JeffrinSamapache-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.
Downloads6
Episodes193
Why This Matters for Physical AI
This dataset enables training of vision-language world models on high-DoF humanoid manipulation by providing frame-aligned video and action data optimized for efficient Cosmos Policy learning at standardized temporal resolution.
Technical Profile
- Modalities
- rgbproprioception
- Robot Embodiments
- Unitree G1BrainCo dexterous hands
- Action Space
- joint_positions
- Environment
- lab
- Task Types
- manipulationpick_and_placedexterous_manipulation
- Episodes
- 193
- Data Format
- LeRobot
- Annotation Types
- action_labels
- License
- apache-2.0
Access
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