CLARU
nvidia2025cc-by-4.0

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 1000 demonstrations per task using MimicGen.

Downloads481
Episodes2000
Likes3

Why This Matters for Physical AI

This dataset enables training of generalist robot manipulation policies through behavior cloning on diverse industrial tasks, advancing sim-to-real transfer research for humanoid robots in practical settings.

Technical Profile

Modalities
rgbproprioceptionlanguage
Robot Embodiments
humanoid
Action Space
joint_positions
Environment
simulation
Task Types
manipulationpouringsorting
Episodes
2000
Data Format
HDF5, LeRobot
Annotation Types
language_instructionsaction_labels
License
cc-by-4.0
Part of the GR00T N1 family

Community Signals

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