Unitree G1 Humanoid Datasets
Unitree G1 humanoid robot datasets: 124+ task variants including dishwasher loading, towel folding, toast making, block stacking. Whole-body teleoperation data in LeRobot format.
124+ task-specific whole-body teleoperation datasets for the G1 humanoid robot. Household manipulation with dexterous hands.
Unknown License -- Verify LeRobot / Parquet + MP4 Humanoid Whole-Body
Popular Datasets
| Dataset | Hand Type | Task | Rows | Downloads |
|---|---|---|---|---|
| Collect Plates Into Dishwasher | Brainco | Dishwasher loading | 427K | 2.8K |
| Dex3 Toasted Bread | Dex3 (3-finger) | Toast preparation | 352K | 2K |
| Dex1 Fold Towel | Dex1 | Towel folding | 311K | 1.9K |
| Dex1 Stack Block | Dex1 | Block stacking | 93.1K | 1.8K |
What are the Unitree G1 datasets?
Unitree Robotics has released a massive collection of 124+ task-specific datasets for their G1 humanoid robot, making it one of the most data-rich humanoid platforms available. Each dataset captures whole-body teleoperation (WBT) demonstrations of the G1 performing household tasks, recorded in the standardized LeRobot format (Parquet + MP4).
The collection explores three different end-effector configurations: Brainco dexterous hands (multi-finger), Dex3 (3-finger) hands, and Dex1 grippers. This variety makes the collection valuable for studying how end-effector choice affects task performance and policy transfer.
Tasks range from everyday activities (loading dishwashers, folding towels, making toast) to manipulation benchmarks (block stacking, pick-and-place). The most popular dataset -- plates into dishwasher with Brainco hands -- has 427K rows and 2.8K downloads.
Access
License note: Unitree G1 datasets do not have an explicit license on their HuggingFace pages. Contact Unitree Robotics before commercial use.