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Datasets
Bed Clutter Cleanup
Robot: Unitree G1

Unitree G1 Diverse Manipulation

Configurations
Hours
105.1
Records
2,213
Scenarios
23
Tasks
26

Overview

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.

What you can evaluate

  • Explore task coverage

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  • Inspect real recordings

    Open a task and play individual MCAP recordings selected into this dataset.

  • Assess dataset fit

    Compare task scope, recording duration, capture configurations and known limitations against your project.

Not yet analyzed

  • Motion smoothness
  • Image quality
  • Task success and semantic correctness

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.

By domain

  • Home Service Robotics71.12h · 68%
  • Retail Operations33.65h · 32%

By scenario

  • Bedside Waste Disposal14.76h · 337 records
  • Beverage Shelf Cleaning and Reset13.23h · 91 records
  • Curtain and Blind Operation11.21h · 203 records
  • Food Expiry Inspection9.33h · 241 records
  • Slipper and Shower Accessory Reset8.79h · 226 records
  • Bathroom Toiletry Organization6.2h · 74 records
  • Refrigerator Food Organization5.28h · 96 records
  • Bathroom Sink Item Storage4.65h · 90 records
  • Shelf Restocking4.36h · 137 records
  • Kitchen Cleaning3.71h · 43 records

By configuration

  • Dex1 · Stereo 720p34.45h · 727 records
  • Dex1 · Monocular 720p25.3h · 518 records
  • BrainCo · Stereo 720p24.46h · 376 records
  • Dex1 · Vision not specified11.62h · 397 records
  • BrainCo · Monocular 720p5.23h · 98 records
  • BrainCo · Vision not specified4.05h · 97 records

Data & quality

Robot
Unitree G1
Hardware configurations
  • Dex1 · Stereo 720p
  • Dex1 · Monocular 720p
  • Dex1 · Vision not specified
  • BrainCo · Stereo 720p
  • BrainCo · Monocular 720p
  • BrainCo · Vision not specified
Data container
MCAP
Size
1.7 TB
Version
v1.3.0
Published
Canonical MCAPs with an analyzer snapshot
0 of 2,213

Tasks