Datasets:
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observation.state list | action list | observation.velocity list | observation.effort list | observation.arm_ddq list | observation.arm_external_torque list | observation.arm_compensation_torque list | observation.cartesian_pos list | observation.cartesian_axis_angle list | observation.cartesian_vel list | observation.cartesian_accel list | observation.cartesian_external_wrench list | observation.rotor_temperature list | observation.fingertip_positions list | observation.tactile_normal_force list | observation.tactile_tangential_force list | observation.tactile_tangential_direction list | observation.tactile_proximity list | observation.camera_pose_head list | observation.camera_pose_surround list | action.arm_velocity list | action.arm_effort list | action.arm_ddq list | action.arm_compensation_torque list | action.cartesian_pos list | action.cartesian_axis_angle list | action.cartesian_vel list | action.cartesian_accel list | action.fingertip_positions list | timestamp float32 0 18.7 | frame_index int64 0 561 | episode_index int64 0 100 | index int64 0 41.9k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
Visualized using visualize-lerobot.py included in this dataset repo.
Dataset Structure
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}
Citation
If you use this dataset, you must cite N1 Robotics.
BibTeX:
@misc{n1robotics-g1-brainco-toast,
author = {{N1 Robotics}},
title = {{G1 BrainCo Toast Dataset}: A Bimanual Dexterous Manipulation Dataset for Embodied Intelligence},
howpublished = {\url{https://huggingface.co/datasets/n1robotics/G1_Brainco_Toast_Dataset}},
year = {2025},
note = {Accessed: 2026-03}
}
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