Instructions to use nikodembartnik/groot-so101 with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use nikodembartnik/groot-so101 with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": {} | |
| } | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "groot_n1_7_pack_inputs_v1", | |
| "config": { | |
| "state_horizon": 1, | |
| "action_horizon": 40, | |
| "valid_action_horizon": 40, | |
| "video_horizon": null, | |
| "max_state_dim": 132, | |
| "max_action_dim": 132, | |
| "language_key": "task", | |
| "formalize_language": true, | |
| "embodiment_tag": "new_embodiment", | |
| "embodiment_mapping": { | |
| "oxe_droid_relative_eef_relative_joint": 24, | |
| "xdof_relative_eef_relative_joint": 27, | |
| "xdof_relative_eef_relative_joint_subtask": 27, | |
| "real_g1_relative_eef_relative_joints": 25, | |
| "real_r1_pro_sharpa_relative_eef": 26, | |
| "real_r1_pro_sharpa_relative_eef_human": 26, | |
| "real_r1_pro_sharpa_relative_eef_maxinsights": 26, | |
| "real_r1_pro_sharpa_relative_eef_mecka": 26, | |
| "unitree_g1_full_body_with_waist_height_nav_cmd": 25, | |
| "simpler_env_google": 0, | |
| "simpler_env_widowx": 1, | |
| "libero_sim": 2, | |
| "new_embodiment": 10 | |
| }, | |
| "normalize_min_max": true, | |
| "clip_outliers": true, | |
| "video_modality_keys": null, | |
| "raw_stats": null, | |
| "modality_config": null, | |
| "state_cache_key": "groot_n1_7:new_embodiment" | |
| }, | |
| "state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors" | |
| }, | |
| { | |
| "registry_name": "groot_n1_7_vlm_encode_v1", | |
| "config": { | |
| "model_name": "nvidia/Cosmos-Reason2-2B", | |
| "image_crop_size": null, | |
| "image_target_size": null, | |
| "shortest_image_edge": null, | |
| "crop_fraction": null, | |
| "use_albumentations": false | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |