Search is not available for this dataset
observation.state listlengths 43 43 | observation.eef_state listlengths 14 14 | action.wbc listlengths 43 43 | observation.root_orientation listlengths 4 4 | observation.projected_gravity listlengths 3 3 | observation.cpp_rotation_offset listlengths 4 4 | observation.init_base_quat listlengths 4 4 | teleop.delta_heading float64 -3.34 0.64 | action.motion_token listlengths 64 64 | teleop.smpl_joints listlengths 72 72 | teleop.smpl_pose listlengths 63 63 | teleop.body_quat_w listlengths 4 4 | teleop.target_body_orientation listlengths 6 6 | teleop.left_hand_joints listlengths 7 7 | teleop.right_hand_joints listlengths 7 7 | teleop.smpl_frame_index int64 0 1.73k | teleop.left_wrist_joints listlengths 3 3 | teleop.right_wrist_joints listlengths 3 3 | teleop.stream_mode int32 1 3 | teleop.planner_mode int32 0 0 | teleop.planner_movement listlengths 3 3 | teleop.planner_facing listlengths 3 3 | teleop.planner_speed float32 -1 -1 | teleop.planner_height float32 -1 -1 | teleop.vr_3pt_position listlengths 9 9 | teleop.vr_3pt_orientation listlengths 18 18 | timestamp float64 0 43.2 | frame_index int64 0 2.16k | episode_index int64 0 117 | index int64 0 183k | task_index int64 0 4 |
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End of preview. Expand in Data Studio
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_tokenis the output of the GEAR-SONIC v1.1 encoder. Its latent space is specific to that checkpoint. Tokens will not decode correctly withsonic_releaseorlow_latency. To replay them you needsonic_v1_1/model_decoder.onnxfrom nvidia/GEAR-SONIC. The 43-dimensional joint states are plain joint angles and have no such dependency.
Task
0 walk to the trash bag
1 pick up the trash bag
2 turn around
3 carry it to the bin
4 put it in the bin
The robot starts standing several steps away, walks up, kneels, grasps the bag with the left hand, stands, turns roughly 180 degrees, walks to the bin and drops the bag in. Only the left hand is used. The right hand stays open for the whole dataset.
Contents
118 episodes 183,000 frames 61 minutes
0 - 80 normal demonstrations
81 - 117 failure and recovery demonstrations
Episodes 81 to 117 are recovery demonstrations. In each one the operator deliberately fails the grasp, then recovers and completes the task. The failed attempt is real data and a policy trained on it without masking will learn the failure, roughly 6.7% of all frames. Cut them out or weight them down if that is not what you want.
Format
LeRobot v2.1. Video is H.264, 480x640, 50 fps.
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("mncai/G1_Dex3_Trash_LocoManipulation")
Observations
| key | dim | note |
|---|---|---|
observation.images.ego_view |
480x640x3 | head camera, see below |
observation.state |
43 | joint positions, see order below |
observation.eef_state |
14 | both wrists, position + quaternion |
observation.root_orientation |
4 | base quaternion |
observation.projected_gravity |
3 | gravity in base frame |
Camera
Intel RealSense D435i, color stream only. Depth is not recorded.
sensor 640x480 color at 30 fps
stored as 480x640x3, H.264, yuv420p
container fps 50
mount head, torso frame (0.06, 0.00, 0.45) m, pitched 47.6 degrees down
Joint order for the 43-dimensional state:
0:6 left leg 6:12 right leg 12:15 waist
15:22 left arm 22:29 left hand 29:36 right arm 36:43 right hand
Each Dex3-1 hand has 7 joints: thumb 0/1/2, middle 0/1, index 0/1.
Actions
| key | dim | note |
|---|---|---|
action.motion_token |
64 | GEAR-SONIC v1.1 latent, drives the whole body |
action.wbc |
43 | joint targets the controller produced |
teleop.left_hand_joints |
7 | left hand command |
teleop.right_hand_joints |
7 | all zero, this is a one-handed task |
Collection
Teleoperated on a real Unitree G1 through a PICO VR rig, three-point tracking, with GEAR-SONIC v1.1 as the whole-body controller. The operator drives the upper body directly while the controller handles balance and locomotion. Every frame in this dataset is real hardware. There is no simulation and no retargeted motion capture.
Intended use
Post-training a vision-language-action model for humanoid loco-manipulation.
The dataset was built for GR00T N1.7
with the UNITREE_G1_SONIC embodiment, but the joint states and video are usable with
any policy that accepts a 43-dimensional humanoid.
License
Apache License 2.0. See LICENSE.
The video, joint states and annotations are original recordings. The 64-dimensional motion tokens are outputs of the GEAR-SONIC model. Under the NVIDIA Open Model License NVIDIA makes no ownership claim to model outputs.
Built with NVIDIA GEAR-SONIC and NVIDIA Isaac GR00T.
Citation
@misc{g1_dex3_trash_locomanipulation,
title = {G1 Dex3 Trash Loco-Manipulation},
year = {2026},
url = {https://huggingface.co/datasets/mncai/G1_Dex3_Trash_LocoManipulation}
}
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