PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

Simulation; post-training data for GR00T N1. Release date not stated on card (HF lastModified 2026-03-05).

基本事实

机构: NVIDIA
形态标签: 双臂 · 人形 · 单臂 · 多本体 · 仿真
本体（按原文）: bimanual Panda (gripper) · bimanual Panda (hand) · GR1 (arms only) · GR1 (full upper body) · GR1 (arms with waist) · single Panda gripper · Unitree G1
轨迹数: 345,102
小时数: 待核实
帧数: 待核实
任务: 24 humanoid tabletop tasks + 24 Panda kitchen tasks + 9 bimanual datasets + Unitree G1 loco-manipulation
场景: 待核实
模态: rgb · state · language
格式: LeRobot v2 layout (GR00T LeRobot-compatible: data/chunk-*/episode_*.parquet + videos/*.mp4 + meta/info.json, modality.json, tasks.jsonl)
许可证: cc-by-4.0
商用: 允许（原文）
发布: 待核实
体积: 1910 GB

来源 · 7 条来源

embodiments https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim 官方页面 · 抓取 2026-09-18 · 尚未存快照 Card lists bimanual Panda (gripper/hand), GR1 (arms only / full upper body / arms with waist), single Panda gripper, Unitree G1

episodes https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim 官方页面 · 抓取 2026-09-18 · 尚未存快照 9,000 + 240,000 + 24,000 + 72,000 + 102 = 345,102 trajectories as listed on card

tasks https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim/raw/main/README.md 官方页面 · 抓取 2026-09-18 · 尚未存快照 '240,000 trajectories across 24 tasks' (humanoid tabletop), '72,000 trajectories across 24 Panda gripper tasks', 9 bimanual datasets, G1 loco-manipulation 102 trajectories

modalities https://huggingface.co/api/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim 官方页面 · 抓取 2026-09-18 · 尚未存快照 File tree: videos/.../observation.images.front_view, data parquet chunks, meta/tasks.jsonl, meta/modality.json

format https://huggingface.co/api/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim 官方页面 · 抓取 2026-09-18 · 尚未存快照 Sibling listing shows LeRobot-style data/chunk-000 episodes, meta/{episodes.jsonl,info.json,modality.json,stats.jsonl,tasks.jsonl}, videos/; README: 'GR00T LeRobot-compatible'

license https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim 官方页面 · 抓取 2026-09-18 · 尚未存快照 License tag 'cc-by-4.0'

size_gb https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim 官方页面 · 抓取 2026-09-18 · 尚未存快照 'Total file size: 1.91 TB'

按写明的机器人名或形态匹配；匹配只说明形态覆盖，不代表某个模型在其上训练过。

方向清晰，判断有据。