Frame from the UnifoLM R1 Dex1 Dataset (R1_Dex1_Fold_Towel), Unitree Robotics, Apache 2.0.
Apache 2.0
The publisher's licence permits commercial use and redistribution, with attribution. Hub card tag apache-2.0 on all five repos, applied by Unitree's own organisation; the card bodies carry no licence sentence of their own.
hf download unitreerobotics/R1_Dex1_Fold_Towel --repo-type dataset --local-dir ./R1_Dex1_Fold_TowelFive public repos listed in the collection, about 4.2 GB together; the command pulls the towel folding one.
Specification, as published
- Hours (derived)
- 0.8 h
- Episodes (stated)
- 169 episodes
- Task
- Laundry & folding, Pick & place, Tidying & put-away, Cooking & food prep
- Environment
- Indoor – office
- Modality
- RGB, Proprioception, Actions
- Capture
- Egocentric
- In frame
- Robot hands
- Captured in
- Asia
- Embodiment
- Unitree R1 humanoid with Dex1 parallel grippers
- Frame rate
- 30 fps
- Resolution
- 640x480
- Formats
- LeRobot v3.0, Parquet, MP4
- Size
- about 4.2 GB on the Hub across 5 repos
- Hosted on
- Hugging Face
Figures are the publisher's own. Kinetic Blocks has not measured this dataset. Derived from the meta/info.json of all five repos: 89,372 frames at 30 fps. Frames are timesteps and are not summed across the four camera views.
About this dataset
A first, small release on Unitree's R1 humanoid: upper-body two-arm teleoperation with Dex1 parallel grippers in an office setting. Five task repos cover folding a towel, pouring popcorn between bowls, putting pens into a drawer, setting plates and tidying building blocks. Each episode has two head cameras and two wrist cameras at 640x480 and 30 fps, with 16-dimensional arm and gripper state and action vectors.
Publisher's own task names: fold the towel, pour popcorn between bowls, put pens into drawer, set plates, tidy building blocks.
What Kinetic Blocks did, and did not do
Indexed and linked from the publisher. Not hosted, verified or graded by Kinetic Blocks. The publisher's terms govern. The licence shown is the one stated on the publisher's page, linked above. Nothing on this page is a claim by Kinetic Blocks.
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