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RoboLab GR00T Data

This repository contains RoboLab motion-planning datasets formatted for NVIDIA Isaac-GR00T.

Tasks

  • banana/: GR00T-flavored LeRobot v2 dataset for BananaInBowlTask.

Banana Dataset

Path inside this repo:

banana/

Summary:

  • Task: Pick up the banana and place it in the bowl
  • Episodes: 1
  • Frames: 275
  • FPS: 15
  • Video modalities: front, wrist
  • State/action vector: [x, y, z, qw, qx, qy, qz, gripper]

The dataset follows the GR00T LeRobot v2 structure documented by NVIDIA Isaac-GR00T:

banana/meta/info.json
banana/meta/modality.json
banana/meta/tasks.jsonl
banana/meta/episodes.jsonl
banana/meta/stats.json
banana/meta/relative_stats.json
banana/data/chunk-000/episode_000000.parquet
banana/videos/chunk-000/observation.images.front/episode_000000.mp4
banana/videos/chunk-000/observation.images.wrist/episode_000000.mp4

Fine-Tuning

Fine-tuning helper scripts are in:

finetuning_gr00t/

See finetuning_gr00t/README.md for commands.

References