CLARU
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GR1 Manipulation — Isaac Sim Rendered (RGB/Depth/Seg)

Multi-modal rendered dataset of NVIDIA GR1 humanoid robot performing tabletop manipulation tasks in Isaac Sim with synchronized RGB, depth, and semantic segmentation videos. Designed as input for NVIDIA Cosmos Transfer 2.5 to generate photorealistic sim-to-real augmented training data.

Downloads1K
Episodes500+

Why This Matters for Physical AI

This dataset enables sim-to-real transfer learning for humanoid robot manipulation by providing photorealistic multi-modal training data that bridges the visual domain gap between simulation and real-world deployment.

Technical Profile

Modalities
rgbdepthsegmentation
Robot Embodiments
GR1 humanoid
Environment
simulation
Task Types
pick_and_placemanipulation
Episodes
500+
Data Format
MP4
Annotation Types
segmentation
License
cc-by-4.0
Part of the GR1 Manipulation — Isaac Sim Rendered (RGB/Depth/Seg) family

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