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PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

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Field Value
Description A set of datasets used for post-training of GR00T N1. Each dataset is a collection of trajectories from different robot embodiments and tasks.
Folder /datasets/ai/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
Discipline AI / PhysicalAI / Robotics
DOI 10.48550/arXiv.2503.14734
Link Access Data
Public True
Publication Date 2025-03-18
Downloaded 2025-11-09
Data Type LMDB, SquashFS
Extracted LeRobot files on Ceph
Dataset Size 686M (extracted)
Number of Files 843233 (extracted)
Usage 
$ module avail
$ module load datasets
$ module load ai/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim/2025-03-18
Usage Policy Link https://choosealicense.com/licenses/cc-by-4.0/
Usage Policy
Citation NVIDIA, Bjorck, J., Castañeda, F., Cherniadev, N., Da, X., Ding, R., Fan, L., Fang, Y., Fox, D., Hu, F., Huang, S., Jang, J., Jiang, Z., Kautz, J., Kundalia, K., Lao, L., Li, Z., Lin, Z., Lin, K., … Zhu, Y. (2025, March). GR00T N1: An open foundation model for generalist humanoid robots [Preprint]. arXiv. https://arxiv.org/abs/2503.14734
BibTeX
📜 View BibTeX citation
@inproceedings{gr00tn1_2025,
  archivePrefix = {arxiv},
  eprint     = {2503.14734},
  title      = {GR00T N1: An Open Foundation Model for Generalist Humanoid Robots},
  author     = {NVIDIA and Johan Bjorck andFernando Castañeda, Nikita Cherniadev and Xingye Da and Runyu Ding and Linxi "Jim" Fan and Yu Fang and Dieter Fox and Fengyuan Hu and Spencer Huang and Joel Jang and Zhenyu Jiang and Jan Kautz and Kaushil Kundalia and Lawrence Lao and Zhiqi Li and Zongyu Lin and Kevin Lin and Guilin Liu and Edith Llontop and Loic Magne and Ajay Mandlekar and Avnish Narayan and Soroush Nasiriany and Scott Reed and You Liang Tan and Guanzhi Wang and Zu Wang and Jing Wang and Qi Wang and Jiannan Xiang and Yuqi Xie and Yinzhen Xu and Zhenjia Xu and Seonghyeon Ye and Zhiding Yu and Ao Zhang and Hao Zhang and Yizhou Zhao and Ruijie Zheng and Yuke Zhu},
  month      = {March},
  year       = {2025},
  booktitle  = {ArXiv Preprint},
}

Ceph access

This dataset is also available in raw/extracted form on RCAC Ceph/S3-compatible object storage.

Parameter Value
Endpoint https://s3.anvil.rcac.purdue.edu
Bucket ai-datasets
Access Public read-only

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