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NVIDIA-Robocasa-Kitchen

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Whalswp JingWangSG commited on
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Duplicate from nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

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Co-authored-by: Jing Wang <JingWangSG@users.noreply.huggingface.co>

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README.md ADDED
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+ ---
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+ license: cc-by-4.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - robotics
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+ ---
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+ # PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
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+
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+ ![image/png](https://cdn-uploads.huggingface.co/production/uploads/67b8da81d01134f89899b4a7/PppFm7zvXyJblkMOq-YRQ.png)
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+
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+ Github Repo: [Isaac GR00T N1](https://github.com/NVIDIA/Isaac-GR00T)
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+
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+ 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.
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+
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+ ### Cross-embodied bimanual manipulation: 9k trajectories
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+
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+ | Dataset Name | #trajectories |
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+ | - | -|
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+ | bimanual_panda_gripper.Threading | 1000 |
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+ | bimanual_panda_hand.LiftTray | 1000 |
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+ | bimanual_panda_gripper.ThreePieceAssembly | 1000 |
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+ | bimanual_panda_gripper.Transport | 1000 |
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+ | bimanual_panda_hand.BoxCleanup | 1000 |
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+ | bimanual_panda_hand.DrawerCleanup | 1000 |
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+ | gr1_arms_only.CanSort | 1000 |
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+ | gr1_full_upper_body.Coffee | 1000 |
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+ | gr1_full_upper_body.Pouring | 1000 |
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+
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+
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+ ### Humanoid robot tabletop manipulation: 240k trajectories
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+
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+ | Dataset Name | #trajectories |
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+ | - | -|
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+ | gr1_arms_waist.CanToDrawer | 10000 |
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+ | gr1_arms_waist.CupToDrawer | 10000 |
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+ | gr1_arms_waist.CuttingboardToBasket | 10000 |
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+ | gr1_arms_waist.CuttingboardToCardboardBox | 10000 |
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+ | gr1_arms_waist.CuttingboardToPan | 10000 |
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+ | gr1_arms_waist.CuttingboardToPot | 10000 |
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+ | gr1_arms_waist.CuttingboardToTieredBasket | 10000 |
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+ | gr1_arms_waist.PlaceBottleToCabinet | 10000 |
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+ | gr1_arms_waist.PlaceMilkToMicrowave | 10000 |
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+ | gr1_arms_waist.PlacematToBasket | 10000 |
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+ | gr1_arms_waist.PlacematToBowl | 10000 |
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+ | gr1_arms_waist.PlacematToPlate | 10000 |
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+ | gr1_arms_waist.PlacematToTieredShelf | 10000 |
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+ | gr1_arms_waist.PlateToBowl | 10000 |
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+ | gr1_arms_waist.PlateToCardboardBox | 10000 |
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+ | gr1_arms_waist.PlateToPan | 10000 |
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+ | gr1_arms_waist.PlateToPlate | 10000 |
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+ | gr1_arms_waist.PotatoToMicrowave | 10000 |
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+ | gr1_arms_waist.TrayToCardboardBox | 10000 |
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+ | gr1_arms_waist.TrayToPlate | 10000 |
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+ | gr1_arms_waist.TrayToPot | 10000 |
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+ | gr1_arms_waist.TrayToTieredBasket | 10000 |
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+ | gr1_arms_waist.TrayToTieredShelf | 10000 |
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+ | gr1_arms_waist.WineToCabinet | 10000 |
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+
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+ ### Humanoid robot tabletop manipulation - downsampled: 24k trajectories
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+
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+ | Dataset Name | #trajectories |
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+ | - | - |
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+ | gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | 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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