Upload policy weights, train config and readme

README.md

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+---
+datasets: HuggingFaceVLA/libero
+library_name: lerobot
+license: apache-2.0
+model_name: groot
+pipeline_tag: robotics
+tags:
+- lerobot
+- groot
+- robotics
+---
+
+# Model Card for groot
+
+<!-- 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

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+{
+    "type": "groot",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.image": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                256,
+                256
+            ]
+        },
+        "observation.images.image2": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                256,
+                256
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                8
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                7
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": "nvkartik/groot-n17-libero_object-full-dit-success-object-a100x2-bs128-lr1e4-50k-mg2-bs128-50000",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "chunk_size": 40,
+    "n_action_steps": 40,
+    "max_state_dim": 132,
+    "max_action_dim": 132,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "image_size": [
+        256,
+        256
+    ],
+    "model_version": "n1.7",
+    "base_model_path": "nvidia/GR00T-N1.7-3B",
+    "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
+    "n1_7_backbone_model": "nvidia/Cosmos-Reason2-2B",
+    "embodiment_tag": "libero_sim",
+    "tune_llm": false,
+    "tune_visual": false,
+    "tune_projector": true,
+    "tune_diffusion_model": true,
+    "lora_rank": 0,
+    "lora_alpha": 16,
+    "lora_dropout": 0.1,
+    "lora_full_model": false,
+    "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",
+    "save_steps": 1000,
+    "max_steps": 10000,
+    "batch_size": 32,
+    "dataloader_num_workers": 8,
+    "report_to": "wandb",
+    "resume": false
+}

model.safetensors

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+oid sha256:6fa8968569e08d3d5694243fc8f02b8e46e40466c3e99c323be95d01d00d1bde
+size 10579843072

train_config.json

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+{
+    "dataset": {
+        "repo_id": "HuggingFaceVLA/libero",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "streaming": false
+    },
+    "env": {
+        "type": "libero",
+        "task": "libero_object",
+        "fps": 30,
+        "features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    7
+                ]
+            },
+            "pixels/agentview_image": {
+                "type": "VISUAL",
+                "shape": [
+                    360,
+                    360,
+                    3
+                ]
+            },
+            "pixels/robot0_eye_in_hand_image": {
+                "type": "VISUAL",
+                "shape": [
+                    360,
+                    360,
+                    3
+                ]
+            },
+            "robot_state/eef/pos": {
+                "type": "STATE",
+                "shape": [
+                    3
+                ]
+            },
+            "robot_state/eef/quat": {
+                "type": "STATE",
+                "shape": [
+                    4
+                ]
+            },
+            "robot_state/eef/mat": {
+                "type": "STATE",
+                "shape": [
+                    3,
+                    3
+                ]
+            },
+            "robot_state/gripper/qpos": {
+                "type": "STATE",
+                "shape": [
+                    2
+                ]
+            },
+            "robot_state/gripper/qvel": {
+                "type": "STATE",
+                "shape": [
+                    2
+                ]
+            },
+            "robot_state/joints/pos": {
+                "type": "STATE",
+                "shape": [
+                    7
+                ]
+            },
+            "robot_state/joints/vel": {
+                "type": "STATE",
+                "shape": [
+                    7
+                ]
+            }
+        },
+        "features_map": {
+            "action": "action",
+            "robot_state/eef/pos": "observation.state.eef_pos",
+            "robot_state/eef/quat": "observation.state.eef_quat",
+            "robot_state/eef/mat": "observation.state.eef_mat",
+            "robot_state/gripper/qpos": "observation.state.gripper_qpos",
+            "robot_state/gripper/qvel": "observation.state.gripper_qvel",
+            "robot_state/joints/pos": "observation.state.joint_pos",
+            "robot_state/joints/vel": "observation.state.joint_vel",
+            "pixels/agentview_image": "observation.images.image",
+            "pixels/robot0_eye_in_hand_image": "observation.images.image2"
+        },
+        "max_parallel_tasks": 1,
+        "disable_env_checker": true,
+        "task_ids": null,
+        "episode_length": null,
+        "obs_type": "pixels_agent_pos",
+        "render_mode": "rgb_array",
+        "camera_name": "agentview_image,robot0_eye_in_hand_image",
+        "init_states": true,
+        "camera_name_mapping": null,
+        "observation_height": 360,
+        "observation_width": 360,
+        "is_libero_plus": false,
+        "control_mode": "relative"
+    },
+    "policy": {
+        "type": "groot",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.images.image": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    256,
+                    256
+                ]
+            },
+            "observation.images.image2": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    256,
+                    256
+                ]
+            },
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    8
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    7
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": true,
+        "repo_id": "nvkartik/groot-n17-libero_object-full-dit-success-object-a100x2-bs128-lr1e4-50k-mg2-bs128-50000",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "chunk_size": 40,
+        "n_action_steps": 40,
+        "max_state_dim": 132,
+        "max_action_dim": 132,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "image_size": [
+            256,
+            256
+        ],
+        "model_version": "n1.7",
+        "base_model_path": "nvidia/GR00T-N1.7-3B",
+        "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
+        "n1_7_backbone_model": "nvidia/Cosmos-Reason2-2B",
+        "embodiment_tag": "libero_sim",
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "lora_rank": 0,
+        "lora_alpha": 16,
+        "lora_dropout": 0.1,
+        "lora_full_model": false,
+        "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",
+        "save_steps": 1000,
+        "max_steps": 10000,
+        "batch_size": 32,
+        "dataloader_num_workers": 8,
+        "report_to": "wandb",
+        "resume": false
+    },
+    "reward_model": null,
+    "output_dir": "/ephemeral/scratch/lerobot-outputs/groot-n17-libero_object-full-dit-success-object-a100x2-bs128-lr1e4-50k-full-batch128-20260518-125925",
+    "job_name": "groot-n17-libero_object-full-dit-success-object-a100x2-bs128-lr1e4-50k-full-batch128-20260518-125925",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 8,
+    "batch_size": 128,
+    "prefetch_factor": 2,
+    "persistent_workers": true,
+    "steps": 50000,
+    "eval_freq": 0,
+    "log_freq": 20,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 5000,
+    "use_policy_training_preset": false,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-05,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 2500,
+        "num_decay_steps": 50000,
+        "peak_lr": 0.0001,
+        "decay_lr": 1e-05
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 21,
+        "use_async_envs": true
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": true,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "ydxk866e",
+        "mode": null,
+        "add_tags": true
+    },
+    "peft": null,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}