Create README.md
Browse files## Dataset Description:
PhysicalAI-Robotics-Manipulation-Objects is a dataset of automatic generated motions of a robot performing operations such as picking and placing objects in a kitchen environment. The dataset was generated in Isaac Sim leveraging reasoning algorithms to find solutions to the tasks automatically [1]. The dataset includes a bi-manual manipulator built with Kinova Gen3 arms. The environments are kitchen scenes where the furniture and appliances were procedurally generated [2].
This dataset is for research and development only.
## Dataset Contact(s):
Fabio Ramos ([email protected])
Anqi Li ([email protected])
## Dataset Creation Date:
03/18/2025
## License/Terms of Use:
Non-commercial
## Intended Usage:
This dataset is provided in LeRobot format and is intended for training robot policies.
## Dataset Characterization
** Data Collection Method<br>
* [Automated] <br>
* [Automatic/Sensors] <br>
* [Synthetic] <br>
** Labeling Method<br>
* [Not Applicable] <br>
## Dataset Format
Within the collection, there are three datasets in LeRobot format `pick`, `place_cabinet`, and `place_bench`. <br>
* `pick` <br>
The robot picks and lifts an object from the kitchen bench top.
* `place_cabinet` <br>
The robot starts holding an object and places it inside an opened cabinet in the kitchen.
* `place_bench` <br>
The robot starts holding an object and places it in the kitchen bench top.
## Dataset Quantification
[Insert Record Count- Note number of records (images, video, audio files, etcetera)]
[Insert Feature Count- Note features present in record count above (e.g. tags)]
[Insert Measurement of Total Data Storage]
## Reference(s):
```
[1] @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}
}
[2]
@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/}}
}
```
## Ethical Considerations:
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