Unitree
Unitree G1
Facts
- Form
- Humanoid 0 Source
- DoF
- 23 1 Source
- End effector
- Standard version has no hands; G1 EDU offers optional Dex3-1 three-finger force-controlled hand (7 DoF) + 2 wrist DoF 1 Source
- SDK / ROS
- github.com ↗ 1 Source
- Public price (CNY)
- Official site lists US$13.5K (G1 standard version, excluding tax and shipping); EDU version on request 1 Source
- Data formats
- unitree_sdk2 (DDS) · LeRobot community datasets 0 Source
Sources · 1 sources
dof,end_effector,price_range_cny,sdk_url https://www.unitree.com/g1 Official page · Fetched 2026-09-05 · No snapshot stored yet Official site: G1 23 DOF; G1 EDU 23–43; Dex3-1 three-finger force-controlled hand; US $13.5K; Resource Center github.com/unitreerobotics
Models declaring this form as a target
Vendor claims, not verified compatibility. Verified states appear in the matrix below.
Compatibility on this embodiment
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 1 / 40 cells with a definite status
Public datasets covering this body
Matched by the robot names or form the dataset states. Scale as stated; blanks are unknowns.
| Dataset | Hours | Episodes | Format | Licence |
|---|---|---|---|---|
| RoboCasa (RoboCasa365) robocasa.ai | 600 | — | — | ✓ Code: MIT License; Assets/Data |
| Fourier ActionNet Fourier Intelligence (FFTAI) | 140 | 30,000 | LeRobot v2 (LeRobotDatasetV2; raw MP4 RGB + MKV depth + HDF5 state/action + JSON timestamps with conversion script) | ✗ CC BY-NC-SA 4.0 |
| ARIO (All Robots In One) ARIO team (hosted on OpenI, Peng Cheng Laboratory) | — | 3,033,188 | custom (ARIO unified format) | ? CC-BY 4.0 or MIT for ARIO-coll |
| RoboVerse (roboverse_data) RoboVerseOrg | — | 500,000 | — | ? apache-2.0 (HF license tag); p |
| PhysicalAI-Robotics-GR00T-X-Embodiment-Sim NVIDIA | — | 345,102 | LeRobot v2 layout (GR00T LeRobot-compatible: data/chunk-*/episode_*.parquet + videos/*.mp4 + meta/info.json, modality.json, tasks.jsonl) | ✓ cc-by-4.0 |
| RoboMIND X-Humanoid (x-humanoid-robomind) | — | 107,000 | — | ✓ apache-2.0 |
| DexMimicGen Datasets NVIDIA (NVlabs) | — | 21,000 | HDF5 | ? cc-by-nc-sa-4.0 (HF card YAML) |
| ManiSkill3 Demonstrations haosulab (ManiSkill team) | — | — | HDF5 + JSON metadata | ? Apache-2.0 (GitHub repository |
| Unitree Robotics open datasets (Hugging Face org) Unitree Robotics | — | — | LeRobot v3 (codebase_version 'v3.0' in sampled dataset G1_Dex1_Wipe_Board) | ✓ Apache-2.0 (94 of 160 datasets |
| Open-TeleVision teleoperation datasets OpenTeleVision (Xuxin Cheng et al.) | — | — | custom (raw recordings placed in data/recordings/ and processed by repo scripts) | ? Apache-2.0 (code repository); |
Clear direction, grounded judgement.