometer; headset packets at up to 800 Hz |
| Sync | Hardware frame numbers and sensor timestamps per camera; LiDAR clock mapped onto the system clock |
YAM · OpenArm · reBot
In our lab, with the first recordings from early November. Grippers, cameras and teleoperation are set to your project.
Tasks and environments
You choose the tasks, objects and scenes. The public sample shows six G1 tasks: eggs, connect four, jenga, a puzzle, socks and wipes; wipes, socks and eggs are also on Hugging Face.
Licensing
Exclusive or non-exclusive, with full ownership transfer available. We match the terms to your project. The public sample is CC BY 4.0.