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nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

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/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim.

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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

Unitree G1 Loco-Manipulation: 102 trajectories

Dataset Name#trajectories
unitree_g1.LMPnPAppleToPlateDC102

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

nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim · CoolFace