File size: 3,740 Bytes
7bbcc63 64f5df2 7bbcc63 64f5df2 7bbcc63 64f5df2 7bbcc63 64f5df2 7bbcc63 64f5df2 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 |
---
license: cc-by-4.0
---
# PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
Github Repo: [Isaac GR00T N1](https://github.com/NVIDIA/Isaac-GR00T)
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: 40k trajectories
| Dataset Name | #trajectories |
| - | -|
| gr1_arms_waist.CanToDrawer | 1000 |
| gr1_arms_waist.CupToDrawer | 1000 |
| gr1_arms_waist.CuttingboardToBasket | 1000 |
| gr1_arms_waist.CuttingboardToCardboardBox | 1000 |
| gr1_arms_waist.CuttingboardToPan | 1000 |
| gr1_arms_waist.CuttingboardToPot | 1000 |
| gr1_arms_waist.CuttingboardToTieredBasket | 1000 |
| gr1_arms_waist.PlaceBottleToCabinet | 1000 |
| gr1_arms_waist.PlaceMilkToMicrowave | 1000 |
| gr1_arms_waist.PlacematToBasket | 1000 |
| gr1_arms_waist.PlacematToBowl | 1000 |
| gr1_arms_waist.PlacematToPlate | 1000 |
| gr1_arms_waist.PlacematToTieredShelf | 1000 |
| gr1_arms_waist.PlateToBowl | 1000 |
| gr1_arms_waist.PlateToCardboardBox | 1000 |
| gr1_arms_waist.PlateToPan | 1000 |
| gr1_arms_waist.PlateToPlate | 1000 |
| gr1_arms_waist.PotatoToMicrowave | 1000 |
| gr1_arms_waist.TrayToCardboardBox | 1000 |
| gr1_arms_waist.TrayToPlate | 1000 |
| gr1_arms_waist.TrayToPot | 1000 |
| gr1_arms_waist.TrayToTieredBasket | 1000 |
| gr1_arms_waist.TrayToTieredShelf | 1000 |
| gr1_arms_waist.WineToCabinet | 1000 |
### Robot Arm Kitchen Manipulation: 24K trajectories
| Dataset Name | #trajectories |
| - | -|
| single_panda_gripper.CloseDoubleDoor | 1000 |
| single_panda_gripper.CloseDrawer | 1000 |
| single_panda_gripper.CloseSingleDoor | 1000 |
| single_panda_gripper.CoffeePressButton | 1000 |
| single_panda_gripper.CoffeeServeMug | 1000 |
| single_panda_gripper.CoffeeSetupMug | 1000 |
| single_panda_gripper.OpenDoubleDoor | 1000 |
| single_panda_gripper.OpenDrawer | 1000 |
| single_panda_gripper.OpenSingleDoor | 1000 |
| single_panda_gripper.PnPCabToCounter | 1000 |
| single_panda_gripper.PnPCounterToCab | 1000 |
| single_panda_gripper.PnPCounterToMicrowave | 1000 |
| single_panda_gripper.PnPCounterToSink | 1000 |
| single_panda_gripper.PnPCounterToStove | 1000 |
| single_panda_gripper.PnPMicrowaveToCounter | 1000 |
| single_panda_gripper.PnPSinkToCounter | 1000 |
| single_panda_gripper.PnPStoveToCounter | 1000 |
| single_panda_gripper.TurnOffMicrowave | 1000 |
| single_panda_gripper.TurnOffSinkFaucet | 1000 |
| single_panda_gripper.TurnOffStove | 1000 |
| single_panda_gripper.TurnOnMicrowave | 1000 |
| single_panda_gripper.TurnOnSinkFaucet | 1000 |
| single_panda_gripper.TurnOnStove | 1000 |
| single_panda_gripper.TurnSinkSpout | 1000 |
## Download the dataset from Huggingface
Users can download a specific subset of data by specifying the dataset name.
```bash
huggingface-cli download nvidia/GR00T-Sim-Post-Training-Data\
--repo-type dataset \
--include "gr1_arms_only.CanSort/**" \
--local-dir $HOME/gr00t_dataset
```
**Replace `robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_30/**` with the dataset name you want to download.**
|