| # Downloading Datasets | |
| The finetuning datasets are generated with Synethic Manipulation Motion Generation (SMMG), utilizing tools including | |
| GR00T-Teleop, Mimic on Isaac Lab simulation environment. More details related to how datasets are generated could be viewed in [Isaac Lab Teleop & IL](https://isaac-sim.github.io/IsaacLab/main/source/overview/teleop_imitation.html). | |
| ## Available Datasets | |
| Datasets are hosted on Hugging Face as listed below. | |
| [nvidia/PhysicalAI-GR00T-Tuned-Tasks: Nut Pouring](https://huggingface.co/datasets/nvidia/PhysicalAI-GR00T-Tuned-Tasks/tree/main/Nut-Pouring-task) | |
| [nvidia/PhysicalAI-GR00T-Tuned-Tasks: Exhaust-Pipe-Sorting](https://huggingface.co/datasets/nvidia/PhysicalAI-GR00T-Tuned-Tasks/tree/main/Exhaust-Pipe-Sorting-task) | |
| You can download the GR00T-Lerobot format dataset ready for post training, or the original Mimic-generated HDF5 for data conversion. | |
| ## Download Instructions | |
| Make sure you have registered your Hugging Face account and have read-access token ready. | |
| ```bash | |
| # Provide your access token with read permission | |
| huggingface-cli login | |
| export DATASET="nvidia/PhysicalAI-GR00T-Tuned-Tasks" | |
| # Define the path to save the datasets as DATASET_ROOT_DIR | |
| huggingface-cli download --repo-type dataset --resume-download $DATASET --local-dir $DATASET_ROOT_DIR | |
| ``` | |
| ## Dataset Structure | |
| `DATASET_ROOT_DIR` is the path to the directory where you want to store those assets as below. | |
| <pre> | |
| <code> | |
| 📂 PhysicalAI-GR00T-Tuned-Tasks | |
| ├── 📂 Exhaust-Pipe-Sorting-task | |
| │ ├── 📂 data | |
| │ ├── 📂 meta | |
| │ └── 📂 videos | |
| ├── exhaust_pipe_sorting_task.hdf5 | |
| ├── 📂 Nut-Pouring-task | |
| │ ├── 📂 data | |
| │ ├── 📂 meta | |
| │ └── 📂 videos | |
| ├── nut_pouring_task.hdf5 | |
| └── README.md | |
| </code> | |
| </pre> | |