yqi19/robolab_data

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

• 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