GRAIL
Description
The current GRAIL release contains 22,312 physics-validated Unitree G1 motions and 5,576,500 frames spanning tabletop and ground pickup, sitting, slopes, curbs, and stair traversal. A fully digital pipeline generates synthetic human-object videos, reconstructs SMPL-X and object 6-DoF motion, retargets it to the humanoid, and validates execution through an Isaac Lab tracking policy. Each sequence includes source video, 4D reconstruction, robot and object trajectories, metadata, and textured USD assets for whole-body policy training and sim-to-real research.
License
Trajectories: Apache-2.0. Checkpoints and assets: varies.*
* Double-check the publisher's current license and usage terms before using this dataset.