DreamDojo GR-1 Post-Training
DreamDojo's released GR-1 humanoid post-training data — teleoperated trajectories + evaluation sets. (The 44.7k-hr DreamDojo-HV human-video pretraining corpus is in-house and NOT released.)
| Year | 2026 |
|---|---|
| Total hours | 88 |
| Embodiments | humanoid_other |
| Modalities | ee_pose, language, proprioception, rgb |
| Task categories | manipulation |
| License | CC-BY-NC-4.0 |
| Access | open |
| Maintainer | NVIDIA |
The publicly released dataset accompanying DreamDojo, NVIDIA's generalist robot world model (arXiv 2602.06949, ICML 2026). DreamDojo is pretrained on DreamDojo-HV — a 44.7k-hour in-house egocentric human-video corpus that is not publicly released. What is released (Feb 2026) is the GR-1 post-training data: teleoperated trajectories on the Fourier GR-1 humanoid plus evaluation sets, used to post-train and evaluate the world model. Hosted on Hugging Face as nvidia/PhysicalAI-Robotics-GR00T-Teleop-GR1 (LeRobot / parquet+video), CC-BY-NC-4.0. 2B/14B model checkpoints and pre/post-training code are also released.