| --- |
| license: cc-by-nc-sa-4.0 |
| language: |
| - en |
| - zh |
| size_categories: |
| - n>1T |
| tags: |
| - robotics |
| - real-world |
| - dual-arm |
| - whole body control |
| - manipulation |
| - lerobot |
|
|
| extra_gated_prompt: >- |
| ### GALAXEA COMMUNITY LICENSE AGREEMENT: All the data and code |
| within this repo are under [CC BY-NC-SA |
| 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). |
| extra_gated_fields: |
| First Name: text |
| Last Name: text |
| Email: text |
| Country: country |
| Affiliation: text |
| Phone: text |
| Job title: |
| type: select |
| options: |
| - Student |
| - Research Graduate |
| - AI researcher |
| - AI developer/engineer |
| - Reporter |
| - Other |
| geo: ip_location |
| By clicking Submit below I accept the terms of the license and acknowledge that the information I provide will be collected stored processed and shared in accordance with the Galaxea Privacy Policy: checkbox |
| extra_gated_description: >- |
| The information you provide will be collected, stored, processed and shared in |
| accordance with the Galaxea Privacy Policy. |
| extra_gated_button_content: Submit |
| --- |
| |
| # Galaxea Open-World Dataset |
| [](https://opengalaxea.github.io/G0/) |
| [](https://arxiv.org/abs/2509.00576) |
| [](https://opengalaxea.github.io/G0/) |
| [](https://opengalaxea.github.io/G0/visualizer/index.html) |
| [](https://www.modelscope.cn/organization/Galaxea) |
| [](https://x.com/Galaxea_x) |
| [](https://www.linkedin.com/company/galaxeadynamics/posts/?feedView=all&viewAsMember=true) |
| [](https://discord.gg/hB6BuUWZZA) |
|
|
| ## Key Features |
| - **500+ hours** of real-world mobile manipulation data. |
| - All data collected using **one uniform robotic embodiment** (R1-Lite) for consistency. |
| - Fine-grained **subtask language annotations** (bilingual Chinese/English). |
| - Covers **residential**, **kitchen**, **retail**, and **office** settings. |
| - Dataset in **LeRobot v2.1** format. |
|
|
| ## Dataset Structure |
|
|
| The dataset is organized as **227 task-level tar.gz archives** under the `lerobot/` directory. Each archive contains a self-contained LeRobot dataset for one task: |
|
|
| ``` |
| lerobot/ |
| ├── Adjust_The_Air_Conditioner_Temperature_20250711_006.tar.gz |
| ├── Arrange_Fruits_20250819_011.tar.gz |
| ├── Clean_The_Mirror_20250714_006.tar.gz |
| ├── ... |
| └── Wipe_The_Sewage_Stains_With_A_Ground_Cloth_20250801_012.tar.gz |
| ``` |
|
|
| After extracting a task archive, the directory follows the standard LeRobot v2.1 layout: |
|
|
| ``` |
| <task_name>/ |
| ├── meta/ |
| │ ├── info.json # Dataset metadata (features, fps, splits, etc.) |
| │ ├── episodes.jsonl # Per-episode info (tasks, length, source file) |
| │ └── episodes_stats.jsonl # Per-episode statistics |
| ├── data/ |
| │ └── chunk-000/ |
| │ ├── episode_000000.parquet |
| │ ├── episode_000001.parquet |
| │ └── ... |
| └── videos/ |
| └── chunk-000/ |
| ├── observation.images.head_rgb/ |
| │ ├── episode_000000.mp4 |
| │ └── ... |
| ├── observation.images.head_right_rgb/ |
| ├── observation.images.left_wrist_rgb/ |
| └── observation.images.right_wrist_rgb/ |
| ``` |
|
|
| ## LeRobot Dataset Schema |
|
|
| A detailed schema is available in [lerobot_info.json](https://huggingface.co/datasets/OpenGalaxea/Galaxea-Open-World-Dataset/blob/main/lerobot_info.json). Below is a summary of all features: |
|
|
| ### Observations |
|
|
| | Feature | Dtype | Shape | Description | |
| |---|---|---|---| |
| | `observation.images.head_rgb` | video | (720, 1280, 3) | Head camera RGB | |
| | `observation.images.head_right_rgb` | video | (720, 1280, 3) | Head right camera RGB | |
| | `observation.images.left_wrist_rgb` | video | (720, 1280, 3) | Left wrist camera RGB | |
| | `observation.images.right_wrist_rgb` | video | (720, 1280, 3) | Right wrist camera RGB | |
| | `observation.state.left_arm` | float64 | (6,) | Left arm joint positions | |
| | `observation.state.left_arm.velocities` | float64 | (6,) | Left arm joint velocities | |
| | `observation.state.right_arm` | float64 | (6,) | Right arm joint positions | |
