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CoRL 2026 tutorial, Segment 4: offline cache
Precomputed results for the Segment 4 notebook (Robot learning with a surgical VLA and a world model), so it runs without the live GPU server.
Each seg4_bundle_<episode>.zip holds, for one held-out SutureBot episode:
bundle.json: a GR00T-H-N1.7 action chunk at the start frame (dataset instruction plus three alternative instructions), and the full-episode open-loop predictions and metrics (official GR00T-H 50-step protocol).dream_gt.mp4/dream_groot.mp4: Cosmos-H-Dreams rollouts (72 frames at 10 fps, 288x512, plus the context frame), driven by the recorded actions and by GR00T-H's actions.dream_act.mp4: the same rollout driven by SutureBot ACT's actions (Segment 3's checkpoint, kdb6df/corl2026-suturebot-act, which also holds ACT's open-loop predictions).bundle.jsonalso holdsopen_loop_mono(open-loop predictions of GR00T-H's endoscope-only embodiment,jhu_imerse_dvrk_mono) and theclosed_loopindex.closed_groot.mp4/closed_groot_actions.npy: closed loop. GR00T-H (endoscope only) sees a frame, its actions drive Cosmos-H-Dreams for 12 frames (1.2 s), the last generated frame goes back to GR00T-H, repeated to the end of the clip. The actions are the commanded 16-D poses at 30 Hz.closed_recorded.mp4/closed_recorded_actions.npy: the same loop driven by the recorded actions, for comparison.
| Episode | Task | Start frame | File |
|---|---|---|---|
| 1441 | needle throw | 345 | seg4_bundle_1441.zip |
| 1442 | needle throw | 255 | seg4_bundle_1442.zip |
| 1443 | needle throw | 270 | seg4_bundle_1443.zip |
| 1444 | needle throw | 330 | seg4_bundle_1444.zip |
| 1445 | knot tying | 105 | seg4_bundle_1445.zip |
| 1446 | knot tying | 120 | seg4_bundle_1446.zip |
| 1447 | knot tying | 105 | seg4_bundle_1447.zip |
| 1448 | knot tying | 105 | seg4_bundle_1448.zip |
| 1449 | knot tying | 30 | seg4_bundle_1449.zip |
| 1450 | knot tying | 165 | seg4_bundle_1450.zip |
| 1451 | knot tying | 135 | seg4_bundle_1451.zip |
Episodes 1441–1451 are in the SutureBot test split and were not used to train either model.
Sources. Derived from the SutureBot subset of nvidia/PhysicalAI-Robotics-Open-H-Embodiment (CC-BY-4.0). Outputs were generated with nvidia/GR00T-H-N1.7 and nvidia/Cosmos-H-Dreams (NVIDIA Open Model License).
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