PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

# PhysicalAI-Robotics-GR00T-X-Embodiment-Sim


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 |
| - | -|
| 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.

```bash
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.**

# PhysicalAI-Robotics-GR00T-X-Embodiment-Sim


Github 仓库: [Isaac GR00T N1](https://github.com/NVIDIA/Isaac-GR00T)

本数据集套件用于GR00T N1的后续微调训练，各数据集均包含来自不同机器人形态与多样任务的操作轨迹集合。

### 跨形态双手操作任务：共9000条轨迹

| 数据集名称 | 轨迹条数 |
| - | -|
| 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 |

### 仿人机器人桌面操作任务：共240000条轨迹

| 数据集名称 | 轨迹条数 |
| - | -|
| 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 |

### 机械臂厨房操作任务：共72000条轨迹
| 数据集名称 | 轨迹条数 |
| - | -|
| 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 |

## 从Huggingface下载数据集

用户可通过指定数据集名称，下载所需的数据子集。

bash
huggingface-cli download nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
--repo-type dataset
--include "gr1_arms_only.CanSort/**"
--local-dir $HOME/gr00t_dataset

**将 `gr1_arms_only.CanSort/**` 替换为你想要下载的数据集名称。**

搜集汇总

背景与挑战

背景概述

该数据集包含多种机器人操作任务的轨迹数据，分为跨体双手操作、人形机器人桌面操作和机器人手臂厨房操作三大类，总计超过300k轨迹，适用于机器人后训练任务。