Action-Conditioned Latent Foresight
Real-robot demonstrations accompanying Coordinating Humanoid Loco-Manipulation through Action-Conditioned Latent Foresight. The dataset contains 2,600 demonstrations across seven humanoid loco-manipulation tasks on Unitree G1.
Tasks
| Task in the paper | Directory | Demonstrations |
|---|---|---|
| Dispose of Trash | dispose_of_trash |
400 |
| Collect Toy with Cart | collect_toy_with_cart |
400 |
| Water Plant | water_plant |
400 |
| Pack and Stow Power Strip | pack_and_stow_power_strip |
400 |
| Load Washer | load_washer |
400 |
| Retrieve Shirt from Drawer | retrieve_shirt_from_drawer |
400 |
| Place Basket on Table | place_basket_on_table |
200 |
Data format
Each task is a separate LeRobot v2.1 dataset with data/, videos/, and meta/ directories.
The recordings are stored at 50 Hz. The original language instructions are retained in each task's meta/tasks.jsonl.
task_names.json maps the paper's task names to directory names and original instructions.
Access
Access requires manual approval. Submit a request with your institution or organization and intended use through Hugging Face. Once approved, use your authenticated Hugging Face account to download the files.
Naming
This repository was previously named ju6276/MoMa. Task directories now follow the paper's names; previous directory names are recorded in task_names.json.
Trajectory data, video files, episode indices, and language instructions are unchanged.
License
MIT, retaining the repository's existing license declaration.
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