Physical AI
Collection
Collection of commercial-grade datasets for physical AI developers
•
22 items
•
Updated
•
59
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observation.state
sequence | action
sequence | timestamp
float64 | next.reward
float64 | next.done
bool | task_index
int64 | annotation.human.fine_action
int64 | annotation.human.coarse_action
int64 | episode_index
int64 | index
int64 |
|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
Simulation GR1 Tabletop Task 1K Dataset
Dataset Description:
The PhysicalAI-Robotics-GR00T-Teleop-GR1 dataset consists of 1000 teleoperation trajectories in simulation using the GR1 robot with upper body control. The simulation setup mimics tabletop manipulation tasks and uses RGB observations with a virtual camera. The robot is equipped with simulated Fourier hands.
This dataset is ready for non-commercial use.
Dataset Owner(s):
NVIDIA GEAR
Dataset Creation Date:
June 1, 2025
License/Terms of Use:
This dataset is licensed under the Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0).
Intended Usage:
Researchers, Academics, Open-Source Community: AI-driven robotics research and algorithm development in simulation environments. Developers: Integrate and customize AI policies for tabletop tasks. Startups & Companies: Non-commercial benchmarking and prototyping.
Dataset Characterization
Data Collection Method
[Human Teleoperation in Simulation]
Labeling Method
[Human]
Dataset Format
HDF5 format and LeRobot-style dataset
Modality:
- Observation: 44 dim of vectorized state (joint positions of upper body + waist)
- Action: 44 dim of vectorized action (joint positions of upper body + waist)
- Video: RGB video, 256x256 resolution (cropped and padded; original resolution is 51x320), 20 fps
- Language Instruction Example:
- "pick up the bottled water, place it into the cabinet and close the cabinet"
- "pick the cupcake from the cutting board and place it in the basket"
Dataset Quantification
- 1000 teleoperation trajectories for each of the 24 tabletop tasks
- Total data storage (HDF5 format): ~14GB
- Total data storage (LeRobot-style dataset): ~39GB
Download the dataset
huggingface-cli download \
--repo-type dataset nvidia/PhysicalAI-Robotics-GR00T-Teleop-GR1 \
--local-dir ./datasets/
- Downloads last month
- 821
Size of downloaded dataset files:
2.93 GB
Size of the auto-converted Parquet files:
2.93 GB
Number of rows:
5,820,277