| | `observation.state.right_arm.velocities` | float64 | (6,) | Right arm joint velocities | |
| | `observation.state.torso` | float64 | (4,) | Torso joint positions | |
| | `observation.state.torso.velocities` | float64 | (4,) | Torso joint velocities | |
| | `observation.state.chassis` | float64 | (3,) | Chassis positions | |
| | `observation.state.chassis.velocities` | float64 | (3,) | Chassis velocities | |
| | `observation.state.chassis.imu` | float64 | (10,) | Chassis IMU (orientation, angular velocity, linear acceleration) | |
| | `observation.state.left_gripper` | float64 | (1,) | Left gripper state (0-close, 100-open) | |
| | `observation.state.right_gripper` | float64 | (1,) | Right gripper state (0-close, 100-open) | |
| | `observation.state.left_ee_pose` | float64 | (7,) | Left end-effector pose (position + quaternion) | |
| | `observation.state.right_ee_pose` | float64 | (7,) | Right end-effector pose (position + quaternion) | |
|
|
| ### Actions |
|
|
| | Feature | Dtype | Shape | Description | |
| |---|---|---|---| |
| | `action.left_arm` | float64 | (6,) | Target left arm joint positions | |
| | `action.right_arm` | float64 | (6,) | Target right arm joint positions | |
| | `action.left_gripper` | float64 | (1,) | Target left gripper position | |
| | `action.right_gripper` | float64 | (1,) | Target right gripper position | |
| | `action.chassis.velocities` | float64 | (6,) | Target chassis twist (linear + angular) | |
| | `action.torso.velocities` | float64 | (6,) | Target torso twist (linear + angular) | |
|
|
| ### Metadata Columns |
|
|
| | Feature | Dtype | Description | |
| |---|---|---| |
| | `timestamp` | float32 | Timestamp within episode | |
| | `frame_index` | int64 | Frame index within episode | |
| | `episode_index` | int64 | Episode index | |
| | `index` | int64 | Global frame index | |
| | `task_index` | int64 | Subtask annotation index | |
| | `coarse_task_index` | int64 | Coarse-level task index | |
| | `quality_index` | int64 | Quality annotation index | |
| | `coarse_quality_index` | int64 | Coarse-level quality index | |
|
|
| All video streams are encoded with **AV1 codec** at **15 fps**. |
|
|
| ## Quick Start |
|
|
| Below is an example of how to download and load a single task from the dataset using the Hugging Face Hub and LeRobot: |
|
|
| ```python |
| import tarfile |
| from pathlib import Path |
| from huggingface_hub import hf_hub_download |
| from lerobot.common.datasets.lerobot_dataset import LeRobotDataset |
| import torch |
| |
| # 1. Download a single task archive |
| task_name = "Clean_The_Mirror_20250714_006" |
| tar_path = hf_hub_download( |
| repo_id="OpenGalaxea/Galaxea-Open-World-Dataset", |
| filename=f"lerobot/{task_name}.tar.gz", |
| repo_type="dataset", |
| ) |
| |
| # 2. Extract it |
| extract_dir = Path("./galaxea_data") |
| extract_dir.mkdir(exist_ok=True) |
| with tarfile.open(tar_path, "r:gz") as tar: |
| tar.extractall(path=extract_dir) |
| |
| # 3. Load with LeRobot |
| dataset = LeRobotDataset.from_local(str(extract_dir / task_name / task_name)) |
| |
| print(f"Number of episodes: {dataset.num_episodes}") |
| print(f"Number of frames: {dataset.num_frames}") |
| print(f"FPS: {dataset.fps}") |
| |
| # 4. Access a single frame |
| frame = dataset[0] |
| print(f"\nFrame keys: {list(frame.keys())}") |
| print(f"Left arm state shape: {frame['observation.state.left_arm'].shape}") |
| print(f"Left arm action shape: {frame['action.left_arm'].shape}") |
| |
| # 5. Iterate over an episode |
| from torch.utils.data import DataLoader |
| |
| dataloader = DataLoader(dataset, batch_size=32, shuffle=False) |
| for batch in dataloader: |
| print(f"Batch observation.state.left_arm shape: {batch['observation.state.left_arm'].shape}") |
| break |
| ``` |
|
|
| ## Citation |
|
|
| All the data and code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). If you use our dataset or models, please cite: |
|
|
| ```bibtex |
| @article{galaxea2025, |
| title={Galaxea G0: Open-World Dataset and Dual-System VLA Model}, |
| author={Galaxea Team}, |
| journal={arXiv preprint arXiv:2509.00576}, |
| year={2025} |
| } |
| ``` |
|
|
