CLARU
JeffrinSamapache-2.0

G1 BrainCo WBT GR00T Dataset

Unitree G1 humanoid robot with BrainCo 6-DOF dexterous hands demonstration dataset containing 1200 episodes across 4 household manipulation tasks, converted to LeRobot v2.1 format for fine-tuning NVIDIA GR00T N1.7.

Downloads2K

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
Unitree G1 humanoidBrainCo 6-DOF dexterous hands
Environment
homehousehold
Task Types
manipulationpick_and_placegraspingopening_drawersobject_arrangement
Data Format
LeRobot v2.1 parquet
License
apache-2.0
Part of the G1 BrainCo WBT GR00T Dataset family

Community Signals

Top 25% by downloads

Access

View on HuggingFace

Need custom rgb data?

Claru builds purpose-built datasets for home applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes with cross-modal contextual instructions derived from spoken dialogue, environmental sounds, and visual cues rather than explicit commands.

rgbaudiolanguage
114K downloadsMar 2026cc-by-nc-4.0

Xperience-10M

A large-scale egocentric multimodal dataset of human experience containing 10 million interactions and 10,000 hours of synchronized first-person recordings with six video streams, audio, stereo depth, camera pose, hand mocap, full-body mocap, IMU, and hierarchical language annotations for embodied AI, robotics, and world modeling research.

rgbaudiodepthproprioception+3
109K downloadsApr 2026other

OmniAction

A large-scale multimodal dataset for proactive robot manipulation with 141,162 episodes covering contextual instruction following through spoken dialogue, environmental sounds, and visual cues. The dataset includes 5,096 distinct speaker timbres, 2,482 non-verbal sound events, and 640 environmental backgrounds across six categories of contextual instructions.

rgbaudiolanguage
101K downloadsApr 2026cc-by-nc-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation with 141,162 episodes covering contextual instruction following through spoken dialogue, environmental sounds, and visual cues.

rgbaudiolanguage
100K downloadsApr 2026cc-by-nc-4.0

Open-H-Embodiment

A community-driven, multi-embodiment dataset of paired kinematics and video for training and evaluating AI autonomy models in surgical robotics and ultrasound applications, including tabletop exercises, clinical procedures, and healthcare robotics simulations.

rgbproprioception
74K downloadsJun 2026cc-by-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes across 112 skills and 748 objects, enriched with audio, visual, and contextual instruction data for cross-modal intention recognition.

rgbaudiolanguage
74K downloadsMar 2026cc-by-nc-4.0