datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
PhysicalAI-Robotics-GR00T-Teleop-GR1
Introduction
TL;DR: DreamDojo is a generalist robot world model pretrained on 44k hours of human egocentric data, showing unprecedented generalization to diverse objects and environments.
Project page: https://dreamdojo-world.github.io/
Paper: https://arxiv.org/abs/2602.06949
Code: https://github.com/NVIDIA/DreamDojo
How to Use
Check out https://github.com/NVIDIA/DreamDojo
Citation
@article{gao2026dreamdojo,
title={DreamDojo: A Generalist Robot… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-GR1.GR1-Tabletop-NextState-1000x24
GR1 Tabletop Merged LeRobot Datasets
Merged and subsampled versions of the GR1 tabletop manipulation datasets from the NVIDIA PhysicalAI-Robotics-GR00T-X-Embodiment-Sim collection, formatted in LeRobot v2.0 format.
Dataset Variants
Variant
Demos/Task
Tasks
Total Episodes
Total Frames
Approx Size
1000x24/
1000
24 folders, 186 unique tasks
24,000
6,020,058
~40 GB
300x24/
300
24 folders, 186 unique tasks
7,200
1,803,236
~12 GB
100x24/
100
24 folders… See the full description on the dataset page: https://huggingface.co/datasets/Joocjun/GR1-Tabletop-NextState-1000x24.gr1-tabletop-augmented
GR-1 Tabletop, Augmented v2
Counterfactual action perturbations for the NVIDIA GR-1 tabletop manipulation dataset, with
joint torque, fingertip force, and binary contact recorded alongside — and, for every
perturbed rollout, the rendered future the perturbed action actually produces. Version 2
also supplies the complete recorded 10 Hz timeline re-rendered from the stored MuJoCo states
through the same renderer, crop, resize, and JPEG path as the counterfactual futures.
The… See the full description on the dataset page: https://huggingface.co/datasets/leesangoh/gr1-tabletop-augmented.GR1_robot
GR1 Robot Teleoperation Dataset
A large-scale humanoid robot teleoperation dataset collected using the Fourier GR-1 (GR1T1) robot, part of the GR00T robotics initiative.
This is a true subset of nvidia/PhysicalAI-Robotics-GR00T-Teleop-GR1.
Dataset Summary
Episodes: 22,209
Total frames: 6,362,293
Total tasks: 46,669
Videos: 22,209
Frequency: 20 FPS
Robot: GR1T1 (Fourier GR-1 humanoid)
The dataset contains egocentric video observations (1280x800) paired with full-body… See the full description on the dataset page: https://huggingface.co/datasets/Physis-AI/GR1_robot.gr1_mg_gr00t_300_new
LeRobot dataset: gr1_mg_gr00t_300_new
Folder layout:
data/ – tensors, arrays, per-episode artifacts
meta/ – episodes.jsonl, tasks.jsonl, stats.json, modality.json, info.json
videos/ – episode videos (if any)
This is a raw LeRobot-format dataset (not a 🤗 Datasets script). Download via git lfs or huggingface_hub.snapshot_download.
gr1_arms_waist-CuttingboardToPangr1_arms_waist-CuttingboardToCardboardBoxgr1_arms_waist-PlaceMilkToMicrowavegr00t-n15-robocasa-gr1-eval
GR00T N1.5 on RoboCasa GR-1 Tabletop — Evaluation Trajectories
Per-simulator-step recordings of 1,200 evaluation episodes (24 tasks × 50 episodes) of
NVIDIA's GR00T N1.5 vision-language-action model on the
RoboCasa GR-1 Tabletop Tasks benchmark.
Each episode stores every low-level transition — ego-view frames, robot state, executed actions,
rewards, full MuJoCo state, and 3D poses of every object and scene body — so that rollouts can be
re-analyzed or re-rendered without… See the full description on the dataset page: https://huggingface.co/datasets/junhee1998/gr00t-n15-robocasa-gr1-eval.gr1_arms_waist-WineToCabinetegopi_latal_gr1_p2gr1_arms_waist-TrayToTieredShelfgr1_arms_waist-TrayToPlategr1_arms_waist-CanToDrawergr1-dishwashergr1_arms_waist-TrayToPotgr1_arms_waist-PlateToCardboardBoxRoboCasa_GR1
RoboCasa GR1 EEF33 (LeRobot v3)
OpenWAM-ready conversion of the 24k-trajectory gr1_unified.* subset from
nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim.
The original LeRobot v2.0 payload is preserved and enriched with:
eef_action
observation.eef_state
Both use the robot-base-frame layout:
[L xyz3, L rot6d6, L hand6, R xyz3, R rot6d6, R hand6, waist3]
The conversion uses the exact RoboCasa GR1 MuJoCo model for forward kinematics,
then re-indexes the dataset to the LeRobot… See the full description on the dataset page: https://huggingface.co/datasets/OpenWAM/RoboCasa_GR1.gr1_arms_waist-PlateToPanegopi_latal_gr1_p1egopi_latal_gr1_p4gr1_arms_waist-CupToDrawergr1_arms_waist-PlaceBottleToCabinetegopi_latal_gr1_p0egopi_latal_gr1_p3gr1_arms_waist-PlateToBowlegopi_latal_gr1_p5gr1_arms_waist-PotatoToMicrowave_gr1_unified
PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
Github Repo: Isaac GR00T N1
We provide a set of datasets used for post-training of GR00T N1. Each dataset is a collection of trajectories from different robot embodiments and tasks.
Cross-embodied bimanual manipulation: 9k trajectories
Dataset Name
#trajectories
bimanual_panda_gripper.Threading
1000
bimanual_panda_hand.LiftTray
1000
bimanual_panda_gripper.ThreePieceAssembly
1000… See the full description on the dataset page: https://huggingface.co/datasets/nhatchung/_gr1_unified.PhysicalAI-Robotics-GR00T-GR1
GR1-100
92 Videos of a Fourier GR1-T2 robot performing various tasks in the lab from the third person perspective.
This dataset is ready for commercial/non-commercial use.
Dataset Owner(s):
NVIDIA Corporation (GEAR Lab)
Dataset Creation Date:
May 1, 2025
License/Terms of Use:
This dataset is governed by the Creative Commons Attribution 4.0 International License (CC-BY-4.0).
This dataset was created using a Fourier GR1-T2 robot.
Intended… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-GR1.