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nvidia
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PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

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Robotics
Tags:
robotics
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README.md CHANGED
@@ -23,64 +23,64 @@ We provide a set of datasets used for post-training of GR00T N1. Each dataset is
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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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- ### 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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@@ -93,4 +93,4 @@ huggingface-cli download nvidia/GR00T-Sim-Post-Training-Data\
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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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  | gr1_full_upper_body.Coffee | 1000 |
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  | gr1_full_upper_body.Pouring | 1000 |
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+
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+ ### Humanoid robot tabletop manipulation: 240k trajectories
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  | Dataset Name | #trajectories |
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  | - | -|
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+ | gr1_arms_waist.CanToDrawer | 10000 |
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+ | gr1_arms_waist.CupToDrawer | 10000 |
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+ | gr1_arms_waist.CuttingboardToBasket | 10000 |
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+ | gr1_arms_waist.CuttingboardToCardboardBox | 10000 |
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+ | gr1_arms_waist.CuttingboardToPan | 10000 |
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+ | gr1_arms_waist.CuttingboardToPot | 10000 |
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+ | gr1_arms_waist.CuttingboardToTieredBasket | 10000 |
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+ | gr1_arms_waist.PlaceBottleToCabinet | 10000 |
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+ | gr1_arms_waist.PlaceMilkToMicrowave | 10000 |
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+ | gr1_arms_waist.PlacematToBasket | 10000 |
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+ | gr1_arms_waist.PlacematToBowl | 10000 |
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+ | gr1_arms_waist.PlacematToPlate | 10000 |
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+ | gr1_arms_waist.PlacematToTieredShelf | 10000 |
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+ | gr1_arms_waist.PlateToBowl | 10000 |
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+ | gr1_arms_waist.PlateToCardboardBox | 10000 |
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+ | gr1_arms_waist.PlateToPan | 10000 |
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+ | gr1_arms_waist.PlateToPlate | 10000 |
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+ | gr1_arms_waist.PotatoToMicrowave | 10000 |
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+ | gr1_arms_waist.TrayToCardboardBox | 10000 |
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+ | gr1_arms_waist.TrayToPlate | 10000 |
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+ | gr1_arms_waist.TrayToPot | 10000 |
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+ | gr1_arms_waist.TrayToTieredBasket | 10000 |
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+ | gr1_arms_waist.TrayToTieredShelf | 10000 |
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+ | gr1_arms_waist.WineToCabinet | 10000 |
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+ ### Robot Arm Kitchen Manipulation: 72K trajectories
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  | Dataset Name | #trajectories |
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  | - | -|
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+ | single_panda_gripper.CloseDoubleDoor | 3000 |
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+ | single_panda_gripper.CloseDrawer | 3000 |
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+ | single_panda_gripper.CloseSingleDoor | 3000 |
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+ | single_panda_gripper.CoffeePressButton | 3000 |
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+ | single_panda_gripper.CoffeeServeMug | 3000 |
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+ | single_panda_gripper.CoffeeSetupMug | 3000 |
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+ | single_panda_gripper.OpenDoubleDoor | 3000 |
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+ | single_panda_gripper.OpenDrawer | 3000 |
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+ | single_panda_gripper.OpenSingleDoor | 3000 |
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+ | single_panda_gripper.PnPCabToCounter | 3000 |
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+ | single_panda_gripper.PnPCounterToCab | 3000 |
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+ | single_panda_gripper.PnPCounterToMicrowave | 3000 |
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+ | single_panda_gripper.PnPCounterToSink | 3000 |
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+ | single_panda_gripper.PnPCounterToStove | 3000 |
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+ | single_panda_gripper.PnPMicrowaveToCounter | 3000 |
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+ | single_panda_gripper.PnPSinkToCounter | 3000 |
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+ | single_panda_gripper.PnPStoveToCounter | 3000 |
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+ | single_panda_gripper.TurnOffMicrowave | 3000 |
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+ | single_panda_gripper.TurnOffSinkFaucet | 3000 |
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+ | single_panda_gripper.TurnOffStove | 3000 |
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+ | single_panda_gripper.TurnOnMicrowave | 3000 |
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+ | single_panda_gripper.TurnOnSinkFaucet | 3000 |
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+ | single_panda_gripper.TurnOnStove | 3000 |
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+ | single_panda_gripper.TurnSinkSpout | 3000 |
 
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  ## Download the dataset from Huggingface
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  --local-dir $HOME/gr00t_dataset
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  ```
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+ **Replace `gr1_arms_only.CanSort/**` with the dataset name you want to download.**