Dataset · Hugging Face

mncai/G1_Dex3_Trash_LocoManipulation

Name: G1_Dex3_Trash_LocoManipulation
Creator: mncai
License: apache-2.0
Keywords: task_categories:robotics, license:apache-2.0, size_categories:100K<n<1M, format:parquet, modality:tabular, modality:timeseries, modality:video, library:datasets, library:dask, library:polars, library:mlcroissant, library:lerobot, region:us, LeRobot, unitree-g1

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.

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Author / organization	mncai
License (as declared)	apache-2.0
Downloads	1.5K (as reported by Hugging Face)
Likes	1
Created	3 September 2026
Last updated at source	4 September 2026

LeRobotunitree-g1dex3humanoidwhole-body-controlloco-manipulationteleoperationlong-horizonfailure-recovery

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