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---
license: apache-2.0
---
# GR00T-Cross-Embodied-Bimanual-Manipulation
This dataset consists of 9 subsets of dataset which correspond to different embodiments and tasks. Each consists of 1000 trajectories
- robocasa_bimanual_panda_inspire_hand.TwoArmBoxCleanupPadRes256Freq20_1000
- robocasa_bimanual_panda_inspire_hand.TwoArmDrawerCleanupPadRes256Freq20_1000
- robocasa_bimanual_panda_inspire_hand.TwoArmLiftTrayPadRes256Freq20_1000
- robocasa_bimanual_panda_parallel_gripper.TwoArmThreePieceAssemblyPadRes256Freq20_1000
- robocasa_bimanual_panda_parallel_gripper.TwoArmTransportPadRes256Freq20_1000
- robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_1000
- robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmCoffeePadRes256Freq20_1000
- robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000
## Download the dataset from Huggingface
```bash
huggingface-cli download nvidia/GR00T-Cross-Embodied-Bimanual-Manipulation\
--repo-type dataset \
--include "robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_30/**"
--local-dir $HOME/gr00t_dataset
```
**To download a specific subset of data: do `robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_30/**`
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