JingwuLuo/G1-Dex1-4tasks

G1-Dex1-4tasks 339 teleoperated episodes of four tabletop manipulation tasks on a real Unitree G1 humanoid (29-DoF) with two Dex1-1 parallel grippers: 181,403 frames at 30 fps, about 1.7 hours. Only the two arms and the grippers are recorded. Each frame has three camera images, the 16-dim joint state, the 16-dim action and a natural-language instruction. The format is LeRobot v2.1. Tasks task_index Task Instruction Episodes episode_index Frames Mean length… See the full description on the dataset page: https://huggingface.co/datasets/JingwuLuo/G1-Dex1-4tasks.

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