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license: cc-by-4.0 |
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# PhysicalAI-Robotics-GR00T-X-Embodiment-Sim |
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Github Repo: [Isaac GR00T N1](https://github.com/NVIDIA/Isaac-GR00T) |
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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. |
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### Cross-embodied bimanual manipulation: 9k trajectories |
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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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### 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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| 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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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.** |
