nvidia/PhysicalAI-Robotics-Manipulation-Kitchen

PhysicalAI-Robotics-Manipulation-Kitchen是一个包含机器人执行厨房操作自动生成动作的数据集，如开关橱柜、抽屉、洗碗机和冰箱门。该数据集在IsaacSim中生成，使用了推理算法和基于优化的运动规划。数据集包含一个双臂操纵器，由Kinova Gen3机械臂构建，环境为程序生成的厨房场景。数据集格式为LeRobot，适用于训练机器人策略和基础模型。

PhysicalAI-Robotics-Manipulation-Kitchen is a dataset of automatic generated motions of robots performing kitchen operations such as opening and closing cabinets, drawers, dishwashers, and fridges. The dataset was generated in IsaacSim using reasoning algorithms and optimization-based motion planning. It includes a bimanual manipulator built with Kinova Gen3 arms in procedurally generated kitchen scenes. The dataset is in LeRobot format and suitable for training robot policies and foundation models.