| # RoboLab GR00T Data |
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| This repository contains RoboLab motion-planning datasets formatted for NVIDIA Isaac-GR00T. |
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|
| ## Tasks |
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| - `banana/`: GR00T-flavored LeRobot v2 dataset for `BananaInBowlTask`. |
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| ## Banana Dataset |
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| Path inside this repo: |
|
|
| ```text |
| banana/ |
| ``` |
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| Summary: |
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| - 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]` |
|
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| The dataset follows the GR00T LeRobot v2 structure documented by NVIDIA Isaac-GR00T: |
|
|
| ```text |
| 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 |
| ``` |
|
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| ## Fine-Tuning |
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| Fine-tuning helper scripts are in: |
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| ```text |
| finetuning_gr00t/ |
| ``` |
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| See `finetuning_gr00t/README.md` for commands. |
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|
| ## References |
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|
| - https://github.com/NVIDIA/Isaac-GR00T |
| - https://github.com/NVIDIA/Isaac-GR00T/blob/main/getting_started/data_preparation.md |
| - https://github.com/NVIDIA/Isaac-GR00T/blob/main/getting_started/finetune_new_embodiment.md |
| - https://github.com/NVIDIA/Isaac-GR00T/blob/main/getting_started/data_config.md |
| |
