cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-5

Robotics Dataset

This dataset contains 417 episodes of teleoperated right-hand bottle-grabbing demonstrations on a Unitree G1 humanoid robot, curated to remove non-purposeful arm motion ('wandering') using a kinematic zero-wandering pipeline with smoothing half-width 5. It includes ego-view RGB video, joint states, whole-body control actions, and rich teleoperation metadata, intended for training vision-language-action models for imitation learning.

Catalog metadata

Repository owner: cloudwalk-research
Source: Hugging Face / LeRobot
Episodes: 417
Frames: 48577
Cameras: 1
Frames per second: 50
License: apache-2.0

Example tasks

grab the bottle

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