GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
Paper • 2503.14734 • Published • 9
Datasets:
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action listlengths 6 6 | observation.state listlengths 6 6 | timestamp float32 0 21 | frame_index int64 0 629 | episode_index int64 0 299 | index int64 0 58.9k | task_index int64 0 2 |
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End of preview. Expand in Data Studio
Cotton Ball Pick-and-Place with Correction (SO-101)
A teleoperated manipulation dataset collected on the SO-101 follower arm (single 6-DOF arm, parallel-jaw gripper, single front-facing camera) for a pick-and-place task: pick up a cotton ball and place it on a plate. The dataset combines three task variants:
- Pink ball —
Pick up the pink cotton ball and place it on the plate(100 episodes, 20,118 frames) - Yellow ball —
Pick up the yellow cotton ball and place it on the plate(100 episodes, 20,074 frames) - Pick-and-correct —
Pick up the cotton ball and place it on the plate. Stop, not this one.(100 episodes, 18,661 frames) — demonstrations of a mid-task verbal correction/stop scenario, rather than an uninterrupted pick-and-place
This dataset was used to fine-tune GR00T N1.6
for the pink/yellow task
(tysyuvraj/groot-n16-so101-pickplace).
It is also the manipulation data behind the "body" side of a research
system pairing this policy with a Qwen3-Omni-based anticipatory
human-robot-interaction monitor, which supervises the running policy and
can stop, redirect, or confirm completion of the task in real time.
Dataset Details
- Robot: SO-101 follower arm — single 6-DOF arm (
shoulder_pan,shoulder_lift,elbow_flex,wrist_flex,wrist_roll,gripper), parallel-jaw gripper, single front-facing camera - Collection method: human teleoperation
- Format: LeRobot v3.0
dataset format (Parquet + MP4 video), single
trainsplit - Size: 300 episodes, 58,853 frames total, 30 fps
- Video:
observation.images.front, 640x360
Intended Use
Training or fine-tuning manipulation policies for small-object pick-and-place, and specifically as a benchmark scene for HRI systems that need to detect and act on mid-task verbal corrections rather than only clean, uninterrupted demonstrations — the pick-and-correct split exists for exactly this purpose.
Known Limitations
- Only two object colors and one receptacle are covered — a narrow-object-set dataset, not a general small-object-grasping dataset.
- The pick-and-correct split demonstrates one specific correction pattern (verbal "stop, not this one" mid-task); it is not a general-purpose interruption-handling dataset covering arbitrary redirect phrasing.
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from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("tysyuvraj/so101-cotton-pickplace")
Citation
@misc{singh2026so101cotton,
author = {Singh, Yuvraj},
title = {Cotton Ball Pick-and-Place with Correction (SO-101)},
year = {2026},
url = {https://huggingface.co/datasets/tysyuvraj/so101-cotton-pickplace}
}
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