# 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:

```text
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:

```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
```

## Fine-Tuning

Fine-tuning helper scripts are in:

```text
finetuning_gr00t/
```

See `finetuning_gr00t/README.md` for commands.

## 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