Directory guide of supplementary materials:
- scene_renderings: includes renderings from 9 randomly sampled pretraining scenes and 9 randomly sampled post-training scenes
- human_demos_for_posttraining_tasks: examples of human demonstrations across 50 post-training tasks
- human_demos_for_pretraining_tasks: examples of human demonstrations across (a subset of) 300 pretraining tasks
- mimicgen_demos_for_pretraining_tasks: examples of MimicGen synthetic demonstrations across 60 pretraining tasks
- gr00t_model_evals: showing rollouts generated by the gr00t model from the foundation model training experiments in section 4.3. We feature the model pre-trained and then post-trained on 100% of the data, which performs the best among all variants in this experiment section. We show one randomly sampled rollout per task, with the label Success/Fail in the video name to indicate task success for each rollout.
