PrismaX

Unitree G1 humanoid Sample Data

Sample episodes from a LeRobot-format teleoperation dataset collected on a Unitree G1 humanoid. One representative episode per task, shown from the head-mounted environment camera.

Bedroom

Inspire hands · 2 episodes

Tidy the bedroom: pillow, clothes & remote

Pick up a pillow from the floor and place it at the head of the bed, put a piece of clothing from the bed into the laundry basket, then place the remote on the nightstand with both hands.

Inspire handsLeRobot

Tidy the bedroom: pillow, towel & tissues

Pick up a pillow from the floor and place it at the head of the bed, put a towel from the bed into the laundry basket, then place the tissue box on the nightstand. Both hands.

Inspire handsLeRobot

Door

Gripper · 2 episodes

Walk to a door and pull it open

Locomotion plus manipulation: walk up to a door and pull it open using the gripper.

Gripper+ LocomotionLeRobot

Walk to a door and push it open

Locomotion plus manipulation: walk up to a door and push it open using the gripper.

Gripper+ LocomotionLeRobot

Kitchen

Dex-1 hands · 2 episodes

Place a bottle on the drying rack

Pick up a bottle with the right hand and put it in the drying rack.

Dex-1 handsLeRobot

Move cutlery to the drying rack

Move a cutlery set (spoon, fork, bowl) from the sink to the drying rack one item at a time using the right hand.

Dex-1 handsLeRobot

Shelf

Inspire hands · 3 episodes

Move a book one shelf lower

Pick up a book with the right hand and place it one shelf below its original position.

Inspire handsLeRobot

Stock a shelf with a bottle and noodles

Carry an empty bottle from the table to the top shelf, then return for the noodles and place them on the middle shelf. Right hand.

Inspire handsLeRobot

Hang a T-shirt on a hanger

Grab a crumpled shirt from the table with the left hand, walk to the rack, take a hanger with the right hand, hang the shirt, and put the hanger back.

Inspire hands+ LocomotionLeRobot

Tabletop

Dex-1 hands · 4 episodes

Fold a pair of pants

Fold pants with both hands, left to right.

Dex-1 handsLeRobot

Insert rings onto a holder

Insert two rings onto ring holders using the right hand.

Dex-1 handsLeRobot

Stack cups

Stack three cups using both hands.

Dex-1 handsLeRobot

Unzip a bag and pack an item

Unzip a bag with both hands and place an instant-noodle cup inside.

Dex-1 handsLeRobot

PrismaX Sample · LeRobot v3.0 format · Unitree G1 · 13 tasks across 5 scenes · head camera (observation.images.head_cam), 30 fps.