NVIDIA GR00T X-Embodiment Sim
NVIDIA's open simulated humanoid/arm manipulation dataset used to post-train the GR00T N1 foundation model; LeRobot format, CC-BY-4.0.
| Year | 2025 |
|---|---|
| Embodiments | franka_panda, humanoid_other, unitree_humanoid |
| Modalities | language, proprioception, rgb |
| Task categories | manipulation |
| License | CC-BY-4.0 |
| Access | open — commercial use permitted |
| Maintainer | NVIDIA (GEAR Lab / Isaac) |
The public, downloadable dataset behind NVIDIA's Isaac GR00T N1 humanoid foundation model. It bundles simulated post-training trajectories across multiple embodiments (Fourier GR1 humanoid in arms-only/full-upper-body/arms+waist configs, single-arm and bimanual Franka Panda with gripper and dexterous-hand variants, and a Unitree G1 loco-manipulation set) covering cross-embodied bimanual manipulation, humanoid tabletop manipulation, and robot-arm kitchen manipulation. Released on Hugging Face under CC-BY-4.0 in a LeRobot-compatible per-task layout (data/meta/videos), it has surpassed 10M downloads. The related DreamGen / GR00T-Dreams release (arXiv 2505.12705, Apache-2.0) is a synthetic-trajectory generation method plus code/benchmark, not a standalone downloadable trajectory dataset.