nvidia/PhysicalAI-Robotics-Manipulation-Objects

PhysicalAI-Robotics-Manipulation-Objects是一个包含在厨房环境中执行抓取和放置物体动作的机器人自动生成运动数据的数据集。该数据集通过在IsaacSim中使用推理算法和基于优化的运动规划自动找到任务解决方案而生成，包括一个使用Kinova Gen3机械臂构建的双手操作机器人。数据集的环境是厨房场景，其中的家具和设备是程序生成的。该数据集格式为LeRobot，用于训练机器人策略和基础模型。

PhysicalAI-Robotics-Manipulation-Objects is a dataset containing automatically generated robot motion data performing picking and placing operations of objects in a kitchen environment. The dataset is generated in IsaacSim using reasoning algorithms and optimization-based motion planning to automatically find solutions to the tasks. It includes a bimanual manipulator built with Kinova Gen3 arms. The environments are kitchen scenes with procedurally generated furniture and appliances. The dataset is provided in LeRobot format and is intended for training robot policies and foundation models.