Hugging Face's logo

Datasets:
Rimbot
/
PalmDex

Modalities:
Video
Languages:
English
Chinese
Size:
10K - 100K
Tags:
robotics
tactile
manipulation
embodiment-agnostic
multimodal
video
Libraries:
Datasets
lerobot
License:
Dataset card Data Studio Files
xet
 Community
1
Rimbot commited on
Commit
c43993e
·
verified ·
1 Parent(s): 8be6339

[Cleanup] Remove unwanted files, folders, and .DS_Store (batch 1/4)

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Files changed (50) hide show
  1. EgoExo4D/captures.json +0 -0
  2. EgoExo4D/metadata.json +0 -118
  3. EgoExo4D/participants.json +0 -0
  4. EgoExo4D/physical_setting.json +0 -996
  5. EgoExo4D/takes.json +0 -3
  6. EgoExo4D/visual_objects.json +0 -0
  7. test/.gitattributes +0 -107
  8. test/README.md +0 -149
  9. test/bimanual_panda_gripper.Threading/data/chunk-000/episode_000000.parquet +0 -3
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EgoExo4D/captures.json DELETED
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EgoExo4D/metadata.json DELETED
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- {
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- "version": "v2",
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- "date": "240325",
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- "tasks": {
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- "0": "Unknown",
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- "1000": "Cooking",
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- "1001": "Cooking an Omelet",
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- "1002": "Cooking Scrambled Eggs",
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- "1003": "Cooking Tomato & Eggs",
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- "1004": "Cooking Noodles",
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- "1005": "Cooking Dumplings",
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- "1006": "Cooking Noodles",
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- "1007": "Cooking Pasta",
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- "1008": "Cooking Sushi Rolls",
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- "1009": "Cooking Samosas",
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- "1010": "Making Cucumber & Tomato Salad",
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- "1011": "Making Sesame-Ginger Asian Salad",
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- "1012": "Making Greek Salad",
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- "1013": "Making Coffee latte",
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- "1014": "Making Chai Tea",
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- "1015": "Making Milk Tea",
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- "1016": "Cooking Cookies",
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- "1017": "Cooking Brownies",
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- "1018": "Making White Radish & Lettuce & Tomato & Cucumber Salad",
25
- "2000": "Health",
26
- "2001": "Covid-19 Rapid Antigen Test",
27
- "2002": "Medical Checkup - Blood Pressure Monitor",
28
- "2003": "Medical Checkup - Oximeter",
29
- "2004": "Health Checkup - Thermometer",
30
- "2005": "First Aid - CPR",
31
- "3000": "Campsite",
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- "3001": "Set up a Tent",
33
- "3002": "Disassemble a Tent",
34
- "4000": "Bike Repair",
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- "4001": "Remove a Wheel",
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- "4002": "Install a Wheel",
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- "4003": "Fix a Flat Tire - Replace a Bike Tube",
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- "4004": "Clean and Lubricate the Chain",
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- "4005": "Overhaul the Headset",
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- "4006": "Adjust a Rear Derailueur",
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- "5000": "Music",
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- "5001": "Playing Guitar",
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- "5002": "Playing Guitar - Scales and Arpeggios",
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- "5003": "Playing Guitar - Suzuki Books",
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- "5004": "Playing Guitar - Freeplaying",
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- "5005": "Playing Violin",
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- "5006": "Playing Violin - Scales and Arpeggios",
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- "5007": "Playing Violin - Suzuki Books",
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- "5008": "Playing Violin - Freeplaying",
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- "5009": "Playing Piano",
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- "5010": "Playing Piano - Scales and Arpeggios",
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- "5011": "Playing Piano - Suzuki Books",
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- "5012": "Playing Piano - Freeplaying",
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- "5013": "Playing Trombone",
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- "5014": "Playing Trombone - Scales",
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- "5015": "Playing Trombone - Freeplaying",
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- "5016": "Playing Trumpet",
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- "5017": "Playing Trumpet - Scales",
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- "5018": "Playing Trumpet - Freeplaying",
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- "5019": "Playing Alto-Saxophone",
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- "5020": "Playing Alto-Saxophone - Scales",
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- "5021": "Playing Alto-Saxophone - Freeplaying",
