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3aeb818 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 | ## 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 | |