Objects#

RoboCasa offers over 2,500 objects across over 150 object categories. Some are sourced from Objaverse 1.0, while the remianing majority are AI generated from 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