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_gr1_unified

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  1. README.md +144 -3
  2. gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000/meta/episodes.jsonl +0 -0
  3. gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000/meta/info.json +92 -0
  4. gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000/meta/modality.json +96 -0
  5. gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000/meta/stats.json +698 -0
  6. gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000/meta/tasks.jsonl +2 -0
  7. gr1_unified.PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_1000/meta/episodes.jsonl +0 -0
  8. gr1_unified.PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_1000/meta/info.json +92 -0
  9. gr1_unified.PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_1000/meta/modality.json +96 -0
  10. gr1_unified.PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_1000/meta/stats.json +698 -0
  11. gr1_unified.PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_1000/meta/tasks.jsonl +2 -0
  12. gr1_unified.PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000/meta/episodes.jsonl +0 -0
  13. gr1_unified.PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000/meta/info.json +92 -0
  14. gr1_unified.PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000/meta/modality.json +96 -0
  15. gr1_unified.PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000/meta/stats.json +698 -0
  16. gr1_unified.PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000/meta/tasks.jsonl +2 -0
  17. gr1_unified.PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_1000/meta/episodes.jsonl +0 -0
  18. gr1_unified.PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_1000/meta/info.json +92 -0
  19. gr1_unified.PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_1000/meta/modality.json +96 -0
  20. gr1_unified.PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_1000/meta/stats.json +698 -0
  21. gr1_unified.PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_1000/meta/tasks.jsonl +2 -0
  22. gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_1000/meta/episodes.jsonl +0 -0
  23. gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_1000/meta/info.json +92 -0
  24. gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_1000/meta/modality.json +96 -0
  25. gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_1000/meta/stats.json +698 -0
  26. gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_1000/meta/tasks.jsonl +11 -0
  27. gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000/meta/episodes.jsonl +0 -0
  28. gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000/meta/info.json +92 -0
  29. gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000/meta/modality.json +96 -0
  30. gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000/meta/stats.json +698 -0
  31. gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000/meta/tasks.jsonl +11 -0
  32. gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_1000/meta/episodes.jsonl +0 -0
  33. gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_1000/meta/info.json +92 -0
  34. gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_1000/meta/modality.json +96 -0
  35. gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_1000/meta/stats.json +698 -0
  36. gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_1000/meta/tasks.jsonl +11 -0
  37. gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA_GR1ArmsAndWaistFourierHands_1000/meta/episodes.jsonl +0 -0
  38. gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA_GR1ArmsAndWaistFourierHands_1000/meta/info.json +92 -0
  39. gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA_GR1ArmsAndWaistFourierHands_1000/meta/modality.json +96 -0
  40. gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA_GR1ArmsAndWaistFourierHands_1000/meta/stats.json +698 -0
  41. gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA_GR1ArmsAndWaistFourierHands_1000/meta/tasks.jsonl +11 -0
  42. gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000/meta/episodes.jsonl +0 -0
  43. gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000/meta/info.json +92 -0
  44. gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000/meta/modality.json +96 -0
  45. gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000/meta/stats.json +698 -0
  46. gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000/meta/tasks.jsonl +11 -0
  47. gr1_unified.PosttrainPnPNovelFromTrayToPlateSplitA_GR1ArmsAndWaistFourierHands_1000/meta/episodes.jsonl +0 -0
  48. gr1_unified.PosttrainPnPNovelFromTrayToPlateSplitA_GR1ArmsAndWaistFourierHands_1000/meta/info.json +92 -0
  49. upload.py +9 -0
README.md CHANGED
@@ -1,3 +1,144 @@
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- ---
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- license: cc-by-4.0
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- ---
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
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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)
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
+ | - | -|
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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 |
23
+ | 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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+
30
+
31
+ ### Humanoid robot tabletop manipulation: 240k trajectories
32
+
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+ | Dataset Name | #trajectories |
34
+ | - | -|
35
+ | 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 |
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 |
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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 |
68
+ | gr1_unified.PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
69
+ | gr1_unified.PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_1000 | 1000 |
70
+ | 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 |
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+ | gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromPlateToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromPlateToPanSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromPlateToPlateSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromTrayToPlateSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromTrayToPotSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
86
+ | gr1_unified.PosttrainPnPNovelFromTrayToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+ | gr1_unified.PosttrainPnPNovelFromTrayToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_1000 | 1000 |
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+
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+ ### 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 |
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+ | single_panda_gripper.TurnOffMicrowave | 3000 |
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+ | single_panda_gripper.TurnOffSinkFaucet | 3000 |
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+ | single_panda_gripper.TurnOffStove | 3000 |
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+ | single_panda_gripper.TurnOnMicrowave | 3000 |
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+ | single_panda_gripper.TurnOnSinkFaucet | 3000 |
114
+ | single_panda_gripper.TurnOnStove | 3000 |
115
+ | single_panda_gripper.TurnSinkSpout | 3000 |
116
+
117
+ ## Download the dataset from Huggingface
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+
119
+ Users can download a specific subset of data by specifying the dataset name.
120
+
121
+ 1. Option 1: with `huggingface-cli`
122
+
123
+ ```bash
124
+ huggingface-cli download nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim \
125
+ --repo-type dataset \
126
+ --include "gr1_arms_only.CanSort/**" \
127
+ --local-dir $HOME/gr00t_dataset
128
+ ```
129
+
130
+ **Replace `gr1_arms_only.CanSort/**` with the dataset name you want to download.**
131
+
132
+ 2. Option 2: Github LFS
133
+
134
+ ```bash
135
+ # Clone the repo without downloading files
136
+ git clone --filter=blob:none --no-checkout https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
137
+ cd PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
138
+
139
+ # Configure sparse-checkout for just your folder
140
+ git sparse-checkout init --cone
141
+ git sparse-checkout set gr1_arms_waist.CupToDrawer << Select the specific dataset to download
142
+ ```
143
+
144
+ Replace the "gr1_arms_waist.CupToDrawer" with the intended dataset folder
gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000/meta/episodes.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000/meta/info.json ADDED
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+ "codebase_version": "v2.0",
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+ "robot_type": "GR1ArmsAndWaistFourierHands",
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+ "total_episodes": 1000,
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+ "total_frames": 319656,
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+ "total_tasks": 2,
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+ "total_videos": 1000,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 20.0,
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+ "splits": {
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+ "train": "0:100"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "observation.images.ego_view": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ ],
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+ "names": [
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+ "width",
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+ ],
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+ "video_info": {
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+ "video.fps": 20.0,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "timestamp": {
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+ "next.reward": {
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+ "next.done": {
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+ }
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+ }
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gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000/meta/tasks.jsonl ADDED
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+ {"task_index": 0, "task": ""}
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+ {"task_index": 1, "task": "unlocked_waist: pick the tomato from the tray and place it in the cardboard box"}
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+ {"task_index": 2, "task": "unlocked_waist: pick the bell pepper from the tray and place it in the cardboard box"}
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+ {"task_index": 3, "task": "unlocked_waist: pick the can from the tray and place it in the cardboard box"}
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+ {"task_index": 4, "task": "unlocked_waist: pick the eggplant from the tray and place it in the cardboard box"}
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+ {"task_index": 5, "task": "unlocked_waist: pick the squash from the tray and place it in the cardboard box"}
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+ {"task_index": 6, "task": "unlocked_waist: pick the lemon from the tray and place it in the cardboard box"}
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+ {"task_index": 7, "task": "unlocked_waist: pick the croissant from the tray and place it in the cardboard box"}
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+ {"task_index": 8, "task": "unlocked_waist: pick the cupcake from the tray and place it in the cardboard box"}
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+ {"task_index": 9, "task": "unlocked_waist: pick the sweet potato from the tray and place it in the cardboard box"}
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+ {"task_index": 10, "task": "unlocked_waist: pick the pear from the tray and place it in the cardboard box"}
gr1_unified.PosttrainPnPNovelFromTrayToPlateSplitA_GR1ArmsAndWaistFourierHands_1000/meta/episodes.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
gr1_unified.PosttrainPnPNovelFromTrayToPlateSplitA_GR1ArmsAndWaistFourierHands_1000/meta/info.json ADDED
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+ {
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+ "total_episodes": 1000,
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+ "total_tasks": 11,
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+ "total_videos": 1000,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 20.0,
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+ "splits": {
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+ "train": "0:100"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "observation.images.ego_view": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ "video.codec": "h264",
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+ "episode_index": {
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+ }
upload.py ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ from huggingface_hub import HfApi
2
+
3
+ api = HfApi()
4
+
5
+ api.upload_large_folder(
6
+ folder_path=".", # your dataset folder
7
+ repo_id="nhatchung/_gr1_unified",
8
+ repo_type="dataset",
9
+ )