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README.md +62 -0
config.json +137 -0
model.safetensors +3 -0
train_config.json +272 -0

README.md ADDED Viewed

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+---
+datasets: izuluaga/finish_sandwich
+library_name: lerobot
+license: apache-2.0
+model_name: gr00t_n1d6
+pipeline_tag: robotics
+tags:
+- lerobot
+- gr00t_n1d6
+- robotics
+---
+# Model Card for gr00t_n1d6
+<!-- Provide a quick summary of what the model is/does. -->
+_Model type not recognized — please update this template._
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+---
+## How to Get Started with the Model
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+### Train from scratch
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+### Evaluate the policy/run inference
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+---
+## Model Details
+- **License:** apache-2.0

config.json ADDED Viewed

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+{
+    "type": "gr00t_n1d6",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "push_to_hub": true,
+    "repo_id": "nvkartik/gr00t_n1d6-finish_sandwich-abs-action-true-tune",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "chunk_size": 40,
+    "n_action_steps": 40,
+    "max_state_dim": 29,
+    "max_action_dim": 29,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "image_size": [
+        224,
+        224
+    ],
+    "base_model_path": "nvidia/GR00T-N1.6-3B",
+    "tokenizer_assets_repo": "nvidia/Eagle-Block2A-2B-v2",
+    "backbone_model_type": "eagle",
+    "model_revision": null,
+    "backbone_embedding_dim": 2048,
+    "select_layer": 16,
+    "reproject_vision": false,
+    "use_flash_attention": true,
+    "load_bf16": true,
+    "eagle_collator": false,
+    "backbone_trainable_params_fp32": true,
+    "embodiment_tag": "new_embodiment",
+    "tune_top_llm_layers": 4,
+    "tune_llm": false,
+    "tune_visual": false,
+    "tune_projector": true,
+    "tune_diffusion_model": true,
+    "tune_vlln": true,
+    "image_crop_size": null,
+    "image_target_size": null,
+    "shortest_image_edge": 256,
+    "crop_fraction": 0.95,
+    "random_rotation_angle": null,
+    "color_jitter_params": null,
+    "use_albumentations_transforms": true,
+    "formalize_language": true,
+    "lora_rank": 0,
+    "lora_alpha": 16,
+    "lora_dropout": 0.1,
+    "lora_full_model": false,
+    "action_horizon": 16,
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "add_pos_embed": true,
+    "attn_dropout": 0.2,
+    "use_vlln": true,
+    "max_seq_len": 1024,
+    "use_alternate_vl_dit": true,
+    "attend_text_every_n_blocks": 2,
+    "diffusion_model_cfg": {
+        "positional_embeddings": null,
+        "num_layers": 32,
+        "num_attention_heads": 32,
+        "attention_head_dim": 48,
+        "norm_type": "ada_norm",
+        "dropout": 0.2,
+        "final_dropout": true,
+        "output_dim": 1024,
+        "interleave_self_attention": true
+    },
+    "num_inference_timesteps": 4,
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_timestep_buckets": 1000,
+    "state_dropout_prob": 0.0,
+    "state_additive_noise_scale": 0.0,
+    "apply_sincos_state_encoding": false,
+    "use_relative_action": false,
+    "max_num_embodiments": 32,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-05,
+    "warmup_ratio": 0.05,
+    "use_bf16": true,
+    "video_backend": "decord",
+    "balance_dataset_weights": true,
+    "balance_trajectory_weights": true,
+    "dataset_paths": null,
+    "output_dir": "./tmp/gr00t_n16",
+    "save_steps": 1000,
+    "max_steps": 10000,
+    "batch_size": 32,
+    "dataloader_num_workers": 8,
+    "report_to": "wandb",
+    "resume": false
+}

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train_config.json ADDED Viewed

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+{
+    "dataset": {
+        "repo_id": "izuluaga/finish_sandwich",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
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+                            1.2
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+                            1.5
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+                        "sharpness": [
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+                            5.0
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+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
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+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
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+    "env": null,
+    "policy": {
+        "type": "gr00t_n1d6",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
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+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "push_to_hub": true,
+        "repo_id": "nvkartik/gr00t_n1d6-finish_sandwich-abs-action-true-tune",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "chunk_size": 40,
+        "n_action_steps": 40,
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+        "max_action_dim": 29,
+        "normalization_mapping": {
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+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "image_size": [
+            224,
+            224
+        ],
+        "base_model_path": "nvidia/GR00T-N1.6-3B",
+        "tokenizer_assets_repo": "nvidia/Eagle-Block2A-2B-v2",
+        "backbone_model_type": "eagle",
+        "model_revision": null,
+        "backbone_embedding_dim": 2048,
+        "select_layer": 16,
+        "reproject_vision": false,
+        "use_flash_attention": true,
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+        "tune_projector": true,
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+        "use_vlln": true,
+        "max_seq_len": 1024,
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+        "report_to": "wandb",
+        "resume": false
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+    "job_name": "gr00t_n1d6-finish_sandwich-20251230-002210",
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+    "scheduler": {
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+        "num_decay_steps": 10000,
+        "peak_lr": 0.0001,
+        "decay_lr": 1e-05
+    },
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+    },
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+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
+}