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gr00t-wholettheducksout

Robotics
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gr00t_n1_5
gr00t
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Upload GR00T trained model

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  1. README.md +323 -0
  2. checkpoint-100000/config.json +64 -0
  3. checkpoint-100000/experiment_cfg/metadata.json +195 -0
  4. checkpoint-100000/model-00001-of-00002.safetensors +3 -0
  5. checkpoint-100000/model-00002-of-00002.safetensors +3 -0
  6. checkpoint-100000/model.safetensors.index.json +0 -0
  7. checkpoint-200000/config.json +64 -0
  8. checkpoint-200000/experiment_cfg/metadata.json +195 -0
  9. checkpoint-200000/model-00001-of-00002.safetensors +3 -0
  10. checkpoint-200000/model-00002-of-00002.safetensors +3 -0
  11. checkpoint-200000/model.safetensors.index.json +0 -0
  12. config.json +64 -0
  13. experiment_cfg/metadata.json +195 -0
  14. model-00001-of-00002.safetensors +3 -0
  15. model-00002-of-00002.safetensors +3 -0
  16. model.safetensors.index.json +0 -0
README.md ADDED
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+ ---
2
+ language:
3
+ - en
4
+ license: mit
5
+ library_name: transformers
6
+ pipeline_tag: robotics
7
+ tags:
8
+ - gr00t
9
+ - robotics
10
+ - nvidia
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+ - embodied-ai
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+ - trained-model
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+ private: true
14
+ ---
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+
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+ # gr00t-wholettheducksout-1to1-matched
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+
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+ This is a GR00T (Generalist Robot 00 Technology) model trained using NVIDIA's GR00T training framework.
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+
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+ ## Model Details
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+
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+ - **Model Type**: GR00T Embodied AI Model
23
+ - **Training Job**: wholettheducksout_1to1_matched
24
+ - **Training Steps**: 200,000
25
+ - **Training Duration**: ~23.5 hours
26
+ - **Data Configuration**: so100_dualcam
27
+ - **Base Model**: nvidia/GR00T-N1.5-3B
28
+
29
+ ## Training Configuration
30
+
31
+ ```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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+ ```
97
+
98
+ ## Usage
99
+
100
+ This model can be used with the GR00T inference framework:
101
+
102
+ ```python
103
+ # Example usage (adjust based on your specific setup)
104
+ from gr00t_inference import GR00TInference
105
+
106
+ model = GR00TInference(
107
+ model_path="path/to/this/model",
108
+ embodiment_tag="new_embodiment",
109
+ data_config="so100"
110
+ )
111
+
112
+ # Use for inference
113
+ results = model.infer(your_input_data)
114
+ ```
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+
116
+ ## Training Metadata
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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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+
314
+ ## Files
315
+
316
+ - `config.json`: Model configuration
317
+ - `model-*.safetensors`: Model weights in SafeTensors format
318
+ - `model.safetensors.index.json`: Model sharding index
319
+ - `experiment_cfg/metadata.json`: Training experiment metadata
320
+
321
+ ## License
322
+
323
+ This model is released under the MIT license.
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