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PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

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@@ -13,72 +13,74 @@ We provide a set of datasets used for post-training of GR00T N1. Each dataset is
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  | Dataset Name | #trajectories |
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  | - | -|
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- | robocasa_bimanual_panda_inspire_hand.TwoArmBoxCleanupPadRes256Freq20_1000 | 1000 |
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- | robocasa_bimanual_panda_inspire_hand.TwoArmDrawerCleanupPadRes256Freq20_1000 | 1000 |
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- | robocasa_bimanual_panda_inspire_hand.TwoArmLiftTrayPadRes256Freq20_1000 | 1000 |
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- | robocasa_bimanual_panda_parallel_gripper.TwoArmThreePieceAssemblyPadRes256Freq20_1000 | 1000 |
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- | robocasa_bimanual_panda_parallel_gripper.TwoArmTransportPadRes256Freq20_1000 | 1000 |
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- | robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_1000 | 1000 |
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- | robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmCoffeePadRes256Freq20_1000 | 1000 |
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- | robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000 | 1000 |
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-
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  ### Humanoid robot tabletop manipulation: 40k trajectories
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  | Dataset Name | #trajectories |
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  | - | -|
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- | gr1_unified.CanToDrawer | 10000 |
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- | gr1_unified.PlacematToTieredShelf | 10000 |
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- | gr1_unified.CupToDrawer | 10000 |
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- | gr1_unified.PlateToBowl | 10000 |
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- | gr1_unified.CuttingBoardToBasket | 10000 |
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- | gr1_unified.PlateToCardboardBox | 10000 |
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- | gr1_unified.CuttingBoardToCardboardBox | 10000 |
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- | gr1_unified.PlateToPan | 10000 |
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- | gr1_unified.CuttingBoardToPan | 10000 |
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- | gr1_unified.PlateToPlate | 10000 |
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- | gr1_unified.CuttingBoardToPot | 10000 |
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- | gr1_unified.PotatoToMicrowave | 10000 |
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- | gr1_unified.CuttingBoardToTieredBasket | 10000 |
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- | gr1_unified.TrayToCardboardBox | 10000 |
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- | gr1_unified.PlaceBottleToCabinet | 10000 |
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- | gr1_unified.TrayToPlate | 10000 |
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- | gr1_unified.PlaceMilkToMicrowave | 10000 |
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- | gr1_unified.TrayToPot | 10000 |
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- | gr1_unified.PlacematToBasket | 10000 |
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- | gr1_unified.TrayToTieredBasket | 10000 |
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- | gr1_unified.PlacematToBowl | 10000 |
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- | gr1_unified.TrayToTieredShelf | 10000 |
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- | gr1_unified.PlacematToPlate | 10000 |
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- | gr1_unified.WineToCabinet | 10000 |
 
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  ### Robot Arm Kitchen Manipulation: 24K trajectories
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  | Dataset Name | #trajectories |
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  | - | -|
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- | robocasa_panda_omron.CloseDoubleDoor256_1000 | 1000 |
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- | robocasa_panda_omron.CloseDrawer256_1000 | 1000 |
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- | robocasa_panda_omron.CloseSingleDoor256_1000 | 1000 |
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- | robocasa_panda_omron.CoffeePressButton256_1000 | 1000 |
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- | robocasa_panda_omron.CoffeeServeMug256_1000 | 1000 |
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- | robocasa_panda_omron.CoffeeSetupMug256_1000 | 1000 |
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- | robocasa_panda_omron.OpenDoubleDoor256_1000 | 1000 |
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- | robocasa_panda_omron.OpenDrawer256_1000 | 1000 |
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- | robocasa_panda_omron.OpenSingleDoor256_1000 | 1000 |
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- | robocasa_panda_omron.PnPCabToCounter256_1000 | 1000 |
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- | robocasa_panda_omron.PnPCounterToCab256_1000 | 1000 |
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- | robocasa_panda_omron.PnPCounterToMicrowave256_1000 | 1000 |
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- | robocasa_panda_omron.PnPCounterToSink256_1000 | 1000 |
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- | robocasa_panda_omron.PnPCounterToStove256_1000 | 1000 |
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- | robocasa_panda_omron.PnPMicrowaveToCounter256_1000 | 1000 |
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- | robocasa_panda_omron.PnPSinkToCounter256_1000 | 1000 |
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- | robocasa_panda_omron.PnPStoveToCounter256_1000 | 1000 |
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- | robocasa_panda_omron.TurnOffMicrowave256_1000 | 1000 |
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- | robocasa_panda_omron.TurnOffSinkFaucet256_1000 | 1000 |
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- | robocasa_panda_omron.TurnOffStove256_1000 | 1000 |
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- | robocasa_panda_omron.TurnOnMicrowave256_1000 | 1000 |
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- | robocasa_panda_omron.TurnOnSinkFaucet256_1000 | 1000 |
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- | robocasa_panda_omron.TurnOnStove256_1000 | 1000 |
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- | robocasa_panda_omron.TurnSinkSpout256_1000 | 1000 |
 
