Joocjun/GR1-Tabletop-NextState-1000x24
Robotics Dataset
This dataset contains 24,000 simulated tabletop manipulation episodes of a GR1 humanoid robot performing 186 unique tasks such as pick-and-place, cabinet/drawer/microwave manipulation, and object rearrangement, with RGB ego-view video and 44-dimensional joint state/action data in LeRobot v2.0 format.
Catalog metadata
- Repository owner
- Joocjun
- Source
- Hugging Face / LeRobot
- Robot
- GR1ArmsAndWaistFourierHands
- Episodes
- 24000
- Frames
- 6020058
- Cameras
- 1
- Frames per second
- 20.0
- License
- apache-2.0
Example tasks
- unlocked_waist: pick up the bottled water, place it into the cabinet and close the cabinet
- unlocked_waist: pick up the can, place it into the drawer and close the drawer
- unlocked_waist: pick up the cup, place it into the drawer and close the drawer
- unlocked_waist: pick up the milk, place it into the microwave and close the microwave
- unlocked_waist: pick up the potato, place it into the microwave and close the microwave
- unlocked_waist: pick up the wine, place it into the cabinet and close the cabinet
- unlocked_waist: pick the squash from the cutting board and place it in the basket
- unlocked_waist: pick the bell pepper from the cutting board and place it in the basket
- unlocked_waist: pick the cupcake from the cutting board and place it in the basket
- unlocked_waist: pick the croissant from the cutting board and place it in the basket
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