| # Training Command Documentation | |
| ## Training Command | |
| ```bash | |
| 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) | |