DaoyuanZhuapache-2.0
wb_handover_pointed_hanging_black_clothes
Whole-body teleoperation dataset from a Unitree G1 humanoid robot performing a task of taking down clothes from a hanger pointed to by a human and handing them over. Published in LeRobot v2.1 format with 82 episodes of whole-body control data including dexterous hand manipulation.
Downloads0
Episodes82
Hours0.4
Why This Matters for Physical AI
This dataset demonstrates whole-body humanoid control with dexterous hand manipulation through teleoperation, providing crucial real-world motion data for training embodied AI systems that must coordinate locomotion, arm movement, and fine-grained hand control.
Technical Profile
- Modalities
- rgbproprioceptionpose_estimationhand_landmarks
- Robot Embodiments
- Unitree G1 WholeBodyInspire Hand
- Action Space
- joint_positions
- Environment
- lab
- Task Types
- manipulationgraspinghandoverwhole-body control
- Episodes
- 82
- Total Hours
- 0.4
- Data Format
- parquet
- Annotation Types
- pose_estimationhand_landmarksbody_keypoints
- License
- apache-2.0
Access
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