Series

Groot Wholebody Data Pipeline

The "Groot Wholebody Data Pipeline" series has 4 parts — read them in order from part 1.

grootvlawhole-body-vlaPart 1

GR00T Whole-Body VLA Data: Open Datasets

Part 1 of the GR00T whole-body VLA data pipeline: download public datasets, validate GR00T-LeRobot format, fine-tune, and run inference.

6/6/202613 min read

Tutorial

grootvlawhole-body-vlaPart 2

wholebody-vla

GR00T Whole-Body VLA Data: Simulation Data

Part 2 of the GR00T whole-body VLA data pipeline: generate Isaac Lab/IsaacLab-Arena data, convert to GR00T-LeRobot, and train sim-only or mixed datasets.

6/6/202613 min read

Tutorial

grootvlawhole-body-vlaPart 3

wholebody-vla

GR00T Whole-Body VLA Data: Do You Need Real Data?

Part 3 of the GR00T whole-body VLA data pipeline: when real data is needed, VR teleop with SONIC, LeRobot export, real/sim/public mixing, and deployment.

6/6/202613 min read

Tutorial

grootsonicwbcPart 4

wholebody-vla

GR00T Whole-Body VLA: Training SONIC Controller

Part 4 of the GR00T whole-body pipeline: process Bones-SEED/SOMA motion data, train or fine-tune SONIC, evaluate checkpoints, and export ONNX for C++ deployment.

6/6/20268 min read