Teleoperated pick-and-place demonstrations on a Unitree G1 humanoid: pick up an apple (red or green) and place it on a plate. The dataset also includes correction / redirect episodes in which the arm begins reaching toward the wrong apple and then redirects to the correct one — useful for training recovery behaviour and for closed-loop intent-correction research.
Recorded for fine-tuning NVIDIA GR00T N1.7. Stored in LeRobot v2.1 format (the version… See the full description on the dataset page:
https://huggingface.co/datasets/tysyuvraj/g1-apple2plate-lerobot-v21.
