Robotics 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.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.PhysicalAI-Robotics-Manipulation-Kitchen
PhysicalAI Robotics Manipulation in the Kitchen
Dataset Description:
PhysicalAI-Robotics-Manipulation-Kitchen is a dataset of automatic generated motions of robots performing operations such as opening and closing cabinets, drawers, dishwashers and fridges. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator built with… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Kitchen.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-ObjectsPhysicalAI-Robotics-Manipulation-Objects is a dataset of automatic generated motions of robots performing operations such as picking and placing objects in a kitchen environment. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator built with Kinova Gen3 arms. The environments are kitchen scenes where the furniture and appliances were… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects.