CLARU
nvidiacc-by-4.0

Arena-GR1-Manipulation-Task

A multimodal dataset of 50 trajectories for humanoid (GR1) manipulation tasks in Isaac Lab, including 10 human teleoperated demonstrations and 40 synthetically generated demonstrations using MimicGen. The dataset provides state, vision, language, and action data for training generalist robot policies for microwave opening tasks.

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Technical Profile

Modalities
rgbproprioceptionlanguage
Robot Embodiments
humanoidGR1
Environment
simulation
Task Types
manipulationopening microwave
Data Format
HDF5, LeRobot
License
cc-by-4.0
Part of the Arena-GR1-Manipulation-Task family

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