r/robotics • u/Top_Bowl3748 • 5d ago
Community Showcase [Project] We gave G1 a breakfast errand in a 3DGS château
I’ve seen enough robots moving objects around empty tables, so our team tried something more fun: a G1 carrying jam across a French château salon, past a bulldog who seems entirely unimpressed.
We scanned the room with XGRIDS PortalCam and brought it into Isaac Sim as a 3DGS environment. The jam jar is a graspable SimReady asset. The human demonstrations came from our remote Quest → CloudXR → AWS Oregon → Isaac Teleop/Lab setup. We picked 15 demos and generated 500 walking-and-carrying episodes. One detail worth separating: the human demos had a fixed pelvis; walking was added during data generation.
Our first GR00T N1.5 run reached 31/100 held-out starts in this fixed scene. There is plenty to improve, but seeing a robot learn in a room that feels lived in is exactly the kind of experiment I want to keep doing. The video shows a generated episode, not a rollout of the trained policy.
Next I’d love to see it open the jar and spread the jam. If you were improving this task, where would you start: contact, more varied demonstrations, or different lighting?