Objects

Contents

Objects#

RoboCasa offers over 3,200 objects across over 150 object categories. They are sourced from Objaverse 1.0, LightWheel AI, and the remaining are AI generated from Luma.ai. See the breakdown of object categories as follows:

Object Categories#

Category	Groups	Objaverse	Lightwheel	AI Gen
`apple`	fruit	22	0	10
`avocado`	vegetable	6	0	11
`bagel`	bread_food	7	0	10
`bagged_food`	packaged_food	9	0	9
`baguette`	bread_food	6	0	18
`banana`	fruit	22	0	10
`bar`	packaged_food	10	0	7
`bar_soap`	cleaner	4	0	8
`beer`	drink alcohol	16	0	9
`bell_pepper`	vegetable	4	0	7
`bottled_drink`	drink	5	0	14
`bottled_water`	drink	13	0	15
`bowl`	receptacle stackable	18	0	4
`boxed_drink`	drink	7	0	15
`boxed_food`	packaged_food	10	0	6
`bread`	bread_food	13	0	12
`bread_flat`	bread_food	4	0	12
`broccoli`	vegetable	3	0	15
`cake`	sweets	9	0	7
`can`	drink	14	0	7
`candle`	decoration	15	0	10
`canned_food`	packaged_food	16	0	7
`carrot`	vegetable	7	0	9
`cereal`	packaged_food	14	0	9
`cheese`	dairy	9	0	13
`chips`	packaged_food	15	0	7
`chocolate`	sweets	14	0	8
`coffee_cup`	drink	18	0	6
`condiment_bottle`	condiment	3	0	10
`corn`	vegetable	4	0	8
`croissant`	pastry	10	0	7
`cucumber`	vegetable	6	0	12
`cup`	receptacle stackable	4	0	18
`cupcake`	sweets	16	0	15
`cutting_board`	receptacle	12	0	11
`donut`	sweets pastry	15	0	8
`egg`	dairy	13	0	15
`eggplant`	vegetable	5	0	7
`fish`	meat	12	0	8
`fork`	utensil	11	0	10
`garlic`	vegetable	5	0	13
`hot_dog`	cooked_food	7	0	11
`jam`	packaged_food	7	0	19
`jug`	receptacle	9	0	8
`jug_wide_opening`	receptacle	5	0	0
`ketchup`	condiment	10	0	10
`kettle_non_electric`	receptacle	18	13	7
`kiwi`	fruit	6	0	11
`knife`	utensil	27	0	11
`ladle`	utensil	5	0	9
`lemon`	vegetable	18	0	12
`lime`	vegetable	4	0	9
`liquor`	drink alcohol	11	0	10
`mango`	fruit	14	0	8
`milk`	dairy drink	8	0	9
`mug`	receptacle stackable	17	0	10
`mushroom`	vegetable	14	0	9
`onion`	vegetable	9	0	7
`orange`	fruit	11	0	7
`pan`	receptacle	19	0	3
`pot`	receptacle	0	10	1
`peach`	fruit	7	0	11
`pear`	fruit	12	0	14
`plate`	receptacle	17	0	7
`potato`	vegetable	18	0	14
`rolling_pin`	tool	6	0	7
`scissors`	tool	11	0	7
`shaker`	condiment	4	0	7
`soap_dispenser`	cleaner	6	12	11
`spatula`	utensil	14	0	11
`sponge`	cleaner	8	0	10
`spoon`	utensil	23	0	8
`spray`	cleaner	3	6	13
`squash`	vegetable	8	0	7
`steak`	meat	11	0	10
`sweet_potato`	vegetable	3	0	12
`tangerine`	fruit	7	0	13
`teapot`	receptacle	11	0	7
`tomato`	vegetable	8	0	9
`tray`	receptacle	10	0	11
`waffle`	sweets	4	0	7
`water_bottle`	drink	21	0	7
`wine`	drink alcohol	12	0	7
`yogurt`	dairy packaged_food	3	0	7
`dates`	fruit	0	0	13
`lemonade`	drink	0	0	6
`walnut`	misc	0	0	8
`cheese_grater`	tool	0	12	9
`syrup_bottle`	condiment	0	6	13
`scallops`	meat	0	0	16
`candy`	sweets	0	0	11
`whisk`	utensil	0	6	9
`pitcher`	receptacle	0	12	13
`ice_cream`	sweets	0	0	13
`cherry`	fruit	0	0	12
`peanut_butter`	packaged_food	0	0	13
