Upload gr00t/closelaptop/README.md with huggingface_hub
Browse files- gr00t/closelaptop/README.md +10 -0
gr00t/closelaptop/README.md
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# GR00T N1.7 — DROID CloseLaptop
|
| 2 |
+
|
| 3 |
+
- **Task:** "close laptop" — 100 episodes, 27,649 frames @ 30 fps (`aarontung/droid-close-laptop`)
|
| 4 |
+
- **Inputs/outputs:** cameras left exterior / wrist + instruction; 8-D absolute joint state and action (7 Franka joints + gripper)
|
| 5 |
+
- **Base:** `nvidia/GR00T-N1.7-3B` (Isaac-GR00T)
|
| 6 |
+
- **Trained:** Full fine-tune: VLM backbone (LLM + vision) unfrozen + action head
|
| 7 |
+
- **Optim:** AdamW, LR 1e-4 (same as BimanualYAM), cosine, 5% warmup; GBS 32 (16/GPU x 2); 5 epochs; fp32 master weights, bf16 compute; 2x H100 PCIe; wall time 1h13m
|
| 8 |
+
- **Files:** Final model in HF format (`model-*.safetensors`, `config.json`, `processor/`, `experiment_cfg/`). Optimizer state not included.
|
| 9 |
+
- **Load:** `gr00t.policy.Gr00tPolicy(model_path=<this folder>, embodiment_tag=NEW_EMBODIMENT)` with the DROID modality config (`configs/gr00t/rc_droid_config.py`)
|
| 10 |
+
- **Code:** RoboColosseum harness (`scripts/train/gr00t.sh`); logs in W&B project `RoboColosseum`
|