Frame from the UnifoLM Z1 Arm Dataset (Z1_Dual_Dex1_FoldClothes_Dataset), 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 six repos, applied by Unitree's own organisation, and repeated as License: apache-2.0 in the card body.
hf download unitreerobotics/Z1_Dual_Dex1_FoldClothes_Dataset --repo-type dataset --local-dir ./Z1_Dual_Dex1_FoldClothes_DatasetSix public repos listed in the collection; the command pulls the T-shirt folding one.
Specification, as published
- Hours (derived)
- 20 h
- Episodes (stated)
- 2,402 episodes
- Task
- Laundry & folding, Cooking & food prep, Tidying & put-away, Pick & place
- Environment
- Indoor – lab
- Modality
- RGB, Proprioception, Actions
- Capture
- Exocentric
- In frame
- Robot hands
- Captured in
- Asia
- Embodiment
- Unitree Z1 7-DoF arm with parallel gripper (dual and single arm)
- Frame rate
- 30 fps
- Resolution
- 640x480
- Formats
- LeRobot v3.0, Parquet, MP4
- Size
- about 73 GB on the Hub across 6 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 six repos: 2,154,078 frames at 30 fps. Frames are timesteps and are not summed across camera views.
About this dataset
Teleoperation on Unitree's Z1 7-DoF arm with a parallel gripper, mostly as a dual-arm pair set about 60 cm apart. Six task repos: tidying pencils, folding a T-shirt, pouring coffee, and three box-stacking sets including a single-arm one. Each episode has a wrist camera on every arm plus a fixed overhead camera 40 cm above the work surface, at 640x480 and 30 fps, with joint states and next actions. The T-shirt fold takes 100 to 200 seconds per attempt by the card's own account.
Publisher's own task names: cleanup pencils, fold clothes, pour coffee, stack box.
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.
Want the verified ones too?
Request access to the marketplace, where verified listings are checked against their files and graded A+ to F, and your money waits until the data holds up.