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@@ -63,7 +63,7 @@ In our experiments, we consider the following three opensource dataset:
|Z1_DualArm_StackBox|[Unitree Z1](https://www.unitree.com/z1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/Z1_Dual_Dex1_StackBox_Dataset/tree/v2.1)|
|Z1_DualArm_StackBox_V2|[Unitree Z1](https://www.unitree.com/z1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/Z1_Dual_Dex1_StackBox_Dataset_V2/tree/v2.1)|
|Z1_DualArm_Cleanup_Pencils|[Unitree Z1](https://www.unitree.com/z1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/Z1_Dual_Dex1_CleanupPencils_Dataset/tree/v2.1)|
|G1_Pack_Camera|[Unitree G1](https://huggingface.co/datasets/unitreerobotics/G1_Dex1_MountCameraRedGripper_Dataset/tree/v2.1)
|G1_Pack_Camera|[Unitree G1](https://www.unitree.com/g1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/G1_Dex1_MountCameraRedGripper_Dataset/tree/v2.1)|
To train on your own dataset, first to have the data following the [Huggingface LeRobot V2.1](https://github.com/huggingface/lerobot) dataset format. Assume the dataset’s source directory structure is as follows:
```