datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
g1-moves
G1 Moves
Dataset (you are here) · Showcase (interactive gallery) · Code (scripts & docs)
60 motion capture clips for the Unitree G1 humanoid robot (edition EDU, 29 DOF), captured from real performers in Austin, TX using MOVIN TRACIN markerless motion capture and video2robot monocular video extraction. Each clip is provided at multiple pipeline stages: raw mocap (BVH/FBX), retargeted robot joint trajectories (PKL), processed RL training data (NPZ), and trained ONNX… See the full description on the dataset page: https://huggingface.co/datasets/exptech/g1-moves.g1-apple2plate-teleoperationunitree-g1-hardware-modifications
Unitree G1 Hardware Modifications
Custom 3D-printable parts and reference photos for modifying the Unitree G1: OpenArm
grippers on the wrists, an extra head camera, and a backpack enclosure for the CAN-FD interface
and cabling.
Everything here is printable geometry plus photos of the assembled result — there is no
firmware or control code in this repo.
Modifications
1. Gripper on the G1 wrist
The gripper itself is the stock gripper from the OpenArm… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/unitree-g1-hardware-modifications.g1-sonic-assets
LatencyBench G1 SONIC assets
Runtime MuJoCo assets for the LatencyBench G1SonicRun-v0 environment. The
bundle contains the official SONIC-aligned Unitree G1 29-DoF-with-hand XML and
meshes, plus the LatencyBench Run scene used to exercise the controller.
Provenance and licensing
g1_29dof_with_hand.xml and meshes/ are copied unchanged from NVIDIA's
NVlabs/GR00T-WholeBodyControl
at commit a0732b642c0333077e127a2f56ab0014c196bca4. SONIC_LICENSE is the
upstream… See the full description on the dataset page: https://huggingface.co/datasets/latency-sensitive-bench/g1-sonic-assets.Group_15_impedance_imagesg1b_lerobotg1_ball_pick_1aloha_g1_raw_recordingsuncut-cells-all-annotatedpack-g1e-of-my-project-ghxokw-8ee32a61
Industrial Navigation Eval — Transparent Objects (VLA)
Evaluation datapack to measure a VLA model's navigation robustness in industrial environments (warehouse and garages) populated with many transparent objects. 30 renders at 1024x1024 with depth (metric), world-space OpenGL normals, trimap, attenuation and material index passes, plus per-frame annotations, to qualify where the model's perception of transparent objects fails during navigation.
This dataset mirrors public… See the full description on the dataset page: https://huggingface.co/datasets/physicl-community/pack-g1e-of-my-project-ghxokw-8ee32a61.indian_traditional_foods_resizedIndianSportsg1b_lerobot_seenreplace_tape_g1_pika_relative_h1_v2SEEDBench-en-yes-nog1-brainco-pick-cubeG1_Dex3_pick_white_cup_v2
G1 Dex3 — Pick up the white cup (v2)
Dataset de teleoperação no Unitree G1 com mãos Dex3, tarefa única
"Pick up the white cup". Gravado com LeRobot
(codebase v3.0). Merge de duas sessões de gravação.
Episódios: 97 · Frames: 21106 · FPS: 30
Robô: unitree_g1_dex3 · Task: Pick up the white cup
Modalidades
Feature
dtype
Como é armazenado
Shape
observation.images.head_camera
video
.mp4 H.264
(480, 848, 3) RGB
observation.images.head_camera_depth… See the full description on the dataset page: https://huggingface.co/datasets/lewislf/G1_Dex3_pick_white_cup_v2.Group_16_DHEA_scratch_images_annotatedg1_dex3_pick_bottle_vedioThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "unitree",
"total_episodes": 20,
"total_frames": 18352,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/guatian111/g1_dex3_pick_bottle_vedio.SEEDBench-en-yes-no-origing1_dex3_pick_bottleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "unitree",
"total_episodes": 10,
"total_frames": 9176,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/guatian111/g1_dex3_pick_bottle.G17-preprocessed-datasetG1020_datasetkist-g1-nav-mapAsPC-1uncut-cells-alliemopals_group4_Sena19_260720_5iemopals_group4_Sena19_260720_3G1_dex1g4-raw-cut