---
license: cc-by-nc-4.0
---

## Simulation GR1 Tabletop Task 1K Dataset

## Dataset Description:
The PhysicalAI-Robotics-GR00T-Teleop-GR1 dataset consists of 1000 teleoperation trajectories in simulation using the GR1 robot with upper body control. The simulation setup mimics tabletop manipulation tasks and uses RGB observations with a virtual camera. The robot is equipped with simulated Fourier hands.

This dataset is ready for non-commercial use.

## Dataset Owner(s):
NVIDIA GEAR

## Dataset Creation Date:
June 1, 2025

## License/Terms of Use: 
This dataset is licensed under the [Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0)](https://creativecommons.org/licenses/by-nc/4.0/legalcode).

## Intended Usage:
Researchers, Academics, Open-Source Community: AI-driven robotics research and algorithm development in simulation environments.
Developers: Integrate and customize AI policies for tabletop tasks.
Startups & Companies: Non-commercial benchmarking and prototyping.

## Dataset Characterization
**Data Collection Method**  
[Human Teleoperation in Simulation]

**Labeling Method**  
[Human]

## Dataset Format
HDF5 format and LeRobot-style dataset

Modality:
 - Observation: 44 dim of vectorized state (joint positions of upper body + waist)
 - Action: 44 dim of vectorized action (joint positions of upper body + waist)
 - Video: RGB video, 256x256 resolution (cropped and padded; original resolution is 51x320), 20 fps
 - Language Instruction Example:
   - *"pick up the bottled water, place it into the cabinet and close the cabinet"*
   - *"pick the cupcake from the cutting board and place it in the basket"*

## Dataset Quantification
- 1000 teleoperation trajectories for each of the 24 tabletop tasks
- Total data storage (HDF5 format): ~14GB
- Total data storage (LeRobot-style dataset): ~39GB

## Download the dataset

```bash
huggingface-cli download \
    --repo-type dataset nvidia/PhysicalAI-Robotics-GR00T-Teleop-GR1 \
    --local-dir ./datasets/