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--- |
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language: |
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- en |
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license: mit |
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library_name: transformers |
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pipeline_tag: robotics |
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tags: |
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- gr00t |
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- robotics |
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- nvidia |
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- embodied-ai |
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- trained-model |
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private: true |
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--- |
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# gr00t-wholettheducksout |
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This is a GR00T (Generalist Robot 00 Technology) model trained using NVIDIA's GR00T training framework. |
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## Model Details |
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- **Model Type**: GR00T Embodied AI Model |
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- **Training Job**: wholettheducksout_1to1_matched |
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- **Training Steps**: 200,000 |
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- **Training Duration**: ~23.5 hours |
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- **Data Configuration**: so100_dualcam |
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- **Base Model**: nvidia/GR00T-N1.5-3B |
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## Training Configuration |
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```json |
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{ |
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"action_dim": 32, |
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"action_head_cfg": { |
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"action_dim": 32, |
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"action_horizon": 16, |
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"add_pos_embed": true, |
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"backbone_embedding_dim": 2048, |
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"diffusion_model_cfg": { |
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"attention_head_dim": 48, |
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"cross_attention_dim": 2048, |
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"dropout": 0.2, |
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"final_dropout": true, |
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"interleave_self_attention": true, |
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"norm_type": "ada_norm", |
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"num_attention_heads": 32, |
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"num_layers": 16, |
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"output_dim": 1024, |
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"positional_embeddings": null |
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}, |
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"hidden_size": 1024, |
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"input_embedding_dim": 1536, |
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"max_action_dim": 32, |
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"max_state_dim": 64, |
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"model_dtype": "float32", |
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"noise_beta_alpha": 1.5, |
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"noise_beta_beta": 1.0, |
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"noise_s": 0.999, |
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"num_inference_timesteps": 4, |
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"num_target_vision_tokens": 32, |
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"num_timestep_buckets": 1000, |
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"tune_diffusion_model": true, |
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"tune_projector": true, |
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"use_vlln": true, |
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"vl_self_attention_cfg": { |
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"attention_head_dim": 64, |
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"dropout": 0.2, |
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"final_dropout": true, |
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"num_attention_heads": 32, |
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"num_layers": 4, |
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"positional_embeddings": null |
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} |
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}, |
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"action_horizon": 16, |
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"architectures": [ |
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"GR00T_N1_5" |
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], |
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"attn_implementation": null, |
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"backbone_cfg": { |
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"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops", |
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"load_bf16": false, |
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"project_to_dim": null, |
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"reproject_vision": false, |
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"select_layer": 12, |
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"tune_llm": false, |
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"tune_visual": true, |
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"use_flash_attention": true |
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}, |
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"compute_dtype": "bfloat16", |
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"hidden_size": 2048, |
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"model_dtype": "float32", |
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"model_type": "gr00t_n1_5", |
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"torch_dtype": "bfloat16", |
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"transformers_version": "4.51.3" |
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} |
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``` |
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## Usage |
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This model can be used with the GR00T inference framework: |
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```python |
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# Example usage (adjust based on your specific setup) |
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from gr00t_inference import GR00TInference |
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model = GR00TInference( |
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model_path="path/to/this/model", |
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embodiment_tag="new_embodiment", |
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data_config="so100" |
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) |
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# Use for inference |
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results = model.infer(your_input_data) |
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``` |
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## Training Metadata |
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{ |
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"new_embodiment": { |
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"statistics": { |
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"state": { |
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"single_arm": { |
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"max": [ |
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72.46653747558594, |
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62.818336486816406, |
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99.72752380371094, |
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99.39103698730469, |
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-46.26399230957031 |
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], |
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"min": [ |
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-86.99808502197266, |
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-99.32088470458984, |
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-97.72933959960938, |
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-87.64680480957031, |
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-65.0611801147461 |
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], |
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"mean": [ |
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-7.457055568695068, |
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-25.479028701782227, |
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32.967071533203125, |
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35.0267333984375, |
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-55.26940155029297 |
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], |
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"std": [ |
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20.533525466918945, |
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50.98550033569336, |
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50.28582763671875, |
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45.0773811340332, |
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2.7385220527648926 |
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], |
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"q01": [ |
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-75.78075408935547, |
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-99.1511001586914, |
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-95.18619537353516, |
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-62.41844177246094, |
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-61.2080192565918 |
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], |
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"q99": [ |
