## Objects

RoboCasa offers over 2,500 objects across over 150 object categories. Some are sourced from [Objaverse 1.0](https://objaverse.allenai.org/objaverse-1.0), while the remianing majority are AI generated from [Luma.ai](https://luma.ai/). See the breakdown of object categories as follows:

| Category            | Groups                         |   Objaverse Instances |   AI Generated Instances |
|:--------------------|:-------------------------------|----------------------:|-------------------------:|
| liquor              | drink, alcohol           |                    12 |                       10 |
| apple               | fruit                     |                    22 |                       10 |
| avocado             | vegetable                 |                     7 |                       11 |
| bagel               | bread_food                |                     9 |                       10 |
| bagged_food         | packaged_food             |                     9 |                        9 |
| baguette            | bread_food                |                     6 |                       18 |
| banana              | fruit                     |                    23 |                       10 |
| bar                 | packaged_food             |                    10 |                        7 |
| bar_soap            | cleaner                   |                     4 |                        8 |
| beer                | drink, alcohol           |                    17 |                        9 |
| bell_pepper         | vegetable                 |                     4 |                        7 |
| bottled_drink       | drink                     |                     5 |                       14 |
| bottled_water       | drink                     |                    14 |                       15 |
| bowl                | receptacle, stackable    |                    20 |                        4 |
| boxed_drink         | drink                     |                     7 |                       15 |
| boxed_food          | packaged_food             |                    10 |                        6 |
| bread               | bread_food                |                    20 |                       12 |
| broccoli            | vegetable                 |                     3 |                       15 |
| cake                | sweets                    |                    10 |                        7 |
| can                 | drink                     |                    14 |                        7 |
| candle              | decoration                |                    15 |                       10 |
| canned_food         | packaged_food             |                    16 |                        7 |
| carrot              | vegetable                 |                     7 |                        9 |
| cereal              | packaged_food             |                    14 |                        9 |
| cheese              | dairy                     |                     9 |                       13 |
| chips               | packaged_food             |                    16 |                        7 |
| chocolate           | sweets                    |                    15 |                        8 |
| coffee_cup          | drink                     |                    18 |                        6 |
| condiment_bottle    | condiment                 |                     3 |                       10 |
| corn                | vegetable                 |                     4 |                        8 |
| croissant           | pastry                    |                    10 |                        7 |
| cucumber            | vegetable                 |                     6 |                       12 |
| cup                 | receptacle, stackable    |                     4 |                       18 |
| cupcake             | sweets                    |                    16 |                       15 |
| cutting_board       | receptacle                |                    12 |                       11 |
| donut               | sweets, pastry           |                    16 |                        8 |
| egg                 | dairy                     |                    13 |                       15 |
| eggplant            | vegetable                 |                     5 |                        7 |
| fish                | meat                      |                    12 |                        8 |
| fork                | utensil                   |                    12 |                       10 |
| garlic              | vegetable                 |                     5 |                       13 |
| hot_dog             | cooked_food               |                     7 |                       11 |
| jam                 | packaged_food             |                     7 |                       19 |
| jug                 | receptacle                |                     9 |                        8 |
| ketchup             | condiment                 |                    10 |                       10 |
| kettle_electric     | receptacle                |                     9 |                        6 |
| kettle_non_electric | receptacle                |                    18 |                        7 |
| kiwi                | fruit                     |                     7 |                       11 |
| knife               | utensil                   |                    27 |                       11 |
| ladle               | utensil                   |                     5 |                        9 |
| lemon               | vegetable                 |                    18 |                       12 |
| lime                | vegetable                 |                     4 |                        9 |
| mango               | fruit                     |                    15 |                        8 |
| milk                | dairy, drink             |                     8 |                        9 |
| mug                 | receptacle, stackable    |                    18 |                       10 |
| mushroom            | vegetable                 |                    16 |                        9 |
| onion               | vegetable                 |                    10 |                        7 |
| orange              | fruit                     |                    12 |                        7 |
| pan                 | receptacle                |                    20 |                        3 |
| pot                 | receptacle                |                     3 |                        1 |
| peach               | fruit                     |                     7 |                       11 |
| pear                | fruit                     |                    16 |                       14 |
| plate               | receptacle                |                    18 |                        7 |
| potato              | vegetable                 |                    19 |                       14 |
| rolling_pin         | tool                      |                     6 |                        7 |
| scissors            | tool                      |                    11 |                        7 |
| shaker              | condiment                 |                     4 |                        7 |
| soap_dispenser      | cleaner                   |                     6 |                       11 |
| spatula             | utensil                   |                    14 |                       11 |
| sponge              | cleaner                   |                     8 |                       10 |
| spoon               | utensil                   |                    24 |                        8 |
| spray               | cleaner                   |                     3 |                       13 |
| squash              | vegetable                 |                     9 |                        7 |
| steak               | meat                      |                    11 |                       10 |
