datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
G1_Dex3_ToastedBread_DatasetThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_ToastedBread_Dataset.G1_Dex3_BlockStacking_DatasetThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset.G1_Dex3_ObjectPlacement_DatasetThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_ObjectPlacement_Dataset.G1_Dex3_Pouring_DatasetThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_Pouring_Dataset.G1_Dex3_GraspSquare_DatasetThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_GraspSquare_Dataset.G1_Dex3_CameraPackaging_DatasetThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_CameraPackaging_Dataset.G1_Dex3_Trash_LocoManipulation
G1 Dex3 Trash Loco-Manipulation
Teleoperated demonstrations of a Unitree G1 humanoid with Dex3-1 hands picking a
plastic trash bag off the floor and putting it into a bin. Whole-body loco-manipulation:
walking, kneeling, grasping, standing back up and turning.
118 episodes, 183,000 frames, about 61 minutes at 50 Hz.
One episode from the head camera, 4x speed. Walk, kneel, grasp, stand, turn, carry, drop.
The 64-dimensional action.motion_token is the output of the GEAR-SONIC… See the full description on the dataset page: https://huggingface.co/datasets/mncai/G1_Dex3_Trash_LocoManipulation.unitree-g1-dex3-1-pick-kettle-white-tableThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 83,
"total_frames": 20322,
"total_tasks": 1,
"total_videos": 249,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:83"
},
"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/Breno-de-Angelo/unitree-g1-dex3-1-pick-kettle-white-table.G1_Dex3_PickApple_DatasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 201,
"total_frames": 152569,
"total_tasks": 1,
"total_videos": 804,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:201"
},
"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/unitreerobotics/G1_Dex3_PickApple_Dataset.G1_Dex3_PickBottle_DatasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 202,
"total_frames": 176774,
"total_tasks": 1,
"total_videos": 808,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:202"
},
"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/unitreerobotics/G1_Dex3_PickBottle_Dataset.G1_Dex3_PickSnack_DatasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 200,
"total_frames": 163487,
"total_tasks": 1,
"total_videos": 800,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:200"
},
"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/unitreerobotics/G1_Dex3_PickSnack_Dataset.G1_Dex3_PickTissue_DatasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 205,
"total_frames": 166756,
"total_tasks": 1,
"total_videos": 820,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:205"
},
"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/unitreerobotics/G1_Dex3_PickTissue_Dataset.G1_Dex3_PickDoll_DatasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 203,
"total_frames": 300557,
"total_tasks": 1,
"total_videos": 812,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:203"
},
"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/unitreerobotics/G1_Dex3_PickDoll_Dataset.G1_Dex3_PickGum_DatasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 199,
"total_frames": 113592,
"total_tasks": 1,
"total_videos": 796,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:199"
},
"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/unitreerobotics/G1_Dex3_PickGum_Dataset.G1_Dex3_PickCharger_DatasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 200,
"total_frames": 123260,
"total_tasks": 1,
"total_videos": 800,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:200"
},
"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/unitreerobotics/G1_Dex3_PickCharger_Dataset.G1_Dex3_ToastedBread_DatasetThis dataset was created using LeRobot and converted to
3.0.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{… See the full description on the dataset page: https://huggingface.co/datasets/nepyope/G1_Dex3_ToastedBread_Dataset.unitree-g1-dex3-1-pick-kettleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 30,
"total_frames": 10900,
"total_tasks": 1,
"total_videos": 90,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:30"
},
"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/Breno-de-Angelo/unitree-g1-dex3-1-pick-kettle.G1_Dex3_ToastedBread_Inspireunitreerobotics_G1_Dex3_ObjectPlacement_Dataset
G1 Dex3 Object Placement Dataset TsFile
Apache TsFile conversion of unitreerobotics/G1_Dex3_ObjectPlacement_Dataset, a LeRobot v3 robot-manipulation dataset.
