StarVLA GR00T#

This page focuses on the GR00T pipeline and documents FGManip training/evaluation examples based on the StarVLA codebase. Official GR00T resource: NVIDIA Isaac GR00T.

Integration status: StarVLA/GR00T currently runs as a two-process integration (policy server + FGManip evaluator). This differs from single-process runners used by some other policy pages.

1. Evaluation (StarVLA + FGManip)#

Current setup runs two environments because the project is not yet packaged as a single library.

1.1 Required Script Changes#

Update both scripts before execution:

  • run_eval.sh

  • run_policy_server.sh

export Python=/export/anaconda3/envs/maniskill/bin/python
export FGManip_HOME=/export/xuhy/zpy/FGManip
CKPT_PATH=<path to VLA checkpoint>

Note: Qwen-GR00T is trained with EE delta action. In this case, control_mode should be EE and action dim is 7. Other models may require a different control mode and action dimension.

1.2 Run Evaluation#

Use two terminals/environments:

Environment A (policy server, StarVLA model):

conda activate starVLA
cd core/vla/eval
bash run_policy_server.sh

Environment B (FGManip env runner):

conda activate maniskill
cd core/vla/eval
bash starVLA/examples/FGManip/eval_files/run_eval.sh

2. Training (StarVLA codebase)#

conda activate starVLA

Prepare data and config:

  • Place datasets (e.g. lerobot_xx) at FGManip/core/policies/starvla/starVLA/playground/Dataset/.

  • Modify FGManip mixture in core/policies/vla/starvla/starVLA/dataloader/gr00t_lerobot/mixtures.py.

  • StarVLA is not fully compatible with LeRobot 3.0 dataset layout. Convert to 2.1 format using lerobot_v30_to_v21, and add modality.json under meta.

bash run_libero_train.sh

3. Maintenance Checklist#

  • Model Variant: GR00T variant name, checkpoint source, expected control mode.

  • Runtime Topology: single-process vs dual-environment, port mapping, server/client launch order.

  • Dataset Versioning: raw format, converted format, conversion script/version, required metadata files.

  • Task Mapping: FGManip env IDs, object/part naming conventions, prompt templates.

  • Failure Notes: common mismatch symptoms (shape mismatch, wrong control mode, missing modality fields) and fixes.