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PhysicalAI-Robotics-Manipulation-SingleArm

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Field Value
Description PhysicalAI-Robotics-Manipulation-SingeArm is a collection of datasets of automatic generated motions of a Franka Panda robot performing operations such as block stacking, opening cabinets and drawers. The dataset was generated in IsaacSim leveraging task and motion planning algorithms to find solutions to the tasks automatically [1, 3]. The environments are table-top scenes where the object layouts and asset textures are procedurally generated [2]. This dataset is available for commercial use.
Folder /datasets/ai/huggingface/nvidia/PhysicalAI-Robotics-Manipulation-SingleArm
Discipline AI / PhysicalAI / Robotics
DOI
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 112M (extracted)
Number of Files 136217 (extracted)
Usage 
$ module avail
$ module load datasets
$ module load ai/huggingface/nvidia/PhysicalAI-Robotics-Manipulation-SingleArm/2025-03-18
Usage Policy Link https://choosealicense.com/licenses/cc-by-4.0/
Usage Policy
Citation Garrett, C. R., Lozano-Pérez, T., & Kaelbling, L. P. (2020). PDDLStream: Integrating symbolic planners and blackbox samplers via optimistic adaptive planning. Proceedings of the International Conference on Automated Planning and Scheduling, 30, 440–448.

Eppner, C., Murali, A., Garrett, C., O'Flaherty, R., Hermans, T., Yang, W., & Fox, D. (2024). scene_synthesizer: A Python library for procedural scene generation in robot manipulation. Journal of Open Source Software. The Open Journal. https://scene-synthesizer.github.io/

Sundaralingam, B., Hari, S. K. S., Fishman, A., Garrett, C., Van Wyk, K., Blukis, V., Millane, A., Oleynikova, H., Handa, A., Ramos, F., Ratliff, N., & Fox, D. (2023). CuRobo: Parallelized collision-free robot motion generation. In 2023 IEEE International Conference on Robotics and Automation (ICRA) (pp. 8112–8119). IEEE. https://doi.org/10.1109/ICRA48891.2023.10160765

NVIDIA. (2025, March 18). PhysicalAI-Robotics-Manipulation-SingleArm [Dataset]. Hugging Face. https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-SingleArm
BibTeX
📜 View BibTeX citation
@inproceedings{garrett2020pddlstream,
    title={Pddlstream: Integrating symbolic planners and blackbox samplers via optimistic adaptive planning},
    author={Garrett, Caelan Reed and Lozano-P{\'e}rez, Tom{\'a}s and Kaelbling, Leslie Pack},
    booktitle={Proceedings of the international conference on automated planning and scheduling},
    volume={30},
    pages={440--448},
    year={2020}
}

@article{Eppner2024,
    title = {scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation},
    author = {Clemens Eppner and Adithyavairavan Murali and Caelan Garrett and Rowland O'Flaherty and Tucker Hermans and Wei Yang and Dieter Fox},
    journal = {Journal of Open Source Software}
    publisher = {The Open Journal},
    year = {2024},
    Note = {\url{https://scene-synthesizer.github.io/}}
}

@inproceedings{curobo_icra23,
    author={Sundaralingam, Balakumar and Hari, Siva Kumar Sastry and
        Fishman, Adam and Garrett, Caelan and Van Wyk, Karl and Blukis, Valts and
        Millane, Alexander and Oleynikova, Helen and Handa, Ankur and
        Ramos, Fabio and Ratliff, Nathan and Fox, Dieter},
    booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
    title={CuRobo: Parallelized Collision-Free Robot Motion Generation},
    year={2023},
    pages={8112-8119},
    doi={10.1109/ICRA48891.2023.10160765}
}

@misc{nvidia2025_PhysicalAI_Robotics_Manipulation_SingleArm,
  author       = {NVIDIA},
  title        = {PhysicalAI-Robotics-Manipulation-SingleArm [Dataset]},
  howpublished = {\url{https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-SingleArm}},
  year         = {2025},
  month        = {March},
  day          = {18},
  note         = {Hugging Face. Creative Commons Attribution 4.0 International (CC BY 4.0) License}
}