Source and attribution
Original dataset: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_ObjectPlacement_Dataset
Original uploader/data author shown in the Hugging Face repository history: Henry-Ellis (https://huggingface.co/Henry-Ellis)
Repository owner/organization: unitreerobotics (Unitree… See the full description on the dataset page: https://huggingface.co/datasets/THULab/unitreerobotics_G1_Dex3_ObjectPlacement_Dataset.G1_Dex3_BlockStacking_InspireG1_Dex3_pick_white_cup_right8_1squeeze
G1_Dex3_pick_white_cup_right8_1squeeze
Teleoperated demonstration dataset for training a Vision-Language-Action (VLA) policy on the Unitree G1 humanoid robot with a Dex3 dexterous hand. The task is to pick up a white cup from a table using only the right arm.
Task
Pick up the white cup
The robot reaches toward a white cup placed on a table in front of it, grasps it with the right hand (index + middle fingers closing against the thumb), and lifts it.… See the full description on the dataset page: https://huggingface.co/datasets/lewislf/G1_Dex3_pick_white_cup_right8_1squeeze.unitreerobotics_G1_Dex3_GraspSquare_Dataset
G1 Dex3 Grasp Square Dataset TsFile
This repository is an Apache TsFile conversion of unitreerobotics/G1_Dex3_GraspSquare_Dataset, a LeRobot v3 robot-manipulation dataset. It contains numeric trajectories and metadata; camera videos remain in the original Hugging Face dataset.
Source dataset
Original dataset: unitreerobotics/G1_Dex3_GraspSquare_Dataset
Original uploader/contributors: Henry-Ellis and lv-1; hosted by Unitree Robotics.
License: Apache-2.0. The… See the full description on the dataset page: https://huggingface.co/datasets/azithromycin/unitreerobotics_G1_Dex3_GraspSquare_Dataset.g1_dex3_pizza_box_picking_v26This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unitree_g1",
"total_episodes": 106,
"total_frames": 14289,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:106"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/ambitiousmangosteen/g1_dex3_pizza_box_picking_v26.g1_dex3_pizza_box_picking_v17This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unitree_g1",
"total_episodes": 33,
"total_frames": 7200,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:33"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/ambitiousmangosteen/g1_dex3_pizza_box_picking_v17.unitree_g1_dex3_pole_in_basketThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unitree_g1",
"total_episodes": 65,
"total_frames": 147643,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:65"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/shawnwandelbots/unitree_g1_dex3_pole_in_basket.g1_dex3_nubjukiThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 100,
"total_frames": 31803,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/carroll511/g1_dex3_nubjuki.unitreerobotics_G1_Dex3_ObjectPlacement_Dataset
G1 Dex3 Object Placement Dataset TsFile
Apache TsFile conversion of unitreerobotics/G1_Dex3_ObjectPlacement_Dataset, a LeRobot v3 robot-manipulation dataset.
Source and attribution
Original dataset: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_ObjectPlacement_Dataset
Original uploader/data author shown in the Hugging Face repository history: Henry-Ellis (https://huggingface.co/Henry-Ellis)
Repository owner/organization: unitreerobotics (Unitree… See the full description on the dataset page: https://huggingface.co/datasets/azithromycin/unitreerobotics_G1_Dex3_ObjectPlacement_Dataset.g1_dex3_nubjuki_right_100ep_260730This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 100,
"total_frames": 21727,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/carroll511/g1_dex3_nubjuki_right_100ep_260730.unitreerobotics_G1_Dex3_BlockStacking_Dataset
G1 Dex3 Block Stacking TsFile
This repository is an Apache TsFile conversion of
unitreerobotics/G1_Dex3_BlockStacking_Dataset,
a LeRobot manipulation dataset for stacking three cubic blocks on a desktop in
red, yellow, and blue order.
Source dataset
Original dataset: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset
Author / repository owner: Unitree Robotics (unitreerobotics)
Source-tree contributors shown by Hugging Face: Henry-Ellis… See the full description on the dataset page: https://huggingface.co/datasets/THULab/unitreerobotics_G1_Dex3_BlockStacking_Dataset.g1_dex3_pick_snackThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 12,
"total_frames": 19657,
"total_tasks": 1,
"total_videos": 12,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:12"
},
"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/dadahuang/g1_dex3_pick_snack.