CLARU
JeffrinSamapache-2.0

G1_Brainco_GraspRubiksCube_Dataset (2x speed, 24fps, Cosmos Policy-ready)

Resampled teleop demonstration dataset for the Unitree G1 humanoid with BrainCo dexterous hands, downsampled to 2x playback speed at 24fps for training Cosmos Policy world models. Contains 197 episodes of Rubik's cube grasping tasks with synchronized video and joint action data.

Downloads12
Episodes197

Why This Matters for Physical AI

This dataset enables training of video-based world models for dexterous humanoid manipulation by providing frame-aligned demonstrations of complex hand-object interactions optimized for efficient policy learning.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
Unitree G1BrainCo
Action Space
joint_positions
Environment
lab
Task Types
manipulationgraspingpick_and_place
Episodes
197
Data Format
LeRobot
Annotation Types
language_instructions
License
apache-2.0
Part of the GR00T family

Access

View on HuggingFace

Need custom rgb data?

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

Request a Sample Pack

Related Datasets

SO-101 GR00T Dataset Visual Check

A robotics dataset uploaded for Hugging Face Dataset Viewer inspection.

391 downloadsJul 2026apache-2.0

G1_Brainco_PickApple_Dataset (2x speed, 24fps, Cosmos Policy-ready)

Resampled version of the Unitree G1 humanoid robot pick-and-place demonstrations with BrainCo dexterous hands, converted to 2x playback speed and 24fps for training Cosmos Policy world models. Dataset contains 197 episodes with synchronized video and joint action trajectories.

rgbproprioceptionaction
10 downloadsJul 2026apache-2.0

G1_Brainco_PickCharger_Dataset (2x speed, 24fps, Cosmos Policy-ready)

Resampled teleoperated demonstration dataset for Unitree G1 humanoid robot performing pick-and-place tasks with BrainCo dexterous hands, converted to 2x playback speed at 24fps for Cosmos Policy world model training.

rgbproprioceptionlanguage
7 downloadsJul 2026apache-2.0

G1_Brainco_GraspOreo_Dataset (2x speed, 24fps, Cosmos Policy-ready)

Resampled teleop dataset of Unitree G1 humanoid with BrainCo dexterous hands performing pick-and-place tasks, converted to 2x playback speed at 24fps for training Cosmos Policy world models.

rgbproprioception
7 downloadsJul 2026apache-2.0

G1_Brainco_PickTissues_Dataset (2x speed, 24fps, Cosmos Policy-ready)

Resampled teleoperated demonstration dataset for the Unitree G1 humanoid with BrainCo dexterous hands performing pick-and-place tasks, converted to 2x playback speed at 24fps for training Cosmos Policy world models.

rgbproprioceptionaction
6 downloadsJul 2026apache-2.0

G1_Brainco_PickToothpaste_Dataset (2x speed, 24fps, Cosmos Policy-ready)

Resampled derivative of the Unitree G1 humanoid with BrainCo dexterous hands picking toothpaste, converted to 2x playback speed at 24fps for training Cosmos Policy world models. Includes synchronized video and joint action data in GR00T-ready LeRobot format.

rgbproprioception
6 downloadsJul 2026apache-2.0