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389 TASK HOURS · HUMANOID

3,400 episodes captured by real-machine XR teleoperation on a Unitree G1 full-size biped — 29 movable joints: 6 per leg, 3 at the waist, 7 per arm — with two interchangeable end-effector configurations.

4 STREAMS · RGB + DEPTH

Head colour and head depth from a RealSense D455, plus one colour stream per wrist — all 640 × 480 at 30 FPS on a single resampled time grid. On both published episodes every stream matches the parquet row count frame for frame.

TWO END-EFFECTORS · TACTILE

Configuration A, a two-finger gripper at 1 DoF per hand. Configuration B, a five-finger hand at 6 DoF per hand carrying a 2,124-value tactile array. Both log state and command on the same 30 FPS grid.

OPERATOR POSE IN EVERY FRAME

The operator’s own whole-body pose, fitted to a 24-joint SMPL model, shares the frame index with the command sent and the state the robot reached — human, command and result subtract directly. Median joint tracking error on the published episodes is 0.06 rad.

SCENE COVERAGE · HUMANOID
389 task hours
across 13 tasks in apartments, kitchens, corridors and offices · two end-effector configurations. The chart shows the composition of the 151-episode documented set.
151 EPISODES
Top sub-tasks
Whole-body load carrying · Walk and pull door open · Walk and push door open · Unzip bag and place item inside · Bimanual hold and wipe with sponge · Put clothes into basket · Deformable garment folding · Open drawer, take shirt, place on cupboard · Bedding edge folding · Pick from shelf into basket · Multi-object shelf pick and place · Place kettle on its base · Plug in the charger
CONFIG A · 2-FINGER GRIPPER
CONFIG B · 5-FINGER HAND + TACTILE
HEAD · COLOUR
HEAD · DEPTH (mm)
LEFT WRIST
RIGHT WRIST
ARMS 14 joints · rad R arm L arm
DEX HANDS 12 fingers · piano-roll
TRACKING & TOUCH cmd−state · taxel sum joint err tactile
BODY head · waist · odom-z
SHIPPED WITH EPISODE RGB × 3 (head · left wrist · right wrist) DEPTH × 1 (16-bit mm, aligned to head colour) ARM joint × 14 · cmd + state HAND 1 or 6 DoF per side · cmd + state TACTILE × 2,124 (config B) WAIST 3-DoF · LEGS 6-DoF × 2 FULL-BODY JOINT STATE (29 joints) JOINT VELOCITY + TORQUE EST × 29 EE POSE 6-DoF × 2 · cmd + state ROOT POSE SE(3) + PLANNER CMD BASE IMU + TORSO IMU OPERATOR SMPL 24-joint · per frame PER-FRAME CAMERA EXTRINSICS 4×4 single 30 FPS time grid
00:00 / 01:01
EPISODE
ROBOT
SCENE
INIT