diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..bed0738c7eeb449bca98b5d2f33c89a1ee56349a --- /dev/null +++ b/.gitattributes @@ -0,0 +1,60 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.avro filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..5ce232199ed6254d01ef1f404cb6ca7b7a59a29a --- /dev/null +++ b/README.md @@ -0,0 +1,101 @@ +--- +license: apache-2.0 +task_categories: + - robotics +tags: + - humanoid + - vla + - imitation-learning + - unitree-g1 + - egocentric +pretty_name: EgoHumanoid Sample Dataset (G1) +size_categories: + - n<1K +--- + +# EgoHumanoid · Sample G1 Dataset + +A small sample dataset collected on the **Unitree G1** humanoid platform, released alongside [**EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration**](https://arxiv.org/abs/2602.10106) for quick experimentation and fine-tuning. + +

+ Project Page + GitHub + arXiv + HF Dataset +

+ +--- + +## Overview + +This repository hosts a **sample subset** intended for: + +- Smoke-testing the EgoHumanoid training / inference pipeline +- Fine-tuning a pretrained VLA policy on a small G1 task +- Validating data loaders and the LeRobot-compatible storage format + +For the **full release** and broader documentation, please visit the project page and GitHub repository linked below. + +## Links + +| Resource | URL | +| --- | --- | +| Project Page | | +| GitHub Repo | | +| Paper (arXiv)| | + +## Dataset Structure + +``` +EgoHumanoid/ +└── example/ + ├── data/ + │ └── chunk-000/ + │ └── episode_*.parquet # per-episode state / action trajectories + ├── meta/ + │ ├── info.json # schema & dataset metadata + │ ├── modality.json # input / output modality definitions + │ ├── episodes.jsonl # episode index + │ ├── episodes_stats.jsonl # per-episode statistics + │ └── tasks.jsonl # language task descriptions + ├── videos/ # egocentric RGB recordings + └── norm_stats.json # normalization statistics for VLA training +``` + +The layout follows the **LeRobot v2** convention, so any LeRobot-compatible loader can read it out of the box. + +## Quick Start + +```python +from huggingface_hub import snapshot_download + +local_dir = snapshot_download( + repo_id="OpenDriveLab/EgoHumanoid", + repo_type="dataset", + allow_patterns="example/*", +) +print(f"Downloaded to: {local_dir}/example") +``` + +Or with the CLI: + +```bash +hf download OpenDriveLab/EgoHumanoid --repo-type=dataset --local-dir ./EgoHumanoid +``` + +## Citation + +If you find this dataset useful, please cite the EgoHumanoid paper: + +```bibtex +@article{shi2026egohumanoid, + title={EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration}, + author={Shi, Modi and Peng, Shijia and Chen, Jin and Jiang, Haoran and Li, Yinghui and Huang, Di and Luo, Ping and Li, Hongyang and Chen, Li}, + journal={arXiv preprint arXiv:2602.10106}, + year={2026} +} +``` + +## License + +Released 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