PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

数据集文件元信息以及数据文件，请浏览“数据集文件”页面获取。 当前数据集卡片使用的是默认模版，数据集的贡献者未提供更加详细的数据集介绍，但是您可以通过如下GIT Clone命令，或者ModelScope SDK来下载数据集 #### 下载方法 :modelscope-code[]{type="sdk"} :modelscope-code[]{type="git"}# 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。