Bed Clutter Cleanup
Pick clutter from the bed, move it to the trash bin, open the lid, drop it in, and close the lid.
Skills: Grasp · Move
Curated dataset
Unitree G1 Diverse Manipulation
Built around diverse Unitree G1 manipulation, this dataset spans 26 tasks across 23 home and retail scenarios, including cleaning, tidying, clothing handling, item organization, refrigerator zoning, basket-based shopping, and shelf restocking. Its 6 capture configurations cover Dex1 and BrainCo end effectors together with monocular and stereo 720p vision setups. The collection is intended to broaden the scenes, objects, and procedures available for multi-task training and to support evaluation of transfer across layouts and task sequences.
- Unitree G1
- 6 capture configurations
- 23 scenarios
- 26 tasks
- 2213 records
- 105.11 h
- 1.7 TB
- MCAP
What you can evaluate
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Coverage & composition
Unitree G1 takes on the practical routines of homes and retail spaces: tidying household items, handling clothing, shopping, restocking shelves, and checking food expiry dates. These scenarios bring varied everyday objects and task sequences into robot training and evaluation.
23 scenarios · 26 tasks · 2,213 records · 105.11h total
Contents
Beverage shelf clearing, wiping, and restocking
Clear, wipe, and restock a beverage shelf.
Skills: Grasp · Move · Place
Open Bedroom Curtains and Roller Blind
Open the curtain and roller blind to bring daylight into the bedroom.
Skills: Grasp · Move · Pull
Inspect Food Expiry Dates and Sort Expired Items
Inspect food dates and separate expired items from valid stock.
Skills: Adjust · Grasp · Inspect · Move · Repeat · 1 more
Bathroom slipper arrangement and showerhead reset
Align two slipper pairs and reset the showerhead.
Skills: Crouch · Grasp · Move
Organize and Return Bathroom Toiletries
Organize the shower curtain and return the toiletries to their designated places.
Skills: Arrange · Grasp · Place · Repeat · Transport
Fridge fresh and frozen food zoning
Zone food across fresh, low-temperature, and freezer compartments.
Skills: Move · Open
Sink-Area Item Return
Return toothbrushes, toothpaste, soap, rinse cups, and hand soap to their target positions on or inside the sink cabinet.
Skills: Grasp · Move · Place
Kitchen Cleanup and Dish Storage
Clear kitchen waste, wipe the counter, and store dishes in the dishwasher.
Skills: Grasp · Move
Multi-item household-goods basket pickup
Pick four household goods and place them in a basket.
Skills: Grasp · Place
Shelf Restocking
Pick products, move them onto the shelf, and arrange them neatly.
Skills: Arrange · Grasp · Move
Bed Clothes to Laundry Hamper
Pick up clothing from the bed and place each item into the laundry hamper beside the bed.
Skills: Grip · Move
Store Pre-hung Clothing in the Wardrobe
Open the wardrobe, retrieve clothing already on a hanger, place it inside, and close the door.
Skills: Adjust Height · Move
Open Refrigerated Display Restocking
Transfer beverages from a tote into open positions in an open refrigerated display.
Skills: Adjust Height · Adjust Posture · Move
Bedside Item Return and Sheet Tidying
Place a plush toy on the bedside table, hang a hat on the coat rack, and straighten the sheet.
Skills: Arrange · Grasp · Hang · Move · Place
Sink fruit sorting into a basket
Sort wash-basin fruit into a basket.
Skills: Grasp · Move
Load and Start Laundry
Load clothes into the washing machine, add detergent, close the machine, and start the wash cycle.
Skills: Grasp · Open Door
Hook Shelf Restocking
Move food items from a restocking tote onto their corresponding retail shelf hooks.
Skills: Adjust Posture · Grasp
Store Living-Room Slippers in a Shoe-Cabinet Drawer
Pick up both slippers from the living room, store them neatly in the second shoe-cabinet drawer, and close the drawer.
Skills: Crouch · Grasp · Move
Product Shopping
Pick up a shopping basket, move to the target shelf, pick products into the basket, then go to checkout.
Skills: Crouch · Grasp
Coffee Table Cleanup
Clear the coffee-table items and wipe the surface.
Skills: Grasp · Move
Bedroom desk decor arrangement
Arrange bedroom desk decor to the target layout.
Skills: Grasp · Insert · Move
Load Dirty Laundry into the Washing Machine
Open the washing machine, move clothes from the laundry basket into the drum, and close the door.
Skills: Open Door · Push
Living Room Organization
Clean the coffee table, return misplaced items, and restore furniture such as dining chairs to their proper positions.
Skills: Grasp · Move
Open Living Room Curtains and Roller Blind
Open the living-room curtain and roller blind to bring natural light into the room.
Skills: Grasp · Move
Scan and Bag Products at Checkout
Scan and bag each item, then return the checkout equipment and basket.
Skills: Grasp · Move · Place
Robot & recorded data
The robot platform, major hardware configurations, and delivery container represented in this version.
- Robot
- Unitree G1
- Hardware configurations
- Dex1 · Stereo 720p5 tasks · 727 records · 34.45h
- Dex1 · Monocular 720p9 tasks · 518 records · 25.3h
- Dex1 · Vision not specified8 tasks · 397 records · 11.62h
- BrainCo · Stereo 720p9 tasks · 376 records · 24.46h
- BrainCo · Monocular 720p7 tasks · 98 records · 5.23h
- BrainCo · Vision not specified5 tasks · 97 records · 4.05h
- Data container
- MCAP
Curation & quality evidence
Technical checks completed for this dataset and the quality dimensions not yet covered.
- Canonical MCAPs with an analyzer snapshot
- 0 of 2,213