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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
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.

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.