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  ## Download the dataset from Huggingface
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@@ -87,8 +89,8 @@ Users can download a specific subset of data by specifying the dataset name.
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  ```bash
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  huggingface-cli download nvidia/GR00T-Sim-Post-Training-Data\
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  --repo-type dataset \
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- --include "robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_30/**" \
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  --local-dir $HOME/gr00t_dataset
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  ```
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- **Replace `robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_30/**` with the dataset name you want to download.**
 
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  | Dataset Name | #trajectories |
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  | - | -|
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+ | bimanual_panda_gripper.Threading | 1000 |
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+ | bimanual_panda_hand.LiftTray | 1000 |
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+ | bimanual_panda_gripper.ThreePieceAssembly | 1000 |
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+ | bimanual_panda_gripper.Transport | 1000 |
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+ | bimanual_panda_hand.BoxCleanup | 1000 |
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+ | bimanual_panda_hand.DrawerCleanup | 1000 |
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+ | gr1_arms_only.CanSort | 1000 |
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+ | gr1_full_upper_body.Coffee | 1000 |
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+ | gr1_full_upper_body.Pouring | 1000 |
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  ### Humanoid robot tabletop manipulation: 40k trajectories
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  | Dataset Name | #trajectories |
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  | - | -|
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+ | gr1_arms_waist.CanToDrawer | 1000 |
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+ | gr1_arms_waist.CupToDrawer | 1000 |
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+ | gr1_arms_waist.CuttingboardToBasket | 1000 |
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+ | gr1_arms_waist.CuttingboardToCardboardBox | 1000 |
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+ | gr1_arms_waist.CuttingboardToPan | 1000 |
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+ | gr1_arms_waist.CuttingboardToPot | 1000 |
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+ | gr1_arms_waist.CuttingboardToTieredBasket | 1000 |
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+ | gr1_arms_waist.PlaceBottleToCabinet | 1000 |
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+ | gr1_arms_waist.PlaceMilkToMicrowave | 1000 |
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+ | gr1_arms_waist.PlacematToBasket | 1000 |
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+ | gr1_arms_waist.PlacematToBowl | 1000 |
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+ | gr1_arms_waist.PlacematToPlate | 1000 |
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+ | gr1_arms_waist.PlacematToTieredShelf | 1000 |
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+ | gr1_arms_waist.PlateToBowl | 1000 |
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+ | gr1_arms_waist.PlateToCardboardBox | 1000 |
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+ | gr1_arms_waist.PlateToPan | 1000 |
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+ | gr1_arms_waist.PlateToPlate | 1000 |
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+ | gr1_arms_waist.PotatoToMicrowave | 1000 |
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+ | gr1_arms_waist.TrayToCardboardBox | 1000 |
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+ | gr1_arms_waist.TrayToPlate | 1000 |
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+ | gr1_arms_waist.TrayToPot | 1000 |
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+ | gr1_arms_waist.TrayToTieredBasket | 1000 |
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+ | gr1_arms_waist.TrayToTieredShelf | 1000 |
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+ | gr1_arms_waist.WineToCabinet | 1000 |
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+
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  ### Robot Arm Kitchen Manipulation: 24K trajectories
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  | Dataset Name | #trajectories |
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  | - | -|
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+ | single_panda_gripper.CloseDoubleDoor | 1000 |
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+ | single_panda_gripper.CloseDrawer | 1000 |
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+ | single_panda_gripper.CloseSingleDoor | 1000 |
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+ | single_panda_gripper.CoffeePressButton | 1000 |
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+ | single_panda_gripper.CoffeeServeMug | 1000 |
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+ | single_panda_gripper.CoffeeSetupMug | 1000 |
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+ | single_panda_gripper.OpenDoubleDoor | 1000 |
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+ | single_panda_gripper.OpenDrawer | 1000 |
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+ | single_panda_gripper.OpenSingleDoor | 1000 |
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+ | single_panda_gripper.PnPCabToCounter | 1000 |
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+ | single_panda_gripper.PnPCounterToCab | 1000 |
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+ | single_panda_gripper.PnPCounterToMicrowave | 1000 |
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+ | single_panda_gripper.PnPCounterToSink | 1000 |
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+ | single_panda_gripper.PnPCounterToStove | 1000 |
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+ | single_panda_gripper.PnPMicrowaveToCounter | 1000 |
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+ | single_panda_gripper.PnPSinkToCounter | 1000 |
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+ | single_panda_gripper.PnPStoveToCounter | 1000 |
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+ | single_panda_gripper.TurnOffMicrowave | 1000 |
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+ | single_panda_gripper.TurnOffSinkFaucet | 1000 |
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+ | single_panda_gripper.TurnOffStove | 1000 |
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+ | single_panda_gripper.TurnOnMicrowave | 1000 |
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+ | single_panda_gripper.TurnOnSinkFaucet | 1000 |
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+ | single_panda_gripper.TurnOnStove | 1000 |
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+ | single_panda_gripper.TurnSinkSpout | 1000 |
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+
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  ## Download the dataset from Huggingface
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  ```bash
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  huggingface-cli download nvidia/GR00T-Sim-Post-Training-Data\
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  --repo-type dataset \
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+ --include "gr1_arms_only.CanSort/**" \
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  --local-dir $HOME/gr00t_dataset
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  ```
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+ **Replace `robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_30/**` with the dataset name you want to download.**