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physicalai-robotics-gr00t-x-embodiment-sim
"--- license: cc-by-4.0 task_categories: - robotics tags: - robotics --- !image/png Github Repo: Isaac GR00T N1 We provide a set of datasets used for post-training of GR00T N1. Each dataset is a collection of trajectories from different robot embodiments and tasks. | Dataset Name | #trajectories | | ..."
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PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
Github Repo: Isaac GR00T N1
We provide a set of datasets used for post-training of GR00T N1. Each dataset is a collection of trajectories from different robot embodiments and tasks.
Cross-embodied bimanual manipulation: 9k trajectories
| Dataset Name | #trajectories | | - | -| | bimanual_panda_gripper.Threading | 1000 | | bimanual_panda_hand.LiftTray | 1000 | | bimanual_panda_gripper.ThreePieceAssembly | 1000 | | bimanual_panda_gripper.Transport | 1000 | | bimanual_panda_hand.BoxCleanup | 1000 | | bimanual_panda_hand.DrawerCleanup | 1000 | | gr1_arms_only.CanSort | 1000 | | gr1_full_upper_body.Coffee | 1000 | | gr1_full_upper_body.Pouring | 1000 |
Humanoid robot tabletop manipulation: 240k trajectories
| Dataset Name | #trajectories | | - | -| | gr1_arms_waist.CanToDrawer | 10000 | | gr1_arms_waist.CupToDrawer | 10000 | | gr1_arms_waist.CuttingboardToBasket | 10000 | | gr1_arms_waist.CuttingboardToCardboardBox | 10000 | | gr1_arms_waist.CuttingboardToPan | 10000 | | gr1_arms_waist.CuttingboardToPot | 10000 | | gr1_arms_waist.CuttingboardToTieredBasket | 10000 | | gr1_arms_waist.PlaceBottleToCabinet | 10000 | | gr1_arms_waist.PlaceMilkToMicrowave | 10000 | | gr1_arms_waist.PlacematToBasket | 10000 | | gr1_arms_waist.PlacematToBowl | 10000 | | gr1_arms_waist.PlacematToPlate | 10000 | | gr1_arms_waist.PlacematToTieredShelf | 10000 | | gr1_arms_waist.PlateToBowl | 10000 | | gr1_arms_waist.PlateToCardboardBox | 10000 | | gr1_arms_waist.PlateToPan | 10000 | | gr1_arms_waist.PlateToPlate | 10000 | | gr1_arms_waist.PotatoToMicrowave | 10000 | | gr1_arms_waist.TrayToCardboardBox | 10000 | | gr1_arms_waist.TrayToPlate | 10000 | | gr1_arms_waist.TrayToPot | 10000 | | gr1_arms_waist.TrayToTieredBasket | 10000 | | gr1_arms_waist.TrayToTieredShelf | 10000 | | gr1_arms_waist.WineToCabinet | 10000 |
Humanoid robot tabletop manipulation - downsampled: 24k trajectories
| Dataset Name | #trajectories | | - | - | | gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPn
PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
Github Repo: Isaac GR00T N1
We provide a set of datasets used for post-training of GR00T N1. Each dataset is a collection of trajectories from different robot embodiments and tasks.
