OOJU/unitree-g1-pick-place-cup

OOJU Unitree G1 Pick and Place Cup 47 cup pick-and-place recordings on a Unitree G1, shipped with trained policy checkpoints and the evaluation results for each of them. 38 of those recordings were segmented into 78 first-grade lift candidates, which are the pool every policy below draws from. At that scale a learned diffusion policy reaches 46.7% success over 30 rollouts, while retrieving and replaying the nearest recorded candidate reaches 82% over 11 trials. All evaluation is… See the full description on the dataset page: https://huggingface.co/datasets/OOJU/unitree-g1-pick-place-cup.