Akshay Parkhi's Weblog

Collecting Training Data for VLA Robot Fine-Tuning (The Hard Way)

A Vision-Language-Action model takes camera images and a language instruction as input, and outputs robot joint actions. NVIDIA’s GR00T N1.5 is one such model — pre-trained on millions of robot demonstrations and fine-tunable for your specific robot and task. The catch: even though GR00T is pre-trained, you still need your own demonstrations to teach it your robot’s exact joint calibration, camera angles, and task environment. Without this, the model generates actions that are plausible in general but wrong for your specific setup.