Manipulation
PhysicalAI-Robotics-Manipulation-Kitchen-Demos
PhysicalAI-Robotics-Manipulation-Kitchen-Demos
We provide a 600 hours of human-teleoperated demonstrations across 316 different tasks, totalling 55k trajectories.
The datasets are collected using Franka Panda robot with an Omron mobile base.
The datasets follow the LeRobot format. Here is an overview of important elements of each dataset:
Click to expand dataset structure
lerobot/
├── meta/ # Metadata files describing the dataset
│ ├── info.json… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Kitchen-Demos.PhysicalAI-Robotics-Manipulation-SingleArm
Dataset Description:
PhysicalAI-Robotics-Manipulation-SingeArm is a collection of datasets of automatic generated motions of a Franka Panda robot performing operations such as block stacking, opening cabinets and drawers. The dataset was generated in IsaacSim leveraging task and motion planning algorithms to find solutions to the tasks automatically [1, 3]. The environments are table-top scenes where the object layouts and asset textures are procedurally generated [2].This dataset… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-SingleArm.functional-manipulation-benchmark
Functional Manipulation Benchmark
This robot learning dataset is a part of the paper "FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning". It includes 22,550 expert
demonstration trajectories across different skills required to solve the Single-Object and Multi-Object Manipulation Tasks presented in the paper.
Link to paper: https://arxiv.org/abs/2401.08553
Link to website: https://functional-manipulation-benchmark.github.io
Dataset Structure… See the full description on the dataset page: https://huggingface.co/datasets/charlesxu0124/functional-manipulation-benchmark.kitchen-workspace-understanding-safe-manipulation
Kitchen Workspace Understanding & Safe Manipulation
Generated by datapack-import.ts
This dataset mirrors public data-pack render outputs from Physicl.
Each row represents one render view. The image column contains a stable URL to the primary render image uploaded under /data; image_path stores the relative repository path and data_commit_sha pins the Hugging Face dataset commit used by those URLs. Files are uploaded as downloaded unless optional PNG recompression is enabled by… See the full description on the dataset page: https://huggingface.co/datasets/physicl/kitchen-workspace-understanding-safe-manipulation.PhysicalAI-Robotics-Manipulation-Augmented
Dataset Description:
This is a fully annotated, synthetically generated dataset consisting of 1,000 demonstrations of a single Franka Panda robot arm performing a fixed-order three-cube stacking task in Isaac Lab. The robot consistently stacks cubes in the order: blue (bottom) → red (middle) → green (top).
The dataset was produced using the following pipeline:
Collected 10 human teleoperation demonstrations of the stacking task.
Used Isaac Lab’s Mimic tool [1] to simulate 1,000… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Augmented.PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF
Manipulation Objects Kitchen MJCF
We provide a collection of digital 3D mjcf assets intended for use in a simulated kitchen environment.
The assets are broadly divided into 2 categories: fixtures and objects. The fixture assets are comprised of interactable kitchen appliances such as stoves, microwaves, and ovens. The object assets consist of common kitchen objects such as saucepans and glass cups.
Preview
Objects
Fixtures
Objects… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF.