DaoyuanZhuapache-2.0
g1_desktop_handover_hammer_neck
Bimanual tabletop teleoperation dataset on a Unitree G1 with Inspire dexterous hands performing a pick-and-hand-over task with a hammer. Contains 35 episodes with synchronized multi-camera views and real hand joint measurements.
Downloads29
Episodes35
Why This Matters for Physical AI
This dataset provides high-fidelity bimanual manipulation data with dexterous hand control and human-hand pose annotations, enabling research into collaborative object handover and complex manipulation skills on humanoid robots.
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
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