G1-BrainCo-GR00T-Dataset

Unitree G1 humanoid robot + BrainCo 6-DOF dexterous hands demonstration dataset, collected as part of the UnifoLM WBT Dataset (BrainCo subset).

Converted to LeRobot v2.1 format and prepared for fine-tuning NVIDIA GR00T N1.7.

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Tasks

Dataset	Episodes	Avg Duration	Task Description
G1_WBT_Brainco_Collect_Plates_Into_Dishwasher	300	~47s	Collect plates from table and load into dishwasher
G1_WBT_Brainco_Make_The_Bed	300	~23s	Straighten and make a bed neatly
G1_WBT_Brainco_Pick_Up_Medicine	300	~26s	Open drawer and pick up medicine bottle
G1_WBT_Brainco_Pickup_Pillow	300	~20s	Pick up pillow and place on sofa

Total: 1200 episodes · 4 tasks · 30 FPS · 3 synchronized cameras

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Robot Setup

Component	Spec
Robot	Unitree G1 humanoid
Hands	BrainCo 6-DOF dexterous hands (left + right)
Cameras	Head stereo left (front) + left wrist + right wrist
Control rate	30 Hz demos → 500 Hz onboard PD execution

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Data Format

LeRobot v2.1 (converted from original v3.0 via convert_v3_to_v2.py)

Observations

Key	Dims	Description
observation.images.head_stereo_left	480×640×3	Front-facing stereo camera (left)
observation.images.wrist_left	480×640×3	Left wrist camera
observation.images.wrist_right	480×640×3	Right wrist camera
observation.state.ee_state	12D	Bimanual EEF pose (left: pos+quat, right: pos+quat)
observation.state.hand_state	12D	BrainCo finger positions (left: 6D, right: 6D), range [0, 0.8]
observation.state.robot_q_current	36D	Full-body joint angles in radians

Actions

Key	Dims	Representation	Description
action.ee_action	12D	RELATIVE delta	EEF position+orientation deltas (bimanual)
action.hand_cmd	12D	ABSOLUTE	BrainCo finger commands (left: 6D, right: 6D), range [0, 0.8]
action.robot_q_desired	36D	ABSOLUTE	Full-body joint position targets in radians

Notes on non-standard parquet layout

Unlike standard LeRobot datasets, state and action columns are stored as separate named columns (not concatenated into observation.state / action). A meta/modality.json file with original_key mappings is included so GR00T's dataloader resolves them correctly.

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Directory Structure

G1_WBT_Brainco_<Task>/
├── data/
│   └── chunk-000/
│       ├── episode_000000.parquet
│       ├── episode_000001.parquet
│       └── ...
├── videos/
│   └── chunk-000/
│       ├── observation.images.head_stereo_left_episode_000000.mp4
│       ├── observation.images.wrist_left_episode_000000.mp4
│       └── ...
└── meta/
    ├── modality.json         ← GR00T-specific key mappings (manipulation)
    ├── modality_wbc.json     ← GR00T-specific key mappings (WBC / loco-manipulation)
    ├── episodes.jsonl
    ├── tasks.jsonl
    ├── stats.json
    └── relative_stats.json

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GR00T N1.7 Fine-tuning

This dataset was used to fine-tune GR00T N1.7 with three runs:

Run	Checkpoint	Action Space	Purpose
Run 1	nvidia/GR00T-N1.7-DROID	24D (arms + hands)	Manipulation — DROID init
Run 2	nvidia/GR00T-N1.7-3B	60D (arms + hands + full body)	Loco-manipulation (WBC)
Run 3	nvidia/GR00T-N1.7-3B	24D (arms + hands)	Manipulation — base init (baseline)

Quick start (manipulation)

git clone https://github.com/NVIDIA/Isaac-GR00T
cd Isaac-GR00T
uv sync --all-extras

bash examples/G1_Brainco/finetune_g1_brainco.sh \
    --base-model-path nvidia/GR00T-N1.7-DROID \
    --dataset-path dataset_g1/brainco/G1_WBT_Brainco_Collect_Plates_Into_Dishwasher:... \
    --output-dir outputs/g1_brainco

Memory requirements (RTX 5090 / 32 GB)

# Required flags for 32 GB VRAM:
--gradient_checkpointing
--optim paged_adamw_8bit
--global_batch_size 1
--gradient_accumulation_steps 64
# Peak VRAM: ~26.5 GB

Important: Always pass --action-horizon 16 at eval/deployment. The DROID config defaults to 40 steps; without this flag the server outputs wrong chunk sizes.

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Dataset Statistics

Task	Min	Median	Max	Std%
Collect Plates	19.5s	43.3s	124.3s	30%
Make the Bed	12.6s	21.7s	46.1s	29%
Pick Up Medicine	13.3s	24.2s	56.1s	30%
Pickup Pillow	12.3s	18.9s	37.2s	23%

All episodes: zero NaNs, hand_cmd range [0.0, 0.8], ee_action within ±π.

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Related Dataset

For single-object pick & grasp tasks (8 tasks, 1598 episodes, direct joint-space actions): 👉 JeffrinSam/G1-BrainCo-Pick-GR00T

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Citation

@dataset{unifolm_wbt_brainco_g1,
  title   = {G1-BrainCo-GR00T-Dataset},
  author  = {JeffrinSam},
  year    = {2026},
  note    = {Unitree G1 + BrainCo dexterous hands manipulation dataset in LeRobot v2.1 format, prepared for GR00T N1.7 fine-tuning},
  url     = {https://huggingface.co/datasets/JeffrinSam/G1-BrainCo-GR00T-Dataset}
}

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License

Data collected from UnifoLM WBT Dataset by Unitree Robotics. Please refer to the original dataset license before commercial use.