mws-physical-aiapache-2.0
Cosmos3 G1+BrainCo Datasets
Synthetic video+action datasets produced by fine-tuning NVIDIA Cosmos3-Nano as a joint World-Action-Model for the Unitree G1 humanoid with BrainCo dexterous hand, using self-distillation via Direct Preference Optimization without additional real teleoperation data. All video is generated by the fine-tuned model; actions are extracted via the model's own head or independently via RoboHaMeR hand-pose estimation and retargeted to G1+BrainCo kinematics.
Downloads143
Technical Profile
- Modalities
- rgbaction
- Robot Embodiments
- Unitree G1BrainCo dexterous hand
- Environment
- simulation
- Task Types
- manipulationgraspingpick_and_place
- Data Format
- MP4, NPY, NPZ, JSON
- License
- apache-2.0
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