Datasets and Models

Pre-collected datasets and pre-trained model checkpoints used in this course, hosted on Hugging Face.

Datasets

Dataset	Description	Used In
sreetz-nv/so101_teleop_vials_rack_left	75 sim-only teleoperation demonstrations	Strategy 1, Sim Evaluation, Real Evaluation
sreetz-nv/so101_teleop_vials_rack_left_real_50	50 real-world teleoperation demonstrations	Strategy 2
sreetz-nv/so101_teleop_vials_rack_left_augment_02	75 sim + 7 Cosmos-augmented episodes	Strategy 3
sreetz-nv/so101_teleop_vials_rack_left_cosmos_70	75 sim + 70 Cosmos-augmented episodes	Strategy 3

Models

Model	Description	Used In
nvidia/GR00T-N1.6-3B	Base GR00T N1.6 foundation model	GR00T
aravindhs-NV/grootn16-finetune_sreetz-so101_teleop_vials_rack_left	Sim-only fine-tuned (75 sim episodes)	Sim Evaluation, Real Evaluation
aravindhs-NV/grootn16-finetune_sreetz-so101_teleop_vials_rack_left_sim_and_real	Sim + real co-trained (75 sim + 50 real)	Strategy 2
aravindhs-NV/sreetz-so101_teleop_vials_rack_left_augment_02	Cosmos-augmented (75 sim + 7 Cosmos)	Strategy 3
aravindhs-NV/so100-orig-groot-vials-rack-left-cosmos-70	Cosmos-augmented (75 sim + 70 Cosmos)	Strategy 3

Download Models

From the root of the course repository:

mkdir -p models

hf download aravindhs-NV/grootn16-finetune_sreetz-so101_teleop_vials_rack_left \
  --local-dir ./models/aravindhs-NV/grootn16-finetune_sreetz-so101_teleop_vials_rack_left

hf download aravindhs-NV/grootn16-finetune_sreetz-so101_teleop_vials_rack_left_sim_and_real \
  --local-dir ./models/aravindhs-NV/grootn16-finetune_sreetz-so101_teleop_vials_rack_left_sim_and_real

hf download aravindhs-NV/sreetz-so101_teleop_vials_rack_left_augment_02 \
  --local-dir ./models/aravindhs-NV/sreetz-so101_teleop_vials_rack_left_augment_02

hf download aravindhs-NV/so100-orig-groot-vials-rack-left-cosmos-70 \
  --local-dir ./models/aravindhs-NV/so100-orig-groot-vials-rack-left-cosmos-70