DaoyuanZhuapache-2.0
g1_desktop_handover_hammer_handle
Bimanual tabletop teleoperation dataset on a Unitree G1 with Inspire dexterous hands performing pick-and-place handover tasks. Contains 35 episodes of hammer handle handover demonstrations in LeRobot v2.1 format.
Downloads12
Episodes35
Why This Matters for Physical AI
This dataset demonstrates real-world teleoperated bimanual manipulation with high-DOF dexterous hands, providing training data for learning complex object handover and in-hand manipulation skills on humanoid platforms.
Technical Profile
- Modalities
- rgbproprioceptionhand_pose
- Robot Embodiments
- Unitree G1humanoid
- Action Space
- joint_positions
- Environment
- lab
- Task Types
- manipulationpick_and_placehandover
- Episodes
- 35
- Data Format
- LeRobot
- Annotation Types
- hand_posehuman_hand_landmarks
- License
- apache-2.0
Access
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