AgiBot-to-Unitree G1 Retarget / TrajBooster
Description
TrajBooster's approximately 35-hour, 30 GB dataset contains 1,960 episodes across 176 AgiBot-World tasks retargeted from a wheeled humanoid to Unitree G1. It extracts dual-arm 6D end-effector trajectories from real source data, tracks them with a whole-body controller in Isaac Gym, and replaces source actuator commands with G1-compatible actions while preserving source vision and language, producing heterogeneous vision-language-action triplets. The data supports cross-embodiment VLA post-pre-training before adaptation with about ten minutes of target-robot teleoperation.
License
Release metadata states Apache-2.0; preserved AgiBot World source vision and language remain subject to the upstream CC BY-NC-SA 4.0 terms.*
* Double-check the publisher's current license and usage terms before using this dataset.