OpenHLM-data
Description
OpenHLM-data is a 298 GB, approximately 1.81-million-row collection of Unitree G1 demonstrations packaged as five corresponding LeRobot datasets. It combines joint-based whole-body teleoperation, stationary manipulation, and robot-free HuMI demonstrations for 12 language-conditioned tasks and fruit-arrangement experiments, including walking, squatting under shelves, pedal use, cart pushing, pouring, and cross-height placement. Stereo head and wrist RGB, 32-D body state, gripper state, actions, and instructions train whole-body-native vision-language-action policies.
License
MIT (dataset metadata); Apache-2.0 (repository).*
* Double-check the publisher's current license and usage terms before using this dataset.