Upload fine-tuned GR00T model for stack cