Один из вариантов:
var res = myArray.reduce(function(groups, currentValue) {
if ( groups.indexOf(currentValue.group) === -1 ) {
groups.push(currentValue.group);
}
return groups;
}, []).map(function(group) {
return {
group: group,
color: myArray.filter(function(_el) {
return _el.group === group;
}).map(function(_el) { return _el.color; })
}
});