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33.20586395263672, |
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55.67232688903806, |
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99.54586791992188, |
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99.30404663085938, |
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-48.86748123168945 |
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] |
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}, |
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"gripper": { |
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"max": [ |
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49.49358367919922 |
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], |
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"min": [ |
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1.3504388332366943 |
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], |
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"mean": [ |
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11.123491287231445 |
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], |
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"std": [ |
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10.017578125 |
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], |
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"q01": [ |
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1.3504388332366943 |
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], |
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"q99": [ |
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40.64821243286133 |
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] |
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} |
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}, |
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"action": { |
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"single_arm": { |
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"max": [ |
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73.06226348876953, |
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62.077701568603516, |
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99.81908416748047, |
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100.0, |
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-46.0078010559082 |
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], |
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"min": [ |
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-87.29351806640625, |
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-100.0, |
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-99.81908416748047, |
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-91.41742706298828, |
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-65.25357818603516 |
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], |
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"mean": [ |
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-7.188200950622559, |
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-26.144899368286133, |
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31.129091262817383, |
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34.6439094543457, |
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-55.28120803833008 |
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], |
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"std": [ |
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20.539134979248047, |
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50.40521240234375, |
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50.696495056152344, |
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45.221248626708984, |
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2.745452642440796 |
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], |
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"q01": [ |
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-75.47649383544922, |
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-99.49324035644531, |
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-96.72727142333984, |
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-62.808841705322266, |
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-61.508453369140625 |
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], |
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"q99": [ |
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33.67217254638672, |
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54.47635269165039, |
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99.63817596435547, |
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99.56653594970703, |
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-48.920677185058594 |
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] |
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}, |
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"gripper": { |
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"max": [ |
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49.88161087036133 |
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], |
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"min": [ |
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0.23677979409694672 |
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], |
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"mean": [ |
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9.19546890258789 |
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], |
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"std": [ |
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10.420595169067383 |
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], |
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"q01": [ |
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1.262825608253479 |
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], |
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"q99": [ |
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40.64719772338867 |
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] |
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} |
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} |
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}, |
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"modalities": { |
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"video": { |
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"front": { |
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"resolution": [ |
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640, |
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480 |
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], |
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"channels": 3, |
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"fps": 30.0 |
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}, |
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"wrist": { |
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"resolution": [ |
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640, |
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480 |
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], |
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"channels": 3, |
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"fps": 30.0 |
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} |
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}, |
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"state": { |
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"single_arm": { |
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"absolute": true, |
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"rotation_type": null, |
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"shape": [ |
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5 |
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], |
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"continuous": true |
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}, |
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"gripper": { |
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"absolute": true, |
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"rotation_type": null, |
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"shape": [ |
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1 |
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], |
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"continuous": true |
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} |
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}, |
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"action": { |
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"single_arm": { |
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"absolute": true, |
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"rotation_type": null, |
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"shape": [ |
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5 |
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], |
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"continuous": true |
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}, |
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"gripper": { |
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"absolute": true, |
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"rotation_type": null, |
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"shape": [ |
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1 |
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], |
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"continuous": true |
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} |
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} |
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}, |
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"embodiment_tag": "new_embodiment" |
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} |
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} |
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## Files |
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- `config.json`: Model configuration |
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- `model-*.safetensors`: Model weights in SafeTensors format |
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- `model.safetensors.index.json`: Model sharding index |
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- `experiment_cfg/metadata.json`: Training experiment metadata |
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## License |
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This model is released under the MIT license. |
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