Surgery
GR00T-H : Surgical robot data
GR00T-H post-trains GR00T N1.6 on surgical robot data from multiple institutions and robot platforms simultaneously. The core challenge is that each institution records data differently — different robots, coordinate conventions, frame rates, camera setups, and state/action representations. GR00T-H solves this by defining per-embodiment modality configs that convert each dataset into a common representation (REL_XYZ_ROT6D for EEF poses) while preserving robot-specific details like clutch handling and motion scaling. The dataset contains 778 hours of real and synthetic procedure episodes.