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PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

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PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
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---
license: cc-by-4.0
---
# PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

![image/png](https://cdn-uploads.huggingface.co/production/uploads/67b8da81d01134f89899b4a7/PppFm7zvXyJblkMOq-YRQ.png)

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 |
| - | -|
| robocasa_bimanual_panda_inspire_hand.TwoArmBoxCleanupPadRes256Freq20_1000 | 1000 |
| robocasa_bimanual_panda_inspire_hand.TwoArmDrawerCleanupPadRes256Freq20_1000 | 1000 |
| robocasa_bimanual_panda_inspire_hand.TwoArmLiftTrayPadRes256Freq20_1000 | 1000 |
| robocasa_bimanual_panda_parallel_gripper.TwoArmThreePieceAssemblyPadRes256Freq20_1000 | 1000 |
| robocasa_bimanual_panda_parallel_gripper.TwoArmTransportPadRes256Freq20_1000 | 1000 |
| robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_1000 | 1000 |
| robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmCoffeePadRes256Freq20_1000 | 1000 |
| robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000 | 1000 |


### Humanoid robot tabletop manipulation: 40k trajectories

| Dataset Name | #trajectories |
| - | -|
| gr1_unified.CanToDrawer | 10000 |
| gr1_unified.PlacematToTieredShelf | 10000 |
| gr1_unified.CupToDrawer | 10000 |
| gr1_unified.PlateToBowl | 10000 |
| gr1_unified.CuttingBoardToBasket | 10000 |
| gr1_unified.PlateToCardboardBox | 10000 |
| gr1_unified.CuttingBoardToCardboardBox | 10000 |
| gr1_unified.PlateToPan | 10000 |
| gr1_unified.CuttingBoardToPan | 10000 |
| gr1_unified.PlateToPlate | 10000 |
| gr1_unified.CuttingBoardToPot | 10000 |
| gr1_unified.PotatoToMicrowave | 10000 |
| gr1_unified.CuttingBoardToTieredBasket | 10000 |
| gr1_unified.TrayToCardboardBox | 10000 |
| gr1_unified.PlaceBottleToCabinet | 10000 |
| gr1_unified.TrayToPlate | 10000 |
| gr1_unified.PlaceMilkToMicrowave | 10000 |
| gr1_unified.TrayToPot | 10000 |
| gr1_unified.PlacematToBasket | 10000 |
| gr1_unified.TrayToTieredBasket | 10000 |
| gr1_unified.PlacematToBowl        | 10000 |
| gr1_unified.TrayToTieredShelf | 10000 |
| gr1_unified.PlacematToPlate | 10000 |
| gr1_unified.WineToCabinet | 10000 |

### Robot Arm Kitchen Manipulation: 24K trajectories
| Dataset Name | #trajectories |
| - | -|
| robocasa_panda_omron.CloseDoubleDoor256_1000 | 1000 |
| robocasa_panda_omron.CloseDrawer256_1000 | 1000 |
| robocasa_panda_omron.CloseSingleDoor256_1000 | 1000 |
| robocasa_panda_omron.CoffeePressButton256_1000 | 1000 |
| robocasa_panda_omron.CoffeeServeMug256_1000 | 1000 |
| robocasa_panda_omron.CoffeeSetupMug256_1000 | 1000 |
| robocasa_panda_omron.OpenDoubleDoor256_1000 | 1000 |
| robocasa_panda_omron.OpenDrawer256_1000 | 1000 |
| robocasa_panda_omron.OpenSingleDoor256_1000 | 1000 |
| robocasa_panda_omron.PnPCabToCounter256_1000 | 1000 |
| robocasa_panda_omron.PnPCounterToCab256_1000 | 1000 |
| robocasa_panda_omron.PnPCounterToMicrowave256_1000 | 1000 |
| robocasa_panda_omron.PnPCounterToSink256_1000 | 1000 |
| robocasa_panda_omron.PnPCounterToStove256_1000 | 1000 |
| robocasa_panda_omron.PnPMicrowaveToCounter256_1000 | 1000 |
| robocasa_panda_omron.PnPSinkToCounter256_1000 | 1000 |
| robocasa_panda_omron.PnPStoveToCounter256_1000 | 1000 |
| robocasa_panda_omron.TurnOffMicrowave256_1000 | 1000 |
| robocasa_panda_omron.TurnOffSinkFaucet256_1000 | 1000 |
| robocasa_panda_omron.TurnOffStove256_1000 | 1000 |
| robocasa_panda_omron.TurnOnMicrowave256_1000 | 1000 |
| robocasa_panda_omron.TurnOnSinkFaucet256_1000 | 1000 |
| robocasa_panda_omron.TurnOnStove256_1000 | 1000 |
| robocasa_panda_omron.TurnSinkSpout256_1000 | 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 "robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_30/**" \
  --local-dir $HOME/gr00t_dataset
```

**Replace `robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_30/**` with the dataset name you want to download.**