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nhatchung/_gr1_unified

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… See the full description on the dataset page: https://huggingface.co/datasets/nhatchung/_gr1_unified.

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PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

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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
bimanualpandagripper.Threading1000
bimanualpandahand.LiftTray1000
bimanualpandagripper.ThreePieceAssembly1000
bimanualpandagripper.Transport1000
bimanualpandahand.BoxCleanup1000
bimanualpandahand.DrawerCleanup1000
gr1armsonly.CanSort1000
gr1fullupper_body.Coffee1000
gr1fullupper_body.Pouring1000

Humanoid robot tabletop manipulation: 240k trajectories

Dataset Name#trajectories
gr1armswaist.CanToDrawer10000
gr1armswaist.CupToDrawer10000
gr1armswaist.CuttingboardToBasket10000
gr1armswaist.CuttingboardToCardboardBox10000
gr1armswaist.CuttingboardToPan10000
gr1armswaist.CuttingboardToPot10000
gr1armswaist.CuttingboardToTieredBasket10000
gr1armswaist.PlaceBottleToCabinet10000
gr1armswaist.PlaceMilkToMicrowave10000
gr1armswaist.PlacematToBasket10000
gr1armswaist.PlacematToBowl10000
gr1armswaist.PlacematToPlate10000
gr1armswaist.PlacematToTieredShelf10000
gr1armswaist.PlateToBowl10000
gr1armswaist.PlateToCardboardBox10000
gr1armswaist.PlateToPan10000
gr1armswaist.PlateToPlate10000
gr1armswaist.PotatoToMicrowave10000
gr1armswaist.TrayToCardboardBox10000
gr1armswaist.TrayToPlate10000
gr1armswaist.TrayToPot10000
gr1armswaist.TrayToTieredBasket10000
gr1armswaist.TrayToTieredShelf10000
gr1armswaist.WineToCabinet10000

Humanoid robot tabletop manipulation - downsampled: 24k trajectories

Dataset Name#trajectories
gr1unified.PnPBottleToCabinetCloseGR1ArmsAndWaistFourierHands_10001000
gr1unified.PnPCanToDrawerCloseGR1ArmsAndWaistFourierHands_10001000
gr1unified.PnPCupToDrawerCloseGR1ArmsAndWaistFourierHands_10001000
gr1unified.PnPMilkToMicrowaveCloseGR1ArmsAndWaistFourierHands_10001000
gr1unified.PnPPotatoToMicrowaveCloseGR1ArmsAndWaistFourierHands_10001000
gr1unified.PnPWineToCabinetCloseGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromCuttingboardToBasketSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromCuttingboardToPanSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromCuttingboardToPotSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromPlacematToBasketSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromPlacematToBowlSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromPlacematToPlateSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromPlateToBowlSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromPlateToCardboardboxSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromPlateToPanSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromPlateToPlateSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromTrayToCardboardboxSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromTrayToPlateSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromTrayToPotSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromTrayToTieredbasketSplitAGR1ArmsAndWaistFourierHands_10001000
gr1unified.PosttrainPnPNovelFromTrayToTieredshelfSplitAGR1ArmsAndWaistFourierHands_10001000

Robot Arm Kitchen Manipulation: 72K trajectories

Dataset Name#trajectories
singlepandagripper.CloseDoubleDoor3000
singlepandagripper.CloseDrawer3000
singlepandagripper.CloseSingleDoor3000
singlepandagripper.CoffeePressButton3000
singlepandagripper.CoffeeServeMug3000
singlepandagripper.CoffeeSetupMug3000
singlepandagripper.OpenDoubleDoor3000
singlepandagripper.OpenDrawer3000
singlepandagripper.OpenSingleDoor3000
singlepandagripper.PnPCabToCounter3000
singlepandagripper.PnPCounterToCab3000
singlepandagripper.PnPCounterToMicrowave3000
singlepandagripper.PnPCounterToSink3000
singlepandagripper.PnPCounterToStove3000
singlepandagripper.PnPMicrowaveToCounter3000
singlepandagripper.PnPSinkToCounter3000
singlepandagripper.PnPStoveToCounter3000
singlepandagripper.TurnOffMicrowave3000
singlepandagripper.TurnOffSinkFaucet3000
singlepandagripper.TurnOffStove3000
singlepandagripper.TurnOnMicrowave3000
singlepandagripper.TurnOnSinkFaucet3000
singlepandagripper.TurnOnStove3000
singlepandagripper.TurnSinkSpout3000

Download the dataset from Huggingface

Users can download a specific subset of data by specifying the dataset name.

  1. 1.Option 1: with huggingface-cli
bash
huggingface-cli download nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim \
  --repo-type dataset \
  --include "gr1_arms_only.CanSort/**" \
  --local-dir $HOME/gr00t_dataset

Replace `gr1_arms_only.CanSort/` with the dataset name you want to download.**

  1. 1.Option 2: Github LFS
bash
# Clone the repo without downloading files
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

# Configure sparse-checkout for just your folder
git sparse-checkout init --cone
git sparse-checkout set gr1_arms_waist.CupToDrawer   << Select the specific dataset to download

Replace the "gr1armswaist.CupToDrawer" with the intended dataset folder

nhatchung/_gr1_unified · CoolFace