Cross-embodied bimanual manipulation: 9k trajectories
| Dataset Name | #trajectories | | - | -| | bimanual_panda_gripper.Threading | 1000 | | bimanual_panda_hand.LiftTray | 1000 | | bimanual_panda_gripper.ThreePieceAssembly | 1000 | | bimanual_panda_gripper.Transport | 1000 | | bimanual_panda_hand.BoxCleanup | 1000 | | bimanual_panda_hand.DrawerCleanup | 1000 | | gr1_arms_only.CanSort | 1000 | | gr1_full_upper_body.Coffee | 1000 | | gr1_full_upper_body.Pouring | 1000 |
Humanoid robot tabletop manipulation: 240k trajectories
| Dataset Name | #trajectories | | - | -| | gr1_arms_waist.CanToDrawer | 10000 | | gr1_arms_waist.CupToDrawer | 10000 | | gr1_arms_waist.CuttingboardToBasket | 10000 | | gr1_arms_waist.CuttingboardToCardboardBox | 10000 | | gr1_arms_waist.CuttingboardToPan | 10000 | | gr1_arms_waist.CuttingboardToPot | 10000 | | gr1_arms_waist.CuttingboardToTieredBasket | 10000 | | gr1_arms_waist.PlaceBottleToCabinet | 10000 | | gr1_arms_waist.PlaceMilkToMicrowave | 10000 | | gr1_arms_waist.PlacematToBasket | 10000 | | gr1_arms_waist.PlacematToBowl | 10000 | | gr1_arms_waist.PlacematToPlate | 10000 | | gr1_arms_waist.PlacematToTieredShelf | 10000 | | gr1_arms_waist.PlateToBowl | 10000 | | gr1_arms_waist.PlateToCardboardBox | 10000 | | gr1_arms_waist.PlateToPan | 10000 | | gr1_arms_waist.PlateToPlate | 10000 | | gr1_arms_waist.PotatoToMicrowave | 10000 | | gr1_arms_waist.TrayToCardboardBox | 10000 | | gr1_arms_waist.TrayToPlate | 10000 | | gr1_arms_waist.TrayToPot | 10000 | | gr1_arms_waist.TrayToTieredBasket | 10000 | | gr1_arms_waist.TrayToTieredShelf | 10000 | | gr1_arms_waist.WineToCabinet | 10000 |
Humanoid robot tabletop manipulation - downsampled: 24k trajectories
| Dataset Name | #trajectories | | - | - | | gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromPlateToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromPlateToPanSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromPlateToPlateSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromTrayToPlateSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromTrayToPotSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromTrayToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 | | gr1_unified.PosttrainPnPNovelFromTrayToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
Robot Arm Kitchen Manipulation: 72K trajectories
| Dataset Name | #trajectories | | - | -| | single_panda_gripper.CloseDoubleDoor | 3000 | | single_panda_gripper.CloseDrawer | 3000 | | single_panda_gripper.CloseSingleDoor | 3000 | | single_panda_gripper.CoffeePressButton | 3000 | | single_panda_gripper.CoffeeServeMug | 3000 | | single_panda_gripper.CoffeeSetupMug | 3000 | | single_panda_gripper.OpenDoubleDoor | 3000 | | single_panda_gripper.OpenDrawer | 3000 | | single_panda_gripper.OpenSingleDoor | 3000 | | single_panda_gripper.PnPCabToCounter | 3000 | | single_panda_gripper.PnPCounterToCab | 3000 | | single_panda_gripper.PnPCounterToMicrowave | 3000 | | single_panda_gripper.PnPCounterToSink | 3000 | | single_panda_gripper.PnPCounterToStove | 3000 | | single_panda_gripper.PnPMicrowaveToCounter | 3000 | | single_panda_gripper.PnPSinkToCounter | 3000 | | single_panda_gripper.PnPStoveToCounter | 3000 | | single_panda_gripper.TurnOffMicrowave | 3000 | | single_panda_gripper.TurnOffSinkFaucet | 3000 | | single_panda_gripper.TurnOffStove | 3000 | | single_panda_gripper.TurnOnMicrowave | 3000 | | single_panda_gripper.TurnOnSinkFaucet | 3000 | | single_panda_gripper.TurnOnStove | 3000 | | single_panda_gripper.TurnSinkSpout | 3000 |Unitree G1 Loco-Manipulation: 102 trajectories
| Dataset Name | #trajectories | | - | -| | unitree_g1.LMPnPAppleToPlateDC | 102 |Download the dataset from Huggingface
Users can download a specific subset of data by specifying the dataset name.
huggingface-cli
huggingface-cli download nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim \
--repo-type dataset \
--include "gr1_arms_only.CanSort/**" \
--local-dir $HOME/gr00t_datasetReplace gr1_arms_only.CanSort/ with the dataset name you want to download.**
<h1 class="text-2xl font-bold mt-8 mb-4 text-gray-900 dark:text-white">Clone the repo without downloading files</h1>
git clone --filter=blob:none --no-checkout https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
cd PhysicalAI-Robotics-GR00T-X-Embodiment-Sim<h1 class="text-2xl font-bold mt-8 mb-4 text-gray-900 dark:text-white">Configure sparse-checkout for just your folder</h1>
git sparse-checkout init --cone
git sparse-checkout set gr1_arms_waist.CupToDrawer << Select the specific dataset to download
Replace the "gr1_arms_waist.CupToDrawer" with the intended dataset folder
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