Update README.md
Browse files
README.md
CHANGED
|
@@ -1,29 +1,71 @@
|
|
| 1 |
---
|
| 2 |
license: apache-2.0
|
| 3 |
---
|
|
|
|
| 4 |
|
| 5 |
-
|
| 6 |
|
|
|
|
| 7 |
|
| 8 |
-
|
| 9 |
|
| 10 |
-
|
| 11 |
-
-
|
| 12 |
-
|
| 13 |
-
|
| 14 |
-
|
| 15 |
-
|
| 16 |
-
|
| 17 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
|
| 19 |
## Download the dataset from Huggingface
|
| 20 |
|
|
|
|
| 21 |
|
| 22 |
```bash
|
| 23 |
-
huggingface-cli download nvidia/GR00T-
|
| 24 |
--repo-type dataset \
|
| 25 |
--include "robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_30/**"
|
| 26 |
--local-dir $HOME/gr00t_dataset
|
| 27 |
```
|
| 28 |
|
| 29 |
-
**
|
|
|
|
| 1 |
---
|
| 2 |
license: apache-2.0
|
| 3 |
---
|
| 4 |
+
# GR00T-Sim-Post-Training-Data
|
| 5 |
|
| 6 |
+
Github Repo: [Isaac GR00T N1](https://github.com/NVIDIA/Isaac-GR00T)
|
| 7 |
|
| 8 |
+
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.
|
| 9 |
|
| 10 |
+
### Cross-embodied bimanual manipulation: 9k trajectories
|
| 11 |
|
| 12 |
+
| Dataset Name | #trajectories |
|
| 13 |
+
| - | -|
|
| 14 |
+
| robocasa_bimanual_panda_inspire_hand.TwoArmBoxCleanupPadRes256Freq20_1000 | 1000 |
|
| 15 |
+
| robocasa_bimanual_panda_inspire_hand.TwoArmDrawerCleanupPadRes256Freq20_1000 | 1000 |
|
| 16 |
+
| robocasa_bimanual_panda_inspire_hand.TwoArmLiftTrayPadRes256Freq20_1000 | 1000 |
|
| 17 |
+
| robocasa_bimanual_panda_parallel_gripper.TwoArmThreePieceAssemblyPadRes256Freq20_1000 | 1000 |
|
| 18 |
+
| robocasa_bimanual_panda_parallel_gripper.TwoArmTransportPadRes256Freq20_1000 | 1000 |
|
| 19 |
+
| robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_1000 | 1000 |
|
| 20 |
+
| robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmCoffeePadRes256Freq20_1000 | 1000 |
|
| 21 |
+
| robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000 | 1000 |
|
| 22 |
+
|
| 23 |
+
|
| 24 |
+
### Humanoid robot tabletop manipulation: 240k trajectories
|
| 25 |
+
|
| 26 |
+
| Dataset Name | #trajectories |
|
| 27 |
+
| - | -|
|
| 28 |
+
| gr1_unified.robocasa_gr1_arms_waist_fourier_hands_FullSetPad256Freq20_10000 | 10000 |
|
| 29 |
+
| robocasa_gr1_arms_waist_fourier_hands.FullSetPad256Freq20_10000 | 10000 |
|
| 30 |
+
|
| 31 |
+
|
| 32 |
+
### Robot Arm Kitchen Manipulation: 240K trajectories
|
| 33 |
+
| Dataset Name | #trajectories |
|
| 34 |
+
| - | -|
|
| 35 |
+
| robocasa_panda_omron.CloseDoubleDoor256_1000 | 1000 |
|
| 36 |
+
| robocasa_panda_omron.CloseDrawer256_1000 | 1000 |
|
| 37 |
+
| robocasa_panda_omron.CloseSingleDoor256_1000 | 1000 |
|
| 38 |
+
| robocasa_panda_omron.CoffeePressButton256_1000 | 1000 |
|
| 39 |
+
| robocasa_panda_omron.CoffeeServeMug256_1000 | 1000 |
|
| 40 |
+
| robocasa_panda_omron.CoffeeSetupMug256_1000 | 1000 |
|
| 41 |
+
| robocasa_panda_omron.OpenDoubleDoor256_1000 | 1000 |
|
| 42 |
+
| robocasa_panda_omron.OpenDrawer256_1000 | 1000 |
|
| 43 |
+
| robocasa_panda_omron.OpenSingleDoor256_1000 | 1000 |
|
| 44 |
+
| robocasa_panda_omron.PnPCabToCounter256_1000 | 1000 |
|
| 45 |
+
| robocasa_panda_omron.PnPCounterToCab256_1000 | 1000 |
|
| 46 |
+
| robocasa_panda_omron.PnPCounterToMicrowave256_1000 | 1000 |
|
| 47 |
+
| robocasa_panda_omron.PnPCounterToSink256_1000 | 1000 |
|
| 48 |
+
| robocasa_panda_omron.PnPCounterToStove256_1000 | 1000 |
|
| 49 |
+
| robocasa_panda_omron.PnPMicrowaveToCounter256_1000 | 1000 |
|
| 50 |
+
| robocasa_panda_omron.PnPSinkToCounter256_1000 | 1000 |
|
| 51 |
+
| robocasa_panda_omron.PnPStoveToCounter256_1000 | 1000 |
|
| 52 |
+
| robocasa_panda_omron.TurnOffMicrowave256_1000 | 1000 |
|
| 53 |
+
| robocasa_panda_omron.TurnOffSinkFaucet256_1000 | 1000 |
|
| 54 |
+
| robocasa_panda_omron.TurnOffStove256_1000 | 1000 |
|
| 55 |
+
| robocasa_panda_omron.TurnOnMicrowave256_1000 | 1000 |
|
| 56 |
+
| robocasa_panda_omron.TurnOnSinkFaucet256_1000 | 1000 |
|
| 57 |
+
| robocasa_panda_omron.TurnOnStove256_1000 | 1000 |
|
| 58 |
+
| robocasa_panda_omron.TurnSinkSpout256_1000 | 1000 |
|
| 59 |
|
| 60 |
## Download the dataset from Huggingface
|
| 61 |
|
| 62 |
+
Users can download a specific subset of data by specifying the dataset name.
|
| 63 |
|
| 64 |
```bash
|
| 65 |
+
huggingface-cli download nvidia/GR00T-Sim-Post-Training-Data\
|
| 66 |
--repo-type dataset \
|
| 67 |
--include "robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_30/**"
|
| 68 |
--local-dir $HOME/gr00t_dataset
|
| 69 |
```
|
| 70 |
|
| 71 |
+
**Replace `robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_30/**` with the dataset name you want to download.**
|