diff --git a/RubiksCubeTask/README.md b/RubiksCubeTask/README.md deleted file mode 100644 index 465045eabbb5453ce5cd21f2c9415480a51af8e3..0000000000000000000000000000000000000000 --- a/RubiksCubeTask/README.md +++ /dev/null @@ -1,89 +0,0 @@ -# RoboLab Motion-Planning GR00T Dataset - -This dataset was generated from RoboLab/Isaac Sim scripted Cartesian motion planning. -It is stored in the GR00T-flavored LeRobot v2 layout expected by NVIDIA Isaac-GR00T. - -## Contents - -- Episodes: 100 -- Frames: 20200 -- FPS: 15 -- Robot type metadata: `droid_abs_ik` -- State/action dimension: 8 - -## Tasks - -- `0`: Put the cube in the bowl - -## Directory Layout - -```text -meta/info.json -meta/modality.json -meta/tasks.jsonl -meta/episodes.jsonl -meta/stats.json -meta/relative_stats.json -data/chunk-000/episode_*.parquet -videos/chunk-000//episode_*.mp4 -robolab_motionplanning_config.py -README.md -``` - -## Data Format - -Each parquet row contains: - -- `observation.state`: float32 list `[x, y, z, qw, qx, qy, qz, gripper]` -- `action`: float32 list with the next end-effector target in the same format -- `timestamp`: seconds at 15 FPS -- `annotation.human.action.task_description`: integer index into `meta/tasks.jsonl` -- `task_index`, `episode_index`, `index` -- `next.reward`, `next.done` - -`meta/modality.json` splits state and action into: - -- `eef_position`: indices `[0:3]` -- `eef_quaternion_wxyz`: indices `[3:7]` -- `gripper`: indices `[7:8]` - -Video modalities: - -- `observation.images.front` -- `observation.images.wrist` - -## Fine-Tuning GR00T - -Clone and install Isaac-GR00T following the official repository instructions: - -```bash -git clone https://github.com/NVIDIA/Isaac-GR00T.git -cd Isaac-GR00T -``` - -Then fine-tune with this dataset path and the included modality config: - -```bash -export NUM_GPUS=1 -CUDA_VISIBLE_DEVICES=0 uv run python gr00t/experiment/launch_finetune.py --base-model-path nvidia/GR00T-N1.7-3B --dataset-path /path/to/this/dataset --embodiment-tag NEW_EMBODIMENT --modality-config-path /path/to/this/dataset/robolab_motionplanning_config.py --num-gpus $NUM_GPUS --output-dir /tmp/robolab_motionplanning_gr00t --save-total-limit 5 --save-steps 1000 --max-steps 2000 --global-batch-size 32 --dataloader-num-workers 4 -``` - -For open-loop evaluation after training: - -```bash -uv run python gr00t/eval/open_loop_eval.py --dataset-path /path/to/this/dataset --embodiment-tag NEW_EMBODIMENT --model-path /tmp/robolab_motionplanning_gr00t/checkpoint-2000 --traj-ids 0 --action-horizon 16 --steps 260 --modality-keys eef_position eef_quaternion_wxyz gripper -``` - -Notes: - -- This dataset stores Cartesian end-effector pose with quaternion orientation. -- The included GR00T config treats the three action slices as `NON_EEF` absolute vectors. -- For a production EEF-specific setup, convert quaternion orientation to a GR00T-supported EEF rotation format such as 6D rotation, then use the corresponding GR00T `ActionType.EEF` / action format. -- If you change the action horizon or modality config, regenerate GR00T statistics as described in the Isaac-GR00T data config guide. - -References: - -- 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 diff --git a/RubiksCubeTask/data/chunk-000/episode_000000.parquet b/RubiksCubeTask/data/chunk-000/episode_000000.parquet deleted file mode 100644 index 1f9298e90c4ef33221027487879df8d154aab792..0000000000000000000000000000000000000000 --- a/RubiksCubeTask/data/chunk-000/episode_000000.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:091c48933c5259a2ff0a768cff7c5a90c086c20b0da2fe1d1bd1f1a4d766bd5b -size 21699 diff --git a/RubiksCubeTask/data/chunk-000/episode_000001.parquet 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- ], - "count": [ - 20200 - ] - } -} \ No newline at end of file diff --git a/RubiksCubeTask/meta/tasks.jsonl b/RubiksCubeTask/meta/tasks.jsonl deleted file mode 100644 index fcac34e4e938b1f48b21aad96518b9e8c0cf32f4..0000000000000000000000000000000000000000 --- a/RubiksCubeTask/meta/tasks.jsonl +++ /dev/null @@ -1 +0,0 @@ -{"task_index": 0, "task": "Put the cube in the bowl"} diff --git a/RubiksCubeTask/robolab_motionplanning_config.py b/RubiksCubeTask/robolab_motionplanning_config.py deleted file mode 100644 index e5332769ce939524f875a3cd4383683c85afdc26..0000000000000000000000000000000000000000 --- a/RubiksCubeTask/robolab_motionplanning_config.py +++ /dev/null @@ -1,33 +0,0 @@ -# GR00T modality config for the RoboLab motion-planning dataset. - -from gr00t.configs.data.embodiment_configs import register_modality_config -from gr00t.data.embodiment_tags import EmbodimentTag -from gr00t.data.types import ActionConfig, ActionFormat, ActionRepresentation, ActionType, ModalityConfig - - -robolab_motionplanning_config = { - "video": ModalityConfig( - delta_indices=[0], - modality_keys=['front', 'wrist'], - ), - "state": ModalityConfig( - delta_indices=[0], - modality_keys=["eef_position", "eef_quaternion_wxyz", "gripper"], - ), - "action": ModalityConfig( - delta_indices=list(range(0, 16)), - modality_keys=["eef_position", "eef_quaternion_wxyz", "gripper"], - action_configs=[ - ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), - ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), - ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), - ], - ), - "language": ModalityConfig( - delta_indices=[0], - modality_keys=["annotation.human.action.task_description"], - ), -} - - -register_modality_config(robolab_motionplanning_config, embodiment_tag=EmbodimentTag.NEW_EMBODIMENT) diff --git 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