Galaxea Open-World Dataset
Galaxea AI · 2025 · datasets.bot · datasets.bot page
One-liner. 500+ hours of real-world mobile bimanual manipulation on the Galaxea R1 Lite robot with subtask language annotations.
Setup
- Datasets / benchmarks: The Galaxea Open-World Dataset is a large-scale real-world mobile manipulation collection gathered with a single embodiment, the Galaxea R1 Lite dual-arm mobile manipulator, across home, kitchen, retail, and office environments. It contains roughly 100K demonstration trajectories totaling 500+ hours, paired with fine-grained subtask-level language annotations. Data is released in LeRobot v2.1 format with four RGB camera streams plus proprioceptive state, and underpins the G0 dual-system VLA model. License: custom. Download: https://huggingface.co/datasets/OpenGalaxea/Galaxea-Open-World-Dataset.
- Hardware / simulator: Embodiment: multi. Environment: home, office, retail, kitchen. Realness: physical.
Schema
LeRobot v2.1 Parquet archives: 4 RGB camera videos (head, head-right, left/right wrist; 720x1280 AV1@15fps), proprioceptive state (joint pos/vel, gripper, EE poses, IMU), and subtask-level language annotations.
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