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PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

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The dataset viewer is not available for this dataset.
Cannot get the config names for the dataset.
Error code:   ConfigNamesError
Exception:    ReadTimeout
Message:      (ReadTimeoutError("HTTPSConnectionPool(host='huggingface.co', port=443): Read timed out. (read timeout=10)"), '(Request ID: 1ac5dee8-f6c2-4f35-bbf9-3cc6f089c59c)')
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/dataset/config_names.py", line 66, in compute_config_names_response
                  config_names = get_dataset_config_names(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/inspect.py", line 165, in get_dataset_config_names
                  dataset_module = dataset_module_factory(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 1663, in dataset_module_factory
                  raise e1 from None
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 1620, in dataset_module_factory
                  return HubDatasetModuleFactoryWithoutScript(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 977, in get_module
                  standalone_yaml_path = cached_path(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/utils/file_utils.py", line 179, in cached_path
                  resolved_path = huggingface_hub.HfFileSystem(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/huggingface_hub/hf_file_system.py", line 198, in resolve_path
                  repo_and_revision_exist, err = self._repo_and_revision_exist(repo_type, repo_id, revision)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/huggingface_hub/hf_file_system.py", line 125, in _repo_and_revision_exist
                  self._api.repo_info(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
                  return fn(*args, **kwargs)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/huggingface_hub/hf_api.py", line 2704, in repo_info
                  return method(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
                  return fn(*args, **kwargs)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/huggingface_hub/hf_api.py", line 2561, in dataset_info
                  r = get_session().get(path, headers=headers, timeout=timeout, params=params)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/requests/sessions.py", line 602, in get
                  return self.request("GET", url, **kwargs)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/requests/sessions.py", line 589, in request
                  resp = self.send(prep, **send_kwargs)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/requests/sessions.py", line 703, in send
                  r = adapter.send(request, **kwargs)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/huggingface_hub/utils/_http.py", line 93, in send
                  return super().send(request, *args, **kwargs)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/requests/adapters.py", line 635, in send
                  raise ReadTimeout(e, request=request)
              requests.exceptions.ReadTimeout: (ReadTimeoutError("HTTPSConnectionPool(host='huggingface.co', port=443): Read timed out. (read timeout=10)"), '(Request ID: 1ac5dee8-f6c2-4f35-bbf9-3cc6f089c59c)')

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PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

image/png

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.

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