| sweet_potato        | vegetable                 |                     3 |                       12 |
| tangerine           | fruit                     |                     7 |                       13 |
| teapot              | receptacle                |                    11 |                        7 |
| tomato              | vegetable                 |                     8 |                        9 |
| tray                | receptacle                |                    11 |                       11 |
| waffle              | sweets                    |                     4 |                        7 |
| water_bottle        | drink                     |                    22 |                        7 |
| wine                | drink, alcohol           |                    12 |                        7 |
| yogurt              | dairy, packaged_food     |                     3 |                        7 |
| dates               | fruit                     |                     0 |                       13 |
| lemonade            | drink                     |                     0 |                        6 |
| walnut              | none                           |                     0 |                        8 |
| cheese_grater       | tool                      |                     0 |                        9 |
| syrup_bottle        | condiment                 |                     0 |                       13 |
| scallops            | meat                      |                     0 |                       16 |
| candy               | sweets                    |                     0 |                       11 |
| whisk               | utensil                   |                     0 |                        9 |
| pitcher             | receptacle                |                     0 |                       13 |
| ice_cream           | sweets                    |                     0 |                       13 |
| cherry              | fruit                     |                     0 |                       12 |
| peanut_butter       | packaged_food             |                     0 |                       13 |
| thermos             | drink                     |                     0 |                       13 |
| ham                 | meat                      |                     0 |                        9 |
| dumpling            | meat, cooked_food        |                     0 |                       22 |
| cabbage             | vegetable                 |                     0 |                       17 |
| lettuce             | vegetable                 |                     0 |                        9 |
| tongs               | tool                      |                     0 |                        7 |
| ginger              | vegetable                 |                     0 |                        7 |
| ice_cube_tray       | receptacle                |                     0 |                        9 |
| shrimp              | meat                      |                     0 |                        9 |
| cantaloupe          | fruit                     |                     0 |                       14 |
| honey_bottle        | packaged_food             |                     0 |                       16 |
| grapes              | fruit                     |                     0 |                       14 |
| spaghetti_box       | packaged_food             |                     0 |                       11 |
| chili_pepper        | vegetable                 |                     0 |                        8 |
| celery              | vegetable                 |                     0 |                        9 |
| burrito             | cooked_food               |                     0 |                       12 |
| olive_oil_bottle    | packaged_food             |                     0 |                       15 |
| kebabs              | cooked_food               |                     0 |                       15 |
| bottle_opener       | tool                      |                     0 |                       16 |
| chicken_breast      | meat                      |                     0 |                       12 |
| jello_cup           | packaged_food             |                     0 |                        9 |
| lobster             | meat                      |                     0 |                       11 |
| brussel_sprout      | vegetable                 |                     0 |                       14 |
| sushi               | meat                      |                     0 |                       13 |
| baking_sheet        | receptacle                |                     0 |                        8 |
| wine_glass          | receptacle                |                     0 |                        7 |
| asparagus           | vegetable                 |                     0 |                       13 |
| lamb_chop           | meat                      |                     0 |                        8 |
| pickle              | vegetable                 |                     0 |                        7 |
| bacon               | meat                      |                     0 |                       11 |
| canola_oil          | packaged_food             |                     0 |                       14 |
| strawberry          | fruit                     |                     0 |                       10 |
| watermelon          | fruit                     |                     0 |                       12 |
| pizza_cutter        | tool                      |                     0 |                        9 |
| pomegranate         | fruit                     |                     0 |                        7 |
| apricot             | fruit                     |                     0 |                        9 |
| beet                | vegetable                 |                     0 |                       11 |
| radish              | vegetable                 |                     0 |                       10 |
| salsa               | packaged_food             |                     0 |                       13 |
| artichoke           | vegetable                 |                     0 |                       10 |
| scone               | pastry, bread_food       |                     0 |                       12 |
| hamburger           | cooked_food               |                     0 |                       16 |
| raspberry           | fruit                     |                     0 |                        8 |
| tacos               | cooked_food               |                     0 |                        8 |
| vinegar             | packaged_food, condiment |                     0 |                       11 |
| zucchini            | vegetable                 |                     0 |                       11 |
| pork_loin           | meat                      |                     0 |                       15 |
| pork_chop           | meat                      |                     0 |                       16 |
| sausage             | meat                      |                     0 |                       16 |
| coconut             | fruit                     |                     0 |                       15 |
| cauliflower         | vegetable                 |                     0 |                       10 |
| lollipop            | sweets                    |                     0 |                        9 |
| salami              | meat                      |                     0 |                       13 |
| butter_stick        | dairy                     |                     0 |                       13 |
| can_opener          | tool                      |                     0 |                        6 |
| tofu                | none                            |                     0 |                       17 |
| pineapple           | fruit                     |                     0 |                        8 |
| skewers             | meat, cooked_food        |                     0 |                        6 |