BlackCatRoboticsAI/g1-teleop-dataset

G1 Teleop Dataset

Unitree G1 Humanoid Teleoperation Dataset — Real-world demonstration data collected via VR whole-body teleoperation.

Description

This dataset contains teleoperation demonstrations on the Unitree G1 humanoid robot using VR headset (PICO) with whole-body tracking. Data is formatted in LeRobot v2 format for easy integration with open-source training pipelines.

Data Format

• Videos: MP4-encoded observations from multiple camera views
• Data: Parquet files with observations, actions, rewards
• Meta: JSONL files with episode metadata and task definitions

Robot

• Model: Unitree G1 Humanoid
• DOF: 29 (active)
• Sensors: Joint encoders, IMU, RGB cameras

Collection Method

Teleoperation via VR headset (PICO) with whole-body tracking:

• 50Hz control frequency
• Natural human motion capture
• Language-annotated tasks

Intended Use

• Fine-tune VLAs (Vision-Language-Action models) on real humanoid data
• Train whole-body control policies
• Benchmark sim-to-real transfer

Citation

@misc{blackcat2026g1teleop,
  title={G1 Teleop Dataset},
  author={BlackCat Robotics},
  year={2026},
  publisher={Hugging Face},
  url={https://huggingface.co/datasets/BlackCatRoboticsAI/g1-teleop-dataset}
}