`thermos`	drink	0	0	13
`ham`	meat	0	0	9
`dumpling`	meat cooked_food	0	0	22
`cabbage`	vegetable	0	0	17
`lettuce`	vegetable	0	6	9
`tongs`	tool	0	6	7
`ginger`	vegetable	0	0	7
`ice_cube_tray`	receptacle	0	6	9
`shrimp`	meat	0	6	9
`cantaloupe`	fruit	0	0	14
`honey_bottle`	packaged_food	0	6	16
`grapes`	fruit	0	0	14
`spaghetti_box`	packaged_food	0	0	11
`chili_pepper`	vegetable	0	0	8
`celery`	vegetable	0	0	9
`burrito`	cooked_food	0	0	12
`olive_oil_bottle`	packaged_food	0	0	15
`kebabs`	cooked_food	0	0	15
`bottle_opener`	tool	0	0	16
`chicken_breast`	meat	0	0	12
`jello_cup`	packaged_food	0	0	9
`lobster`	meat	0	0	11
`brussel_sprout`	vegetable	0	0	14
`sushi`	meat	0	0	13
`baking_sheet`	receptacle	0	0	8
`wine_glass`	receptacle	0	0	7
`asparagus`	vegetable	0	0	13
`lamb_chop`	meat	0	0	8
`pickle`	vegetable	0	0	7
`bacon`	meat	0	0	11
`canola_oil`	packaged_food	0	0	14
`strawberry`	fruit	0	0	10
`watermelon`	fruit	0	0	12
`pizza_cutter`	tool	0	6	9
`pomegranate`	fruit	0	0	7
`apricot`	fruit	0	0	9
`beet`	vegetable	0	0	11
`radish`	vegetable	0	0	10
`salsa`	packaged_food	0	0	13
`artichoke`	vegetable	0	0	10
`scone`	pastry bread_food	0	0	12
`hamburger`	cooked_food	0	0	16
`raspberry`	fruit	0	0	8
`tacos`	cooked_food	0	0	8
`vinegar`	packaged_food condiment	0	0	11
`zucchini`	vegetable	0	0	11
`pork_loin`	meat	0	0	15
`pork_chop`	meat	0	0	16
`sausage`	meat	0	0	16
`coconut`	fruit	0	0	15
`cauliflower`	vegetable	0	0	10
`lollipop`	sweets	0	0	9
`salami`	meat	0	0	13
`butter_stick`	dairy	0	0	13
`can_opener`	tool	0	0	6
`tofu`	misc	0	0	17
`pineapple`	fruit	0	0	8
`skewers`	meat cooked_food	0	0	6
`colander`	receptacle	0	12	0
`reamer`	tool	0	12	0
`ice_cube`	iced_item	0	6	0
`jar`	decoration receptacle	0	23	0
`measuring_cup`	tool	0	12	0
`sandwich_bread`	bread_food	0	11	0
`strainer`	tool receptacle	0	12	0
`sugar_cube`	sweets	0	6	0
`cinnamon`	spice	0	12	0
`cookie_dough_ball`	sweets	0	12	0
`cream_cheese_stick`	dairy	0	12	0
`digital_scale`	tool	0	12	0
`flour_bag`	misc	0	12	0
`hotdog_bun`	bread_food	0	12	0
`mayonnaise`	condiment	0	12	0
`mustard`	condiment	0	12	0
`oven_tray`	receptacle	0	12	0
`paprika`	spice	0	12	0
`turmeric`	spice	0	12	0
`pickle_slice`	vegetable	0	12	0
`tomato_slice`	vegetable	0	12	0
`turkey_slice`	meat	0	12	0
`straw`	misc	0	12	0
`tupperware`	receptacle	0	12	0
`chicken_drumstick`	meat	0	12	0
`glass_cup`	receptacle stackable	0	24	0
`lemon_wedge`	vegetable	0	12	0
`marshmallow`	sweets	0	6	0
`oil_and_vinegar_bottle`	condiment	0	24	0
`pancake`	sweets	0	6	0
`peeler`	tool	0	6	0
`saucepan`	receptacle	3	12	0
`saucepan_with_lid`	receptacle	0	12	0
`saucepan_lid`	lid	0	12	0
`wooden_spoon`	utensil	0	12	0
`aluminum_foil`	tool	0	6	0
`dish_brush`	cleaner tool	0	6	0
`pizza`	cooked_food	0	6	0
`kebab_skewer`	cooked_food	0	6	0
`juice`	drink	0	12	0
`salt_and_pepper_shaker`	spice	0	24	0
`basket`	receptacle	0	21	0
`placemat`	receptacle	0	19	0
`blender_jug`	receptacle	0	21	0