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license: apache-2.0

PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

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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
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.robocasa_gr1_arms_waist_fourier_hands_FullSetBGCropPad256Freq20_10000 10000
gr1_unified.robocasa_gr1_arms_waist_fourier_hands_FullSetPad256Freq20_10000 10000
robocasa_gr1_arms_waist_fourier_hands.FullSetBGCropPadRes256Freq20_10000 10000
robocasa_gr1_arms_waist_fourier_hands.FullSetPad256Freq20_10000 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.

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.