G1-DreamDojo

Introduction

TL;DR: DreamDojo is a generalist robot world model pretrained on 44k hours of human egocentric data, showing unprecedented generalization to diverse objects and environments.

• Project page: https://dreamdojo-world.github.io/
• Paper: https://arxiv.org/abs/2602.06949
• Code: https://github.com/NVIDIA/DreamDojo

How to Use

Check out https://github.com/NVIDIA/DreamDojo

Citation

@article{gao2026dreamdojo,
  title={DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos},
  author={Shenyuan Gao and William Liang and Kaiyuan Zheng and Ayaan Malik and Seonghyeon Ye and Sihyun Yu and Wei-Cheng Tseng and Yuzhu Dong and Kaichun Mo and Chen-Hsuan Lin and Qianli Ma and Seungjun Nah and Loic Magne and Jiannan Xiang and Yuqi Xie and Ruijie Zheng and Dantong Niu and You Liang Tan and K.R. Zentner and George Kurian and Suneel Indupuru and Pooya Jannaty and Jinwei Gu and Jun Zhang and Jitendra Malik and Pieter Abbeel and Ming-Yu Liu and Yuke Zhu and Joel Jang and Linxi "Jim" Fan},
  journal={arXiv preprint arXiv:2602.06949},
  year={2026}
}