Unitree UnifoLM-WBT Unitree G1 Whole-Body Teleoperation Dataset Family
UnifoLM-WBT 是宇树官方 Hugging Face 集合中的 Unitree G1 全身遥操作数据族。集合当前列出 14 个公开、非门控任务仓，覆盖洗衣、冰箱、床铺、枕头、洗碗机与家居收纳等操作；抽样固定版本使用 LeRobot v3 的 Parquet、MP4 与 meta/info.json，记录 30Hz 头部双目和双腕 RGB、36 维机器人状态/目标、12 维末端状态/动作、12 维手部状态/命令及时间戳。该家族是 MotionWAM 等人形全身训练的可追溯上游来源之一，但每个任务的手型、完整规模、失败轨迹、标定、隐私与许可证必须逐仓核验。
- 开放状态
- 数据可下载·许可证缺失
- 许可证
- 抽样的 13 个任务卡声明 Apache-2.0；已检查的 Clean The Living Room 任务卡没有声明许可证。集合级许可证、机器人固件/SDK 与所有子集条款不能由单一任务卡继承。
- 商业使用
- 仅在目标任务仓明确声明 Apache-2.0 且下游机器人、视频、SDK 与第三方依赖条款均适用时，才可能使用；未声明许可证的子集不得假定可商用。
- 人工评审结论
- official_public_nongated_g1_wbt_task_family_sampled_lerobot_schema_per_task_license_boundary
- 机器人
- Unitree G1 humanoid、Inspire / BrainCo / Dex1 hand configurations depending on task
- 任务
- 14 listed public G1 whole-body teleoperation task repositories, including clothes collection/washing/basket placement, pillow pickup, dishwasher plate collection, bed making, drinks fridge placement, vegetable basket placement, medicine pickup and living-room cleaning
- 模态
- head stereo RGB、left/right wrist RGB、whole-body robot state、whole-body desired action、end-effector state/action、hand state/command、timestamp、episode/task index
- 格式
- LeRobot v3 layout: Parquet data and episode metadata, MP4/AV1 video streams, task tables, stats and info JSON; exact keys differ between task/hand configurations
- 采集/生成方式
- officially published Unitree G1 whole-body teleoperation task recordings; operator interface, reset protocol and quality-control process are not fully described in the collection API
- 已知问题
- The collection is mutable and has no family-wide immutable manifest, checksum ledger, aggregate episode/hour/size total, action-scale documentation, calibration bundle, failure data, consent/privacy statement or independent replay report. Five task metadata fetches were incomplete during review and are retained as an explicit coverage gap. Do not label the family as a generic commercial G1 dataset solely from some Apache-2.0 task cards.