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GR00T-H

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by nigeln - opened 11 days ago

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@@ -150,7 +150,7 @@ GR00T-H is trained on the Open-H-Embodiment dataset, a community-driven effort t
 GR00T-H was trained on 7 different robotic embodiments contained within Open-H, including CMR Versius, dVRK, dVRK-Si, UR5, Rob Surgical Bitrack, Tuodao MA2000, and KUKA.
-To enable better cross-embodiment transfer, the action space was standardized to absolute end-effector (EEF) positioning. Additionally, camera configurations were standardized to include only (A) a single third-person monocular view, or (B) a third-person monocular view with wrist camera(s) and/or additional modalities (e.g., ultrasound images).
 The Open-H dataset was collected by 35 institutions across the globe. Data collection took place in various settings, including simulation, benchtop, ex vivo, in vivo, and clinical environments. Depending on the dataset, robots were teleoperated either programmatically or by engineers, researchers, medical students, or professional surgeons.

 GR00T-H was trained on 7 different robotic embodiments contained within Open-H, including CMR Versius, dVRK, dVRK-Si, UR5, Rob Surgical Bitrack, Tuodao MA2000, and KUKA.
+To enable better cross-embodiment transfer, the action space was standardized to relative end-effector (EEF) positioning. Additionally, camera configurations were standardized to include only (A) a single third-person monocular view, or (B) a third-person monocular view with wrist camera(s) and/or additional modalities (e.g., ultrasound images).
 The Open-H dataset was collected by 35 institutions across the globe. Data collection took place in various settings, including simulation, benchtop, ex vivo, in vivo, and clinical environments. Depending on the dataset, robots were teleoperated either programmatically or by engineers, researchers, medical students, or professional surgeons.