Training Command Documentation
Training Command
python scripts/gr00t_finetune.py \
--dataset-path ./dataset/pickup-boxs26 \
--num-gpus 1 \
--output-dir ./checkpoints/pickup-boxs26 \
--max-steps 10000 \
--data-config so100_dualcam \
--video-backend torchvision_av \
--batch-size 8 \
--dataloader-num-workers 1 \
--dataloader-prefetch-factor 1
Parameters Description
| Parameter | Value | Description |
|---|---|---|
--dataset-path |
./dataset/pickup-boxs26 |
Path to the training dataset |
--num-gpus |
1 |
Number of GPUs to use for training |
--output-dir |
./checkpoints/pickup-boxs26 |
Directory to save model checkpoints |
--max-steps |
10000 |
Maximum number of training steps |
--data-config |
so100_dualcam |
Data configuration for dual camera setup |
--video-backend |
torchvision_av |
Video backend for data loading |
--batch-size |
8 |
Training batch size |
--dataloader-num-workers |
1 |
Number of data loader workers |
--dataloader-prefetch-factor |
1 |
Data loader prefetch factor |
Training Notes
- This training uses the GR00T fine-tuning script
- Dataset: pickup-boxs26
- Single GPU training setup
- Dual camera configuration (so100_dualcam)
- Total training steps: 10,000
- Batch size: 8
Date Created
Created on: $(date)