PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

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
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

Humanoid robot tabletop manipulation - downsampled: 24k trajectories

Dataset Name	#trajectories
gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromPlateToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromPlateToPanSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromPlateToPlateSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromTrayToPlateSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromTrayToPotSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromTrayToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_1000	1000
gr1_unified.PosttrainPnPNovelFromTrayToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_1000	1000

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

Unitree G1 Loco-Manipulation: 102 trajectories

Dataset Name	#trajectories
unitree_g1.LMPnPAppleToPlateDC	102

Download the dataset from Huggingface

Users can download a specific subset of data by specifying the dataset name.

1. Option 1: with huggingface-cli

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.

2. Option 2: Github LFS

# Clone the repo without downloading files
git clone --filter=blob:none --no-checkout https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
cd PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

# Configure sparse-checkout for just your folder
git sparse-checkout init --cone
git sparse-checkout set gr1_arms_waist.CupToDrawer   << Select the specific dataset to download

Replace the "gr1_arms_waist.CupToDrawer" with the intended dataset folder