DaoyuanZhuapache-2.0
g1_desktop_handover_tomato
Bimanual tabletop teleoperation dataset on a Unitree G1 humanoid with Inspire dexterous hands performing a hand-over task with a tomato. Contains 31 episodes with synchronized dual-arm manipulation and human hand pose annotations.
Downloads26
Episodes31
Hours0.127
Why This Matters for Physical AI
Demonstrates bimanual dexterous manipulation with real hand sensing and human hand pose tracking, enabling research into coordinated dual-arm control and human-robot physical interaction.
Technical Profile
- Modalities
- rgbproprioceptionhand_pose
- Robot Embodiments
- Unitree G1humanoid
- Action Space
- joint_positions
- Environment
- labtabletop
- Task Types
- manipulationhandoverbimanual_manipulation
- Episodes
- 31
- Total Hours
- 0.127
- Data Format
- LeRobot
- Annotation Types
- hand_posehuman_hand_landmarks
- License
- apache-2.0
Access
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