diff --git a/MustardInLeftBinTask/README.md b/MustardInLeftBinTask/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e08702ef79e5e1bf9afc7e5a89e9cc7fe6156958 --- /dev/null +++ b/MustardInLeftBinTask/README.md @@ -0,0 +1,89 @@ +# 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: 19500 +- FPS: 15 +- Robot type metadata: `droid_abs_ik` +- State/action dimension: 8 + +## Tasks + +- `0`: Put the mustard in the left bin + +## 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/MustardInLeftBinTask/data/chunk-000/episode_000000.parquet b/MustardInLeftBinTask/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3194543ac6c10b457853b27474eef4686924435b --- /dev/null +++ b/MustardInLeftBinTask/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d464c89d12d1b803964bcdf3d89cf2285c42adb7d966bb7b69b4d87be1a51160 +size 20693 diff --git 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a/MustardInLeftBinTask/robolab_motionplanning_config.py b/MustardInLeftBinTask/robolab_motionplanning_config.py new file mode 100644 index 0000000000000000000000000000000000000000..e5332769ce939524f875a3cd4383683c85afdc26 --- /dev/null +++ b/MustardInLeftBinTask/robolab_motionplanning_config.py @@ -0,0 +1,33 @@ +# 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 a/MustardInLeftBinTask/videos/chunk-000/observation.images.front/episode_000000.mp4 b/MustardInLeftBinTask/videos/chunk-000/observation.images.front/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bdfded9e6448b16662f8a7da3df7df9cc0734be8 --- /dev/null +++ b/MustardInLeftBinTask/videos/chunk-000/observation.images.front/episode_000000.mp4 @@ -0,0 +1,3 @@ +version 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