CLARU
benlam62cc-by-4.0

NVIDIA GR1 Humanoid Manipulation Dataset

Multimodal collections of trajectories for humanoid (GR1) tabletop manipulation tasks in industrial settings, including pouring nuts and sorting pipes by color, generated in Isaac Lab with both human teleoperated demonstrations and synthetic data.

Downloads91

Technical Profile

Modalities
rgbproprioceptionlanguage
Robot Embodiments
humanoidGR1
Environment
simulation
Task Types
manipulationpouringsorting
Data Format
HDF5, LeRobot
License
cc-by-4.0
Part of the NVIDIA GR1 Humanoid Manipulation Dataset family

Access

View on HuggingFace

Need custom rgb data?

Claru builds purpose-built datasets for simulation applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

LingBot-Depth Dataset

Self-curated RGB-D dataset for training masked depth modeling approaches, containing real-world indoor scenes, VLA robot manipulation tasks, and simulated data across multiple camera types and robot platforms.

rgbdepth
337K downloadsApr 2026CC BY-NC-SA 4.0

Xperience-10M

A large-scale egocentric multimodal dataset of human experience containing 10 million interactions and 10,000 hours of synchronized first-person recordings with six video streams, audio, stereo depth, camera pose, hand mocap, full-body mocap, IMU, and hierarchical language annotations for embodied AI, robotics, and world modeling research.

rgbaudiodepthproprioception+3
250K downloadsApr 2026other

Open-H-Embodiment

A multi-embodiment community-driven dataset of paired kinematics and video for training AI autonomy models in surgical robotics and ultrasound applications. The dataset includes tabletop exercises, clinical procedures, and simulations of healthcare robotics tasks.

rgbproprioception
111K downloadsMar 2026cc-by-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes with cross-modal contextual instructions derived from spoken dialogue, environmental sounds, and visual cues rather than explicit commands.

rgbaudiolanguage
63K downloadsMar 2026cc-by-nc-4.0

Egocentric-100K

The largest dataset of manual labor with 100,405 hours of egocentric video from head-mounted fisheye cameras, featuring state-of-the-art hand visibility and active manipulation density.

rgbvideo
50K downloadsFeb 2026apache-2.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes across 112 skills and 748 objects, enriched with audio, visual, and contextual instruction data for cross-modal intention recognition.

rgbaudiolanguage
47K downloadsMar 2026cc-by-nc-4.0