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- "6000": "Basketball",
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- "6001": "Basketball Drills - Mikan Layup",
65
- "6002": "Basketball Drills - Reverse Layup",
66
- "6003": "Basketball Drills - Mid-Range Jump Shooting",
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- "7000": "Rock Climbing",
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- "7001": "Los_Andes_FPC5_women",
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- "7002": "Los_Andes_FPC1_women",
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- "7003": "Los_Andes_FPC2_women",
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- "7004": "Los_Andes_FPC10_men",
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- "7005": "Los_Andes_FPC11_men",
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- "7006": "Los_Andes_FPC12_men",
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- "7007": "Los_Andes_FPC13_women",
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- "7008": "Los_Andes_FPC14_women",
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- "7009": "Los_Andes_FPC15_women",
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- "7010": "Los_Andes_FPC16_women",
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- "7011": "Los_Andes_FPC17_women",
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- "7012": "Los_Andes_FPC14_men",
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- "7013": "Los_Andes_FPC15_men",
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- "7014": "Los_Andes_FPC16_men",
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- "7015": "Los_Andes_FPC18_men",
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- "7016": "Los_Andes_FPC17_men",
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- "7017": "Los_Andes_Super_Final_men",
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- "7018": "LosAndes_V2_R1",
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- "7019": "LosAndes_V1_R1",
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- "7020": "LosAndes_V2_R2",
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- "7021": "LosAndes_V4_R1",
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- "7022": "LosAndes_V3_R1",
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- "7023": "LosAndes_V3_R2",
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- "7024": "LosAndes_V4_R2",
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- "7025": "LosAndes_V3_R3",
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- "7026": "LosAndes_V1_R2",
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- "7027": "LosAndes_V4_R3",
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- "7028": "LosAndes_V4_R4",
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- "7029": "LosAndes_V6_R1",
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- "7030": "LosAndes_V2_R3",
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- "7031": "LosAndes_V3_R4",
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- "7032": "LosAndes_V5_R1",
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- "7033": "LosAndes_V5_R2",
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- "7300": "Minnesota_RW_Casual",
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- "7301": "Minnesota_VE_Casual",
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- "8000": "Soccer",
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- "8001": "Soccer Drills - Inside Trap and Outside Play",
105
- "8002": "Soccer Drills - Outside Trap and Outside Play",
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- "8003": "Soccer Drills - Dribbling",
107
- "8004": "Soccer Drills - Juggling",
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- "8005": "Soccer Drills - Penalty Kick",
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- "9000": "Dance",
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- "9001": "Performing the basic choreography",
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- "9002": "Performing the advanced choreography",
112
- "9003": "Teaching the basic choreography",
113
- "9004": "Teaching the advanced choreography",
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- "9005": "LosAndes_Basic_Salsa",
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- "9006": "LosAndes_Intermediate_Salsa",
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- "9007": "LosAndes_Advanced_Salsa"
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- }
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- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
EgoExo4D/participants.json DELETED
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EgoExo4D/physical_setting.json DELETED
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- [
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test/README.md DELETED
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1
- ---
2
- license: cc-by-4.0
3
- task_categories:
4
- - robotics
5
- tags:
6
- - robotics
7
- ---
8
- # PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
9
-
10
- ![image/png](https://cdn-uploads.huggingface.co/production/uploads/67b8da81d01134f89899b4a7/PppFm7zvXyJblkMOq-YRQ.png)
11
-
12
- Github Repo: [Isaac GR00T N1](https://github.com/NVIDIA/Isaac-GR00T)
13
-
14
- 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.
15
-
16
- ### Cross-embodied bimanual manipulation: 9k trajectories
17
-
18
- | Dataset Name | #trajectories |
19
- | - | -|
20
- | bimanual_panda_gripper.Threading | 1000 |
21
- | bimanual_panda_hand.LiftTray | 1000 |
22
- | bimanual_panda_gripper.ThreePieceAssembly | 1000 |
23
- | bimanual_panda_gripper.Transport | 1000 |
24
- | bimanual_panda_hand.BoxCleanup | 1000 |
25
- | bimanual_panda_hand.DrawerCleanup | 1000 |
26
- | gr1_arms_only.CanSort | 1000 |
27
- | gr1_full_upper_body.Coffee | 1000 |
28
- | gr1_full_upper_body.Pouring | 1000 |
29
-
30
-
31
- ### Humanoid robot tabletop manipulation: 240k trajectories
32
-
33
