diff --git a/EgoExo4D/captures.json b/EgoExo4D/captures.json deleted file mode 100644 index 4d20f0791ca87b6ef630c5523da7a873ccfc9518..0000000000000000000000000000000000000000 --- a/EgoExo4D/captures.json +++ /dev/null @@ -1,53980 +0,0 @@ -[ - { - "root_dir": "captures/cmu_bike01", - "capture_name": "cmu_bike01", - "capture_uid": "d37b73eb-fa42-43a6-8115-56832996ebd7", - "university_name": "cmu", - "origin_capture_id": "bike01", - "physical_setting_uid": 97, - "ds_recorded": 1689793200, - "has_trajectory": true, - "has_gaze": true, - "has_postsurvey": true, - "cameras": [ - { - "cam_id": "aria01", - "is_ego": true, - "has_walkaround": true, - "includes_audio": true, - "device_type": "aria", - "relative_path": "videos/aria01.vrs", - "video_artifact_uid": "355f22a8-1796-491b-b531-118a026dd1c5" - }, - { - "cam_id": "cam01", - "is_ego": false, - "has_walkaround": false, - "includes_audio": true, - "device_type": "hero10", - "relative_path": "videos/cam01.mp4", - "video_artifact_uid": 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a/EgoExo4D/metadata.json +++ /dev/null @@ -1,118 +0,0 @@ -{ - "version": "v2", - "date": "240325", - "tasks": { - "0": "Unknown", - "1000": "Cooking", - "1001": "Cooking an Omelet", - "1002": "Cooking Scrambled Eggs", - "1003": "Cooking Tomato & Eggs", - "1004": "Cooking Noodles", - "1005": "Cooking Dumplings", - "1006": "Cooking Noodles", - "1007": "Cooking Pasta", - "1008": "Cooking Sushi Rolls", - "1009": "Cooking Samosas", - "1010": "Making Cucumber & Tomato Salad", - "1011": "Making Sesame-Ginger Asian Salad", - "1012": "Making Greek Salad", - "1013": "Making Coffee latte", - "1014": "Making Chai Tea", - "1015": "Making Milk Tea", - "1016": "Cooking Cookies", - "1017": "Cooking Brownies", - "1018": "Making White Radish & Lettuce & Tomato & Cucumber Salad", - "2000": "Health", - "2001": "Covid-19 Rapid Antigen Test", - "2002": "Medical Checkup - Blood Pressure Monitor", - "2003": "Medical Checkup - Oximeter", - "2004": "Health Checkup - Thermometer", - "2005": "First Aid - CPR", - 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Trumpet - Scales", - "5018": "Playing Trumpet - Freeplaying", - "5019": "Playing Alto-Saxophone", - "5020": "Playing Alto-Saxophone - Scales", - "5021": "Playing Alto-Saxophone - Freeplaying", - "6000": "Basketball", - "6001": "Basketball Drills - Mikan Layup", - "6002": "Basketball Drills - Reverse Layup", - "6003": "Basketball Drills - Mid-Range Jump Shooting", - "7000": "Rock Climbing", - "7001": "Los_Andes_FPC5_women", - "7002": "Los_Andes_FPC1_women", - "7003": "Los_Andes_FPC2_women", - "7004": "Los_Andes_FPC10_men", - "7005": "Los_Andes_FPC11_men", - "7006": "Los_Andes_FPC12_men", - "7007": "Los_Andes_FPC13_women", - "7008": "Los_Andes_FPC14_women", - "7009": "Los_Andes_FPC15_women", - "7010": "Los_Andes_FPC16_women", - "7011": "Los_Andes_FPC17_women", - "7012": "Los_Andes_FPC14_men", - "7013": "Los_Andes_FPC15_men", - "7014": "Los_Andes_FPC16_men", - "7015": "Los_Andes_FPC18_men", - "7016": "Los_Andes_FPC17_men", - "7017": "Los_Andes_Super_Final_men", - "7018": "LosAndes_V2_R1", - "7019": "LosAndes_V1_R1", - "7020": "LosAndes_V2_R2", - "7021": "LosAndes_V4_R1", - "7022": "LosAndes_V3_R1", - "7023": "LosAndes_V3_R2", - "7024": "LosAndes_V4_R2", - "7025": "LosAndes_V3_R3", - "7026": "LosAndes_V1_R2", - "7027": "LosAndes_V4_R3", - "7028": "LosAndes_V4_R4", - "7029": "LosAndes_V6_R1", - "7030": "LosAndes_V2_R3", - "7031": "LosAndes_V3_R4", - "7032": "LosAndes_V5_R1", - "7033": "LosAndes_V5_R2", - "7300": "Minnesota_RW_Casual", - "7301": "Minnesota_VE_Casual", - "8000": "Soccer", - "8001": "Soccer Drills - Inside Trap and Outside Play", - "8002": "Soccer Drills - Outside Trap and Outside Play", - "8003": "Soccer Drills - Dribbling", - "8004": "Soccer Drills - Juggling", - "8005": "Soccer Drills - Penalty Kick", - "9000": "Dance", - "9001": "Performing the basic choreography", - "9002": "Performing the advanced choreography", - "9003": "Teaching the basic choreography", - "9004": "Teaching the advanced choreography", - "9005": "LosAndes_Basic_Salsa", - "9006": "LosAndes_Intermediate_Salsa", - "9007": "LosAndes_Advanced_Salsa" - } -} \ No newline at end of file diff --git a/EgoExo4D/participants.json b/EgoExo4D/participants.json deleted file mode 100644 index 6f5fc1a515adf3abd7660e11e93e45bfd8e059f2..0000000000000000000000000000000000000000 --- a/EgoExo4D/participants.json +++ /dev/null @@ -1,6794 +0,0 @@ -[ - { - "participant_uid": 2, - "origin_participant_id": "056", - "university_id": "ego4d-university-sa", - "university_name": "uniandes", - "collection_date": "2023-03-09", - "metadata": "{\"age_range\": 29, \"gender\": \"female\", \"race_ethnicity\": \"Mixed\", \"country_born\": \"colombian\", \"field\": \"Cultural manager / Art history\", \"native_language\": null, \"home_language\": null, \"education_completed\": null, \"current_student\": null}" - }, - { - "participant_uid": 3, - "origin_participant_id": "027", - "university_id": "ego4d-university-sa", - "university_name": "uniandes", - "collection_date": "2023-03-09", - "metadata": "{\"age_range\": 45, \"gender\": \"female\", \"race_ethnicity\": \"Mixed\", \"country_born\": \"colombian\", \"field\": \"designer\", \"native_language\": null, \"home_language\": null, \"education_completed\": null, \"current_student\": null}" - }, - { - "participant_uid": 4, - "origin_participant_id": "028", - "university_id": "ego4d-university-sa", - "university_name": "uniandes", - "collection_date": "2023-03-09", - "metadata": "{\"age_range\": 25, \"gender\": \"male\", \"race_ethnicity\": \"Mixed\", \"country_born\": \"Colombia\", \"field\": \"Audiovisual producer\", \"native_language\": null, \"home_language\": null, \"education_completed\": null, \"current_student\": null}" - }, - { - "participant_uid": 5, - "origin_participant_id": "029", - "university_id": "ego4d-university-sa", - "university_name": "uniandes", - "collection_date": "2023-03-09", - "metadata": "{\"age_range\": 22, \"gender\": \"male\", \"race_ethnicity\": \"prefer not to say\", \"country_born\": \"colombian\", \"field\": \"Scaler\", \"native_language\": null, \"home_language\": null, \"education_completed\": null, \"current_student\": null}" - }, - { - "participant_uid": 6, - "origin_participant_id": "030", - "university_id": "ego4d-university-sa", - "university_name": "uniandes", - "collection_date": "2023-03-09", - "metadata": "{\"age_range\": 22, \"gender\": \"female\", \"race_ethnicity\": \"prefer not to say\", \"country_born\": \"colombian\", \"field\": \"Student\", \"native_language\": null, \"home_language\": null, \"education_completed\": null, \"current_student\": null}" - }, - { - "participant_uid": 7, - "origin_participant_id": "031", - "university_id": "ego4d-university-sa", - "university_name": "uniandes", - "collection_date": "2023-03-10", - "metadata": "{\"age_range\": 38, \"gender\": \"male\", \"race_ethnicity\": \"Mixed\", \"country_born\": \"Colombian\", \"field\": \"Climber, carpenter lic in sport \\ud83d\\ude09\", \"native_language\": null, \"home_language\": null, 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-single_panda_gripper.OpenDoubleDoor/videos/chunk-000/observation.images.left_view/episode_000757.mp41875097921 filter=lfs diff=lfs merge=lfs -text -single_panda_gripper.OpenDoubleDoor/videos/chunk-000/observation.images.left_view/episode_000901.mp43884489326 filter=lfs diff=lfs merge=lfs -text -single_panda_gripper.OpenDoubleDoor/videos/chunk-000/observation.images.left_view/episode_000485.mp42911758261 filter=lfs diff=lfs merge=lfs -text diff --git a/test/README.md b/test/README.md deleted file mode 100644 index 6b899e355ec832dab12853bcfa6af13ff8626234..0000000000000000000000000000000000000000 --- a/test/README.md +++ /dev/null @@ -1,149 +0,0 @@ ---- -license: cc-by-4.0 -task_categories: -- robotics -tags: -- robotics ---- -# PhysicalAI-Robotics-GR00T-X-Embodiment-Sim - -![image/png](https://cdn-uploads.huggingface.co/production/uploads/67b8da81d01134f89899b4a7/PppFm7zvXyJblkMOq-YRQ.png) - -Github Repo: [Isaac GR00T N1](https://github.com/NVIDIA/Isaac-GR00T) - -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` - -```bash -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 - -```bash -# 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 diff --git a/test/bimanual_panda_gripper.Threading/data/chunk-000/episode_000000.parquet b/test/bimanual_panda_gripper.Threading/data/chunk-000/episode_000000.parquet deleted file mode 100644 index bf375aa1054c74f21aef13ed0367359fd9ffa13a..0000000000000000000000000000000000000000 --- a/test/bimanual_panda_gripper.Threading/data/chunk-000/episode_000000.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid 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