CLARU
EduardoTij2026mit

G1 Handshake Dataset

Simulated handshake demonstrations collected in NVIDIA Isaac Sim with a Unitree G1 humanoid robot (29-DoF body + Inspire dexterous hand). Dataset converted to LeRobot v2 format for GR00T VLA fine-tuning.

Downloads92
Episodes100
Hours0.2778

Technical Profile

Modalities
rgb
Robot Embodiments
Unitree G1
Action Space
53-DoF
Environment
simulation
Task Types
manipulationhandshake
Episodes
100
Total Hours
0.2778
Data Format
LeRobot
License
mit
Part of the G1 Handshake Dataset family

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