GR1 Robot Teleoperation Dataset A large scale humanoid robot teleoperation dataset collected using the Fourier GR 1 (GR1T1) robot, part of the GR00T robotics initiative. This is a true subset of nvidia/PhysicalAI Robotics GR00T Teleop GR1. Dataset Summary Episodes : 22,209 Total frames : 6,362,293 Total tasks : 46,669 Videos : 22,209 Frequency : 20 FPS Robot : GR1T1 (Fourier GR 1 humanoid) The dataset contains egocentric video observations (1280x800) paired with full body robot states and actions across 44 degrees of freedom, including dual arms, dual dexterous hands, waist, and neck. Repository Structure Features Each episode Parquet file contains per timestep records: Feature Dtype Shape Description observation.state float64 (44,) Full body joint positions action float64 (44,) Full body joint actions timestamp float64 (1,) Timestep timestamp (s) next.reward float64 (1,) Reward next.done bool (1,) Episode termination flag task index int64 (1,) Task identifier episode index int64 (1,) Episode index index int64 (1,) Global frame index annotation.human. int64 (1,) Human annotations (verb, object, location, hand, rating, etc.) State / Action Space Both observation.state and action are…
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