datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
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/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim.PhysicalAI-Robotics-GR00T-Teleop-Sim
Simulation GR1 Tabletop Task 1K Dataset
Dataset Description:
The PhysicalAI-Robotics-GR00T-Teleop-GR1 dataset consists of 1000 teleoperation trajectories in simulation using the GR1 robot with upper body control. The simulation setup mimics tabletop manipulation tasks and uses RGB observations with a virtual camera. The robot is equipped with simulated Fourier hands.
This dataset is ready for non-commercial use.
Dataset Owner(s):
NVIDIA GEAR… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-Sim.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_mg_gr00t_1000robocasa_mg_gr00t_300gr1_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-CuttingboardToPanrobocasa_mg_gr00t_300gr1_arms_waist-CuttingboardToCardboardBoxgr1_arms_waist-PlaceMilkToMicrowaveisaac-gr00t-pld-eval-rolloutsGR00T-X-Embodiment-Sim
GR00T-X-Embodiment-Sim → FiftyOne (Native Multimodal MCAP)
A 42-episode subset of
nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim,
six episodes from each of seven embodiments, converted to native multimodal
MCAP episodes. Each episode carries the camera streams as H.264
foxglove.CompressedVideo, per-part robot state and action telemetry with
timeline plot channels, and the task instruction.
Installation
pip install fiftyone
Usage
import fiftyone… See the full description on the dataset page: https://huggingface.co/datasets/Voxel51/GR00T-X-Embodiment-Sim.gr00t-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.PhysicalAI-Robotics-GR00T-Teleop-G1
Unitree G1 Fruits Pick and Place 1K Dataset
Dataset Description:
The PhysicalAI-Robotics-GR00T-Teleop-G1 dataset consists of1000 teleoperation trajectories of real robot data using Unitree G1, with upper body control. The robot chooses the correct fruit to pick and place on the plate according to the language prompt. A total of 4 fruits are used: Apple, Pear, Starfruit, Grape. The robot is equipped with the default realsense camera, and a pair of Unitree G1 Tri-fingers… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-G1.gr1_arms_waist-WineToCabinetgr1_arms_waist-PlacematToBasketGR00T-N1.7-AppleToPlate
Dataset Description:
The GR00T-N1.7-AppleToPlate dataset is a multimodal collection of trajectories collected on a Unitree G1 humanoid robot. It supports a humanoid (G1) static loco-manipulation task in which the robot picks up an apple and places it on a plate. Each entry provides the full context (state, vision, language, action) needed to train and evaluate generalist robot policies for an apple pick-and-place task.
Dataset Name
# Trajectories
G1 Static… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/GR00T-N1.7-AppleToPlate.robocasa_mg_gr00t_100gr1_arms_waist-TrayToTieredShelfgr1_arms_waist-TrayToPlategr1_arms_waist-CanToDrawergr1_arms_waist-TrayToPotgr1_arms_waist-PlateToCardboardBoxPhysicalAI-GR00T-Tuned-Tasks
Dataset Description:
This dataset is multimodal collections of trajectories generated in Isaac Lab. It supports humanoid (GR1) tabletop manipulation tasks for industrial settings. Each dataset entry provides the full context (state, vision, language, action) needed to train and evaluate generalist robot policies for tasks like pouring nuts or sorting pipes by color.
Dataset Name
# Trajectories
Exhaust-Pipe-Sorting-task
1000
Nut-Pouring-task
1000
This dataset is… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-GR00T-Tuned-Tasks.robocasa_mg_gr00t_1000first-thread-gr00t
first-thread-gr00t
Unitree G1-D teleop episodes for the task "thread lamp part", recorded by the 120ft
episode recorder and converted for GR00T N1.7 fine-tuning.
Format: LeRobot v2.1 + meta/modality.json (GR00T flavor). Converted from the
v3.0 source dataset with Isaac-GR00T's convert_v3_to_v2.py; the v3.0 original lives in
the data-collection repo (data/120ft/first-thread).
Episodes: 72 (growing — reconverted/re-uploaded via data-collection scripts/convert_gr00t.sh… See the full description on the dataset page: https://huggingface.co/datasets/120ft/first-thread-gr00t.gr1_arms_waist-PlateToPangr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-5
Grab-Bottle (right hand) - zero-wandering, smoothing half-width 5
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task, curated to
remove non-purposeful arm motion ("wandering") so a trained policy does not learn
unstable behavior. Derived from the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 5;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This is… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-5.gr00t-g1-grab-bottle-right-hand-speedup-3mm-v1
Grab-Bottle (right hand) - DP-resampled, 3 mm/frame wrist target
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Merges two
teleoperation datasets and applies Dynamic Programming (DP) resampling on the
right-wrist XYZ trajectory to normalise the action density across all episodes. It is
the training data for the
v7 GR00T N1.7 fine-tune
a speedup-resampling reference baseline (trained 2026-06-25, checkpoint-20000
only).
The key idea: instead of keeping… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-speedup-3mm-v1.gr00t-g1-grab-bottle-right-hand-105ep-v1
GR00T G1 Grab-Bottle — right hand, 105 episodes (source teleoperation set)
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. This is the
base source teleoperation set of the grab-bottle lineage — 105 episodes of
real-robot demonstration, manually cleaned at the episode level (bad runs discarded),
with no automated frame-level curation applied.
It is the dataset the curated variants are derived from: the
zero-wandering-smooth-radius-{5,10,15,20} sets and the… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-105ep-v1.