DreamDojo GR-1 Post-Training
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.
- Scale
- 88.4 hours
- Formats
- lerobot
- License
- CC-BY-NC-4.0
- Published
- 2026-02-06
Decision summary
teleoperation
Metadata requires review against the official source before publication.
Read the dataset manifest and feature schema.
Catalog assessment
Selection evidence
63/100
Provisional · confidence 48 · 4/6 evaluated
Access and governance
The declared license restricts commercial use.
Schema and signal coverage
No machine-readable schema has been verified yet.
Policy training readiness
Observation and action/state signals are declared; alignment quality still depends on sample verification.
View 3 more dimensions
World-model readiness
Temporal observations plus geometry or semantic context are declared; sample alignment remains to be audited.
Failure and recovery readiness
No verified failure/recovery annotation evidence is available yet.
Download and processing readiness
Scale is declared; transfer and processing estimates are not measured.
Review unresolved evidence and next checks
Signal gaps
- Gaze / attention. Not enough evidence is available to classify this signal.
- Sim-real pairing. Not enough evidence is available to classify this signal.
Next checks
- Read the dataset manifest and feature schema.
- Run a bounded sample audit before assigning Strong readiness.
Metadata coverage
Loop signals
5/7 present or partial
No decision-grade evidence captured yet.
unknownNo decision-grade evidence captured yet.
unknownView 5 more signal categories
video · 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.
presentee_pose
partiallanguage · has-success-labels
presentThe 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.
presentOpen · CC-BY-NC-4.0 · lerobot
presentEvidence details and provenance
Official signal claims
Schema and annotations
No machine-readable schema facts are captured.
Sample verification
Pending. Metadata does not prove sample coverage, alignment, or file integrity.
curated official source
Integration notes
- Metadata requires review against the official source before publication.
Catalog links