GR1
Datasets
All datasets matching “GR1”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-CuttingboardToPan