nepyope/can_to_martino

can_to_martino Whole-body teleoperation on a Unitree G1: pick a can off a low table and hand it to a person. Recorded 2026-08-23 with the SONIC teleop stack (PICO full-body tracking driving the balance controller, Damiao CAN grippers on both hands), then reshaped into the state/action layout π₀.₅ trains on. robot unitree_g1 episodes 44 frames 98,516 fps 50 task Move the can from the low table to Martino cameras ego_view, left_wrist, right_wrist — 480×640… See the full description on the dataset page: https://huggingface.co/datasets/nepyope/can_to_martino.