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+---
+license: cc-by-nc-4.0
+---
+
+## Simulation GR1 Tabletop Task 1K Dataset
+
+## Dataset Description:
+The PhysicalAI-Robotics-GR00T-Teleop-GR1 dataset consists of 1000 teleoperation trajectories in simulation using the GR1 robot with upper body control. The simulation setup mimics tabletop manipulation tasks and uses RGB observations with a virtual camera. The robot is equipped with simulated Fourier hands.
+
+This dataset is ready for non-commercial use.
+
+## Dataset Owner(s):
+NVIDIA GEAR
+
+## Dataset Creation Date:
+June 1, 2025
+
+## License/Terms of Use: 
+This dataset is licensed under the [Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0)](https://creativecommons.org/licenses/by-nc/4.0/legalcode).
+
+## Intended Usage:
+Researchers, Academics, Open-Source Community: AI-driven robotics research and algorithm development in simulation environments.
+Developers: Integrate and customize AI policies for tabletop tasks.
+Startups & Companies: Non-commercial benchmarking and prototyping.
+
+## Dataset Characterization
+**Data Collection Method**  
+[Human Teleoperation in Simulation]
+
+**Labeling Method**  
+[Human]
+
+## Dataset Format
+HDF5 format and LeRobot-style dataset
+
+Modality:
+ - Observation: 44 dim of vectorized state (joint positions of upper body + waist)
+ - Action: 44 dim of vectorized action (joint positions of upper body + waist)
+ - Video: RGB video, 256x256 resolution (cropped and padded; original resolution is 51x320), 20 fps
+ - Language Instruction Example:
+   - *"pick up the bottled water, place it into the cabinet and close the cabinet"*
+   - *"pick the cupcake from the cutting board and place it in the basket"*
+
+## Dataset Quantification
+- 1000 teleoperation trajectories for each of the 24 tabletop tasks
+- Total data storage (HDF5 format): ~14GB
+- Total data storage (LeRobot-style dataset): ~39GB
+
+## Download the dataset
+
+```bash
+huggingface-cli download \
+    --repo-type dataset nvidia/PhysicalAI-Robotics-GR00T-Teleop-GR1 \
+    --local-dir ./datasets/