datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
Unitree_G1edu_u3_place_bread
Unitree_G1edu-u3_place_bread
Dataset Description
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Task Preview
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Overview
Total Episodes: 1464
Total Frames: 500679
FPS: 30
Dataset Size: 6.51 GB
Robot Name: Unitree_G1edu-u3
End-Effector Type: three_finger_end_effector
Teleoperation Type: data_glove
Sensors: cam_high_rgb,
cam_left_wrist_rgb,
cam_right_wrist_rgb… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Unitree_G1edu_u3_place_bread.Unitree_G1edu_u3_pour_drink
Unitree_G1edu-u3_pour_drink
Dataset Description
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Task Preview
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Overview
Total Episodes: 1298
Total Frames: 967967
FPS: 30
Dataset Size: 5.20 GB
Robot Name: Unitree_G1edu-u3
End-Effector Type: five_finger_end_effector
Teleoperation Type: human_motion_capture
Sensors: cam_high_rgb
Camera Information: cam_high_rgb… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Unitree_G1edu_u3_pour_drink.Unitree_G1edu_u3_place_bread_1
Unitree_G1edu-u3_place_bread_1
Dataset Description
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Task Preview
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Overview
Total Episodes: 1042
Total Frames: 334156
FPS: 30
Dataset Size: 4.78 GB
Robot Name: Unitree_G1edu-u3
End-Effector Type: three_finger_end_effector
Teleoperation Type: data_glove
Sensors: cam_high_rgb,
cam_left_wrist_rgb,
cam_right_wrist_rgb… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Unitree_G1edu_u3_place_bread_1.Unitree_G1edu_u3_place_towel
Unitree_G1edu-u3_place_towel
Dataset Description
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Task Preview
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Overview
Total Episodes: 402
Total Frames: 106275
FPS: 30
Dataset Size: 1.26 GB
Robot Name: Unitree_G1edu-u3
End-Effector Type: three_finger_end_effector
Teleoperation Type: human_motion_capture
Sensors: cam_high_rgb,
cam_left_wrist_rgb… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Unitree_G1edu_u3_place_towel.unitree-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.Unitree_G1edu_u3_place_grape_error
Unitree_G1edu-u3_place_grape_error
Dataset Description
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Task Preview
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Overview
Total Episodes: 43
Total Frames: 41278
FPS: 30
Dataset Size: 835.83 MB
Robot Name: Unitree_G1edu-u3
End-Effector Type: ['two_finger_end_effector', 'five_finger_end_effector']
Teleoperation Type: human_motion_capture
Sensors: cam_front_head… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Unitree_G1edu_u3_place_grape_error.unitree-g1-pick-cattleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 49,
"total_frames": 29665,
"total_tasks": 1,
"total_videos": 147,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:49"
},
"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-pick-cattle.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.unitree-g1-robocasa-pick-apple-bowl-depth-1k
Unitree G1 Apple Pick and Place with Depth Dataset
Front View (Global)
Side View (Profile)
Top-Down View (Bird's Eye)
Ego-Centric View (Robot POV)
Multi-view perspectives of the Unitree G1 performing the pick-and-place task.
Depth Data Visualization
To aid in understanding the raw depth values, here… See the full description on the dataset page: https://huggingface.co/datasets/jnsungp/unitree-g1-robocasa-pick-apple-bowl-depth-1k.unitree-g1-robocasa-pick-apple-bowl-contact-1k
Unitree G1 Apple Pick and Place with Contact Force Dataset
Front View (Global)
Side View (Profile)
Top-Down View (Bird's Eye)
Ego-Centric View (Robot POV)
Multi-view perspectives of the Unitree G1 performing the pick-and-place task.
Dataset Description
The Unitree G1 Apple Pick and Place with Contact… See the full description on the dataset page: https://huggingface.co/datasets/jnsungp/unitree-g1-robocasa-pick-apple-bowl-contact-1k.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.UnitreeG1-pick-red-bottleunitree-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.unitree-g1-robocasa-pick-apple-bowl-1k
Unitree G1 Apple Pick and Place Simulation Dataset
Front View (Global)
Side View (Profile)
Top-Down View (Bird's Eye)
Ego-Centric View (Robot POV)
Multi-view perspectives of the Unitree G1 performing the pick-and-place task.
## Dataset Description
The Unitree G1 Apple Pick and Place Simulation Dataset… See the full description on the dataset page: https://huggingface.co/datasets/jnsungp/unitree-g1-robocasa-pick-apple-bowl-1k.pi05-unitree-g1-put-away-tools-v2.1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex1_Sim",
"total_episodes": 70,
"total_frames": 43851,
"total_tasks": 1,
"total_videos": 210,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:70"
},
"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/XiaoweiLinXL/pi05-unitree-g1-put-away-tools-v2.1.unitree_g1_dex3_press_knobThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 42,
"total_frames": 8219,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:42"
},
"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/memory-vla/unitree_g1_dex3_press_knob.unitree_g1_block_stackunitree-g1-usdsunitree_g1.PickNPlacepi05-unitree-g1-pick-up-the-red-bottleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex1_Sim",
"total_episodes": 50,
"total_frames": 9296,
"total_tasks": 1,
"total_videos": 150,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/XiaoweiLinXL/pi05-unitree-g1-pick-up-the-red-bottle.ManiSkill_UnitreeG1TransportBox-v1_recovery
UnitreeG1TransportBox-v1 Dataset
This dataset was used in the paper CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation.
The source code for the project can be found on GitHub: iit-DLSLab/croSTAta.
The dataset was converted from ManiSkill format to LeRobot format.
Dataset Information
Environment: UnitreeG1TransportBox-v1
Total Episodes: 1013
Total Frames: 44242
FPS: 20
Video Keys: ['observation.images.base_camera'… See the full description on the dataset page: https://huggingface.co/datasets/johnMinelli/ManiSkill_UnitreeG1TransportBox-v1_recovery.unitree-g1-manipulationThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 2,
"total_frames": 603,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features":… See the full description on the dataset page: https://huggingface.co/datasets/Breno-de-Angelo/unitree-g1-manipulation.unitree_g1_put_biscuitThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Unitree_G1_Inspire",
"total_episodes": 242,
"total_frames": 194340,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:242"},
"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/shivubind/unitree_g1_put_biscuit.unitree_g1_upper_body_pick_and_place_dataunitree_sim_G129_Dex1_cylinderThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex1_Sim",
"total_episodes": 57,
"total_frames": 38372,
"total_tasks": 1,
"total_videos": 171,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:57"},
"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/qlOoOlp/unitree_sim_G129_Dex1_cylinder.unitree-g1-manipulation-extra-sensorsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 7,
"total_frames": 1297,
"total_tasks": 1,
"total_videos": 21,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:7"},
"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-manipulation-extra-sensors.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.unitree_g1_leave_room_oldunitree_g1_lift_red_ball_lowlevelThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unitree_g1",
"total_episodes": 2,
"total_frames": 2510,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 60,
"splits": {
"train": "0:2"
},
"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/MLeggiero/unitree_g1_lift_red_ball_lowlevel.unitree_g1_open_ovenThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Unitree_G1_Inspire",
"total_episodes": 102,
"total_frames": 66423,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:102"},
"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/shivubind/unitree_g1_open_oven.