- | Dataset Name | #trajectories |
34
- | - | -|
35
- | gr1_arms_waist.CanToDrawer | 10000 |
36
- | gr1_arms_waist.CupToDrawer | 10000 |
37
- | gr1_arms_waist.CuttingboardToBasket | 10000 |
38
- | gr1_arms_waist.CuttingboardToCardboardBox | 10000 |
39
- | gr1_arms_waist.CuttingboardToPan | 10000 |
40
- | gr1_arms_waist.CuttingboardToPot | 10000 |
41
- | gr1_arms_waist.CuttingboardToTieredBasket | 10000 |
42
- | gr1_arms_waist.PlaceBottleToCabinet | 10000 |
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- | gr1_arms_waist.PlaceMilkToMicrowave | 10000 |
44
- | gr1_arms_waist.PlacematToBasket | 10000 |
45
- | gr1_arms_waist.PlacematToBowl | 10000 |
46
- | gr1_arms_waist.PlacematToPlate | 10000 |
47
- | gr1_arms_waist.PlacematToTieredShelf | 10000 |
48
- | gr1_arms_waist.PlateToBowl | 10000 |
49
- | gr1_arms_waist.PlateToCardboardBox | 10000 |
50
- | gr1_arms_waist.PlateToPan | 10000 |
51
- | gr1_arms_waist.PlateToPlate | 10000 |
52
- | gr1_arms_waist.PotatoToMicrowave | 10000 |
53
- | gr1_arms_waist.TrayToCardboardBox | 10000 |
54
- | gr1_arms_waist.TrayToPlate | 10000 |
55
- | gr1_arms_waist.TrayToPot | 10000 |
56
- | gr1_arms_waist.TrayToTieredBasket | 10000 |
57
- | gr1_arms_waist.TrayToTieredShelf | 10000 |
58
- | gr1_arms_waist.WineToCabinet | 10000 |
59
-
60
- ### Humanoid robot tabletop manipulation - downsampled: 24k trajectories
61
-
62
- | Dataset Name | #trajectories |
63
- | - | - |
64
- | gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
65
- | gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
66
- | gr1_unified.PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
67
- | gr1_unified.PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
68
- | gr1_unified.PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
69
- | gr1_unified.PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
70
- | gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
71
- | gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
72
- | gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
73
- | gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
74
- | gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
75
- | gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
76
- | gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
77
- | gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
78
- | gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
79
- | gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
80
- | gr1_unified.PosttrainPnPNovelFromPlateToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
81
- | gr1_unified.PosttrainPnPNovelFromPlateToPanSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
82
- | gr1_unified.PosttrainPnPNovelFromPlateToPlateSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
83
- | gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
84
- | gr1_unified.PosttrainPnPNovelFromTrayToPlateSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
85
- | gr1_unified.PosttrainPnPNovelFromTrayToPotSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
86
- | gr1_unified.PosttrainPnPNovelFromTrayToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
87
- | gr1_unified.PosttrainPnPNovelFromTrayToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
88
-
89
- ### Robot Arm Kitchen Manipulation: 72K trajectories
90
- | Dataset Name | #trajectories |
91
- | - | -|
92
- | single_panda_gripper.CloseDoubleDoor | 3000 |
93
- | single_panda_gripper.CloseDrawer | 3000 |
94
- | single_panda_gripper.CloseSingleDoor | 3000 |
95
- | single_panda_gripper.CoffeePressButton | 3000 |
96
- | single_panda_gripper.CoffeeServeMug | 3000 |
97
- | single_panda_gripper.CoffeeSetupMug | 3000 |
98
- | single_panda_gripper.OpenDoubleDoor | 3000 |
99
- | single_panda_gripper.OpenDrawer | 3000 |
100
- | single_panda_gripper.OpenSingleDoor | 3000 |
101
- | single_panda_gripper.PnPCabToCounter | 3000 |
102
- | single_panda_gripper.PnPCounterToCab | 3000 |
103
- | single_panda_gripper.PnPCounterToMicrowave | 3000 |
104
- | single_panda_gripper.PnPCounterToSink | 3000 |
105
- | single_panda_gripper.PnPCounterToStove | 3000 |
106
- | single_panda_gripper.PnPMicrowaveToCounter | 3000 |
107
- | single_panda_gripper.PnPSinkToCounter | 3000 |
108
- | single_panda_gripper.PnPStoveToCounter | 3000 |
109
- | single_panda_gripper.TurnOffMicrowave | 3000 |
110
- | single_panda_gripper.TurnOffSinkFaucet | 3000 |
111
- | single_panda_gripper.TurnOffStove | 3000 |
112
- | single_panda_gripper.TurnOnMicrowave | 3000 |
113
- | single_panda_gripper.TurnOnSinkFaucet | 3000 |
114
- | single_panda_gripper.TurnOnStove | 3000 |
115
- | single_panda_gripper.TurnSinkSpout | 3000 |
116
-
117
- ### Unitree G1 Loco-Manipulation: 102 trajectories
118
- | Dataset Name | #trajectories |
119
- | - | -|
120
- | unitree_g1.LMPnPAppleToPlateDC | 102 |
121
-
122
- ## Download the dataset from Huggingface
123
-
124
- Users can download a specific subset of data by specifying the dataset name.
125
-
126
- 1. Option 1: with `huggingface-cli`
127
-
128
- ```bash
129
- huggingface-cli download nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim \
130
- --repo-type dataset \
131
- --include "gr1_arms_only.CanSort/**" \
132
- --local-dir $HOME/gr00t_dataset
133
- ```
134
-
135
- **Replace `gr1_arms_only.CanSort/**` with the dataset name you want to download.**
136
-
137
- 2. Option 2: Github LFS
138
-
139
- ```bash
140
- # Clone the repo without downloading files
141
- git clone --filter=blob:none --no-checkout https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
142
- cd PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
143
-
144
- # Configure sparse-checkout for just your folder
145
- git sparse-checkout init --cone
146
- git sparse-checkout set gr1_arms_waist.CupToDrawer << Select the specific dataset to download
147
- ```
148
-
149
- Replace the "gr1_arms_waist.CupToDrawer" with the intended dataset folder
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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