THU-MARS/

OMG-Data

Official LeRobotDataset v3.0 release for OMG. It contains Unitree G1 reference motion with text, audio, human reference conditioning.

Episodes: 798181

Frames: 121171939

FPS: 30

Robot: Unitree G1, 29 actuated joints

train: episodes 0:636865

val: episodes 636865:716840

test: episodes 716840:798181

observation.state is the 36D G1 qpos at frame t. action is the target 36D G1 qpos at frame t+1; it is a reference-motion target, not a low-level… See the full description on the dataset page: https://huggingface.co/datasets/THU-MARS/OMG-Data.