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README.md

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+---
+license: cc-by-4.0
+task_categories:
+  - robotics
+language:
+  - en
+tags:
+  - robotics
+  - manipulation
+  - lerobot
+  - humanoid
+  - reachy2
+  - pick-and-place
+  - simulation
+  - mujoco
+  - gr00t
+  - nvidia
+  - physical-ai
+size_categories:
+  - n<1K
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path: "data/**/*.parquet"
+---
+
+# NOVA Dataset - Reachy 2 Pick-and-Place Demonstrations
+
+<p align="center">
+  <img src="https://img.shields.io/badge/Format-LeRobot%20v2.1-FFD21E?style=for-the-badge&logo=huggingface" alt="LeRobot v2.1"/>
+  <img src="https://img.shields.io/badge/Episodes-100-blue?style=for-the-badge" alt="100 Episodes"/>
+  <img src="https://img.shields.io/badge/Robot-Reachy%202-0066CC?style=for-the-badge" alt="Reachy 2"/>
+</p>
+
+Expert demonstration dataset for training vision-language-action models on [Pollen Robotics' Reachy 2](https://www.pollen-robotics.com/reachy/) humanoid robot. Collected in MuJoCo simulation with domain randomization.
+
+## Dataset Description
+
+This dataset contains **100 episodes** of pick-and-place manipulation tasks, designed for fine-tuning NVIDIA GR00T N1.6 or other imitation learning policies.
+
+### Key Features
+
+| Feature | Description |
+|---------|-------------|
+| **Format** | LeRobot v2.1 (parquet + H264 video) |
+| **Episodes** | 100 |
+| **Task Variations** | 32 (4 objects × 8 colors) |
+| **Camera Views** | 2 (front_cam, workspace_cam) |
+| **Resolution** | 640×480 @ 15 FPS |
+| **Domain Randomization** | Position, lighting, camera jitter |
+
+### Task Description
+
+The robot performs pick-and-place tasks with natural language instructions:
+- "Pick up the red cube and place it in the box"
+- "Pick up the blue cylinder and place it in the box"
+- "Pick up the green capsule and place it in the box"
+
+## Dataset Structure
+
+```
+NOVA/
+├── meta/
+│   ├── info.json           # Dataset metadata
+│   ├── stats.json          # Normalization statistics
+│   ├── tasks.jsonl         # Task descriptions
+│   └── episodes.jsonl      # Episode information
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       └── ...
+└── videos/
+    └── chunk-000/
+        ├── observation.images.front_cam/
+        │   ├── episode_000000.mp4
+        │   └── ...
+        └── observation.images.workspace_cam/
+            ├── episode_000000.mp4
+            └── ...
+```
+
+## Data Fields
+
+### State (Proprioception)
+
+| Field | Dimension | Description |
+|-------|-----------|-------------|
+| `observation.state` | 7 | Joint positions (arm) |
+
+**Joint Names:**
+1. `shoulder_pitch` (-180° to 90°)
+2. `shoulder_roll` (-180° to 10°)
+3. `elbow_yaw` (-90° to 90°)
+4. `elbow_pitch` (-125° to 0°)
+5. `wrist_roll` (-100° to 100°)
+6. `wrist_pitch` (-45° to 45°)
+7. `wrist_yaw` (-30° to 30°)
+
+### Action
+
+| Field | Dimension | Description |
+|-------|-----------|-------------|
+| `action` | 8 | Joint positions (7 arm + 1 gripper) |
+
+**Gripper:** 0 = closed, 1 = open
+
+### Video
+
+| Camera | Resolution | FOV | Format |
+|--------|------------|-----|--------|
+| `front_cam` | 640×480 | 108° | H264 MP4 |
+| `workspace_cam` | 640×480 | 70° | H264 MP4 |
+
+### Language
+
+| Field | Description |
+|-------|-------------|
+| `annotation.human.task_description` | Natural language task instruction |
+
+## Objects and Colors
+
+### Objects (4 types)
+- **Cube** (4cm)
+- **Rectangular box**
+- **Cylinder**
+- **Capsule**
+
+### Colors (8 variations)
+- Red, Green, Blue, Yellow
+- Cyan, Magenta, Orange, Purple
+
+## Domain Randomization
+
+| Parameter | Range |
+|-----------|-------|
+| Object position | Workspace-aware random |
+| Lighting intensity | 0.5 - 1.0 |
+| Camera jitter | ±2° |
+| Object type | Random selection |
+| Object color | Random selection |
+
+## Usage
+
+### Loading with LeRobot
+
+```python
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset("ganatrask/NOVA")
+
+# Access an episode
+episode = dataset[0]
+print(episode.keys())
+# ['observation.state', 'observation.images.front_cam', 'action', ...]
+```
+
+### Loading with HuggingFace Datasets
+
+```python
+from datasets import load_dataset
+
+dataset = load_dataset("ganatrask/NOVA")
+```
+
+### Training GR00T
+
+```bash
+python -m gr00t.train \
+    --dataset_repo_id ganatrask/NOVA \
+    --embodiment_tag reachy2 \
+    --video_backend decord \
+    --num_gpus 2 \
+    --batch_size 64 \
+    --max_steps 30000
+```
+
+## Collection Details
+
+### Environment
+
+- **Simulator**: MuJoCo via [reachy2_mujoco](https://github.com/pollen-robotics/reachy2_mujoco)
+- **Robot**: Reachy 2 humanoid (14-DOF arms, using right arm only)
+- **Control Frequency**: 15 Hz
+
+### Collection Process
+
+1. Random object and color selection
+2. Random placement within workspace
+3. Scripted expert policy execution
+4. Recording of observations, states, and actions
+5. Automatic episode segmentation
+
+### Collection Command
+
+```bash
+python scripts/data_collector.py \
+    --episodes 100 \
+    --output reachy2_dataset \
+    --arm right \
+    --randomize-object \
+    --randomize-color \
+    --cameras front_cam workspace_cam
+```
+
+## Statistics
+
+| Statistic | Value |
+|-----------|-------|
+| Total episodes | 100 |
+| Avg. episode length | ~150 steps |
+| Collection rate | ~2 episodes/min |
+| Total size | ~2 GB |
+
+## Limitations
+
+- **Simulation only**: Data collected in MuJoCo, not real robot
+- **Single arm**: Right arm manipulation only
+- **Fixed task type**: Pick-and-place only
+- **Limited objects**: 4 primitive shapes
+
+## License
+
+This dataset is released under [CC-BY-4.0](https://creativecommons.org/licenses/by/4.0/).
+
+## Citation
+
+```bibtex
+@misc{nova_dataset_2025,
+  title={NOVA Dataset: Reachy 2 Pick-and-Place Demonstrations},
+  author={ganatrask},
+  year={2025},
+  publisher={HuggingFace},
+  url={https://huggingface.co/datasets/ganatrask/NOVA}
+}
+```
+
+## Acknowledgments
+
+- **[Pollen Robotics](https://www.pollen-robotics.com/)** - Reachy 2 robot and MuJoCo simulation
+- **[HuggingFace](https://huggingface.co/)** - LeRobot framework and dataset hosting
+- **[DeepMind](https://mujoco.org/)** - MuJoCo physics engine
+
+## Related Resources
+
+- **Model**: [ganatrask/NOVA](https://huggingface.co/ganatrask/NOVA) - Fine-tuned GR00T model
+- **Code**: [ganatrask/NOVA](https://github.com/ganatrask/NOVA) - Training and inference code
+- **Base Model**: [nvidia/GR00T-N1.6-3B](https://huggingface.co/nvidia/GR00T-N1.6-3B)
+- **LeRobot**: [huggingface/lerobot](https://github.com/huggingface/lerobot)