--- datasets: sreetz-nv/so101-clean-up-vials-into-rack-50_20260628_131121 library_name: lerobot license: apache-2.0 model_name: groot pipeline_tag: robotics tags: - robotics - lerobot - groot --- # Model Card for groot [GR00T N1.5](https://github.com/NVIDIA/Isaac-GR00T) is an open, cross-embodiment foundation model from NVIDIA for generalized humanoid robot reasoning and skills. It takes language and images as input and uses a flow-matching action transformer to predict actions conditioned on vision, language, and proprioception. / /resolve/main/demo.gif" width="60%"/> --> This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot). Learn how to train and run it in the [LeRobot groot guide](https://huggingface.co/docs/lerobot/main/en/groot), or browse the [full documentation](https://huggingface.co/docs/lerobot/index). --- ## Model Details - **License:** apache-2.0 - **Robot type:** `so_follower` - **Cameras:** `wrist`, `front` ## Inputs & Outputs The policy consumes these observation features and produces these action features. **Inputs** | Feature | Type | Shape | | --- | --- | --- | | `observation.state` | STATE | `(6,)` | | `observation.images.wrist` | VISUAL | `(3, 480, 640)` | | `observation.images.front` | VISUAL | `(3, 480, 640)` | **Outputs** | Feature | Type | Shape | | --- | --- | --- | | `action` | ACTION | `(6,)` | ## Training Dataset - **Repository:** [sreetz-nv/so101-clean-up-vials-into-rack-50_20260628_131121](https://huggingface.co/datasets/sreetz-nv/so101-clean-up-vials-into-rack-50_20260628_131121) - **Episodes:** 50 - **Frames:** 52304 - **Frame rate:** 30 FPS - **Task(s):** "Pick up the vials and put them in the yellow rack" ## Training Configuration | Setting | Value | | --- | --- | | Training steps | 20000 | | Batch size | 64 | | Optimizer | adamw | | Learning rate | 0.0001 | | Seed | 42 | | LeRobot version | 0.5.2 | --- ## How to Get Started with the Model New to LeRobot? These guides cover the full workflow: - **[Install LeRobot](https://huggingface.co/docs/lerobot/main/en/installation)** — set up the `lerobot` package. - **[Hardware setup](https://huggingface.co/docs/lerobot/main/en/hardware_guide)** — assemble, wire, and calibrate your robot and cameras. - **[Record data & train a policy](https://huggingface.co/docs/lerobot/en/il_robots)** — the end-to-end imitation-learning walkthrough. - **[CLI cheat-sheet](https://huggingface.co/docs/lerobot/main/en/cheat-sheet)** — quick reference for the `lerobot-*` commands. The short version to run and train this policy: ### Run the policy on your robot ```bash lerobot-rollout \ --strategy.type=base \ --robot.type=so_follower \ --robot.port= \ --robot.cameras="{ : {type: opencv, index_or_path: , width: 640, height: 480, fps: 30}, : {type: opencv, index_or_path: , width: 640, height: 480, fps: 30}}" \ --policy.path=sreetz-nv/so101-clean-up-vials-into-rack-50-groot-n17-relact-bs64-20k-20260628_johnny_42 \ --task="Pick up the vials and put them in the yellow rack" \ --duration=60 ``` Replace the remaining ` ` placeholders with your own values: `--robot.port` and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on. When `--strategy.type=base` is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at [rollout documentation](https://huggingface.co/docs/lerobot/main/en/inference). ### Train your own policy ```bash lerobot-train \ --dataset.repo_id=${HF_USER}/ \ --policy.type=groot \ --output_dir=outputs/train/ \ --job_name=lerobot_training \ --policy.device=cuda \ --policy.repo_id=${HF_USER}/ \ --wandb.enable=true ``` _Writes checkpoints to `outputs/train/ /checkpoints/`._ --- ## Evaluation _No evaluation results have been provided for this policy yet._ --- ## Citation If you use this policy, please cite the method linked in the description above, along with LeRobot: ```bibtex @misc{cadene2024lerobot, author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas}, title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch}, howpublished = "\url{https://github.com/huggingface/lerobot}", year = {2024} } ```
