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cloudwalk-researchapache-2.0

GR00T G1 Grab-Bottle (right hand) - speedup-3mm (DP resample, no removal)

LeRobot v2.1 dataset for Unitree G1 right-hand bottle-grab task with 220 episodes of teleoperated data processed through Dynamic Programming wrist-trajectory resampling at 3mm/frame. Training data for GR00T N1.7 fine-tune baseline with SONIC whole-body controller.

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Technical Profile

Modalities
rgbproprioceptionstate
Robot Embodiments
Unitree G1humanoid
Environment
lab
Task Types
graspingmanipulationpick_and_place
Data Format
LeRobot
License
apache-2.0
Part of the GR00T G1 Grab-Bottle (right hand) - speedup-3mm (DP resample, no removal) family

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