Ψ₀ / psi-data
Description
The 422 GB psi-data repository combines nine released real-world Unitree G1 task archives with SIMPLE simulation and evaluation packages and supporting Humanoid Everyday and retargeting assets. Robot-specific demonstrations use Dex3-1 hands and cover long-horizon activities such as cart pushing, pouring, cleaning, faucet operation, squatting, carrying, and handing objects to people. RGB observations, robot state, whole-body actions, and teleoperation metadata support Ψ₀ fine-tuning and simulation-based evaluation of dexterous loco-manipulation.
License
Dataset license not specified. Code: Apache-2.0.*
* Double-check the publisher's current license and usage terms before using this dataset.