metadata
license: cc-by-4.0
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 |
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 |
Download the dataset from Huggingface
Users can download a specific subset of data by specifying the dataset name.
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.