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@@ -21,15 +21,16 @@ We provide a set of datasets used for post-training of GR00T N1. Each dataset is
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  | robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000 | 1000 |
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- ### Humanoid robot tabletop manipulation: 20k trajectories
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  | Dataset Name | #trajectories |
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  | - | -|
 
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  | gr1_unified.robocasa_gr1_arms_waist_fourier_hands_FullSetPad256Freq20_10000 | 10000 |
 
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  | robocasa_gr1_arms_waist_fourier_hands.FullSetPad256Freq20_10000 | 10000 |
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-
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- ### Robot Arm Kitchen Manipulation: 240K trajectories
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  | Dataset Name | #trajectories |
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  | - | -|
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  | robocasa_panda_omron.CloseDoubleDoor256_1000 | 1000 |
 
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  | robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000 | 1000 |
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+ ### Humanoid robot tabletop manipulation: 40k trajectories
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  | Dataset Name | #trajectories |
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  | - | -|
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+ | gr1_unified.robocasa_gr1_arms_waist_fourier_hands_FullSetBGCropPad256Freq20_10000 | 10000 |
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  | gr1_unified.robocasa_gr1_arms_waist_fourier_hands_FullSetPad256Freq20_10000 | 10000 |
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+ | robocasa_gr1_arms_waist_fourier_hands.FullSetBGCropPadRes256Freq20_10000 | 10000 |
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  | robocasa_gr1_arms_waist_fourier_hands.FullSetPad256Freq20_10000 | 10000 |
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+ ### Robot Arm Kitchen Manipulation: 24K trajectories
 
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  | Dataset Name | #trajectories |
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  | - | -|
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  | robocasa_panda_omron.CloseDoubleDoor256_1000 | 1000 |