CLARU
nvidia2025cc-by-4.0

Arena-G1-Loco-Manipulation-Task

Multimodal trajectory dataset for humanoid G1 loco-manipulation tasks in IsaacLab-Arena environment, containing 50 demonstrations (5 human teleoperated, 45 synthetically generated) for box pick and place tasks.

Downloads393
Episodes50
Likes3

Why This Matters for Physical AI

This dataset supports training of generalist robot policies for humanoid loco-manipulation through behavior cloning and was used for post-training the GR00T N1.5 model, advancing research in task-conditioned embodied AI agents.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
humanoid
Action Space
joint_positions
Environment
simulation
Task Types
pick_and_placemanipulationloco-manipulation
Episodes
50
Data Format
HDF5
Annotation Types
language_instructionsaction_labels
License
cc-by-4.0
Part of the Arena-G1-Loco-Manipulation-Task family

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