DaoyuanZhuapache-2.0
wb_gaze_tool_handover2
Whole-body teleoperation dataset from a Unitree G1 humanoid robot performing tool handover tasks, where the robot picks up tools that a human looks at and hands them to the human.
Downloads0
Episodes42
Why This Matters for Physical AI
This dataset provides whole-body control and dexterous manipulation demonstrations from a humanoid robot with hand pose annotations, enabling research on teleoperated humanoid control and vision-guided grasping tasks.
Technical Profile
- Modalities
- rgbproprioceptionpose_estimation
- Robot Embodiments
- Unitree G1humanoid
- Action Space
- joint_positions
- Environment
- lab
- Task Types
- pick_and_placegraspingmanipulationhandover
- Episodes
- 42
- Data Format
- LeRobot
- Annotation Types
- pose_estimationhand_landmarksbody_keypoints
- License
- apache-2.0
Access
Need custom rgb data?
Claru builds purpose-built datasets for lab applications with dense human annotations and quality assurance.
Request a Sample Pack