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This dataset was created using LeRobot.
Dataset Description
Visualized using visualize-lerobot.py included in this dataset repo.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "Unitree_G1_Brainco",
"total_episodes": 101,
"total_frames": 41865,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:101"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
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"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb",
"kLeftHandThumbAux",
"kLeftHandIndex",
"kLeftHandMiddle",
"kLeftHandRing",
"kLeftHandPinky",
"kRightHandThumb",
"kRightHandThumbAux",
"kRightHandIndex",
"kRightHandMiddle",
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]
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"kLeftWristPitch",
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"kRightShoulderPitch",
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"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
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"kLeftHandIndex",
"kLeftHandMiddle",
"kLeftHandRing",
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"kLeftHandThumb",
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"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
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]
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}
Depth Data (Optional)
This dataset includes full-resolution depth data as a sidecar in the depths/ directory. The standard LeRobot videos only contain lossy 8-bit depth RGB visualizations — the sidecar provides lossless 16-bit depth PNGs and precomputed 3D point clouds.
This data is not required for standard LeRobot training and is ignored by the LeRobot loader. To download only the core dataset without depth data:
from huggingface_hub import snapshot_download
snapshot_download(
repo_id="n1robotics/G1_Brainco_Toast_Dataset",
repo_type="dataset",
ignore_patterns=["depths/**"],
)
Contents
Each episode in depths/chunk-000/episode_NNNNNN/ contains per-frame files:
| File | Format | Description |
|---|---|---|
FFFFFF_depth_0.png |
16-bit PNG (1280x720) | Raw depth, head camera (×0.001 for meters) |
FFFFFF_depth_1.png |
16-bit PNG (480x270) | Raw depth, surround camera (×0.0001 for meters) |
FFFFFF_points_0.npy |
float32 (N, 3) | Head camera point cloud in head frame (meters) |
FFFFFF_colors_0.npy |
uint8 (N, 3) | RGB per point, head camera |
FFFFFF_points_1.npy |
float32 (N, 3) | Surround camera point cloud in head frame (meters) |
FFFFFF_colors_1.npy |
uint8 (N, 3) | RGB per point, surround camera |
Point clouds are filtered to 0–3m depth with stride-4 subsampling. Surround camera points are pre-transformed to the head camera coordinate frame. See depths/manifest.json for full metadata.
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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