DaoyuanZhuapache-2.0
wb_handover_pointed_bread
Whole-body teleoperation dataset of a Unitree G1 humanoid robot performing a bread handover task, where the robot picks up bread pointed to by a human and hands it back. Published in LeRobot v2.1 format with 79 episodes of 43-dimensional joint state and action data.
Downloads0
Episodes79
Hours0.47
Why This Matters for Physical AI
This dataset enables training of whole-body control policies for humanoid robots performing complex dexterous manipulation tasks with human interaction, advancing research in teleoperated learning and embodied AI for realistic household assistance.
Technical Profile
- Modalities
- rgbproprioceptionpose_estimation
- Robot Embodiments
- Unitree G1humanoid
- Action Space
- joint_positions
- Environment
- lab
- Task Types
- manipulationpick_and_placehandover
- Episodes
- 79
- Total Hours
- 0.47
- Data Format
- LeRobot
- Annotation Types
- pose_estimationhand_landmarksbody_keypoints
- License
- apache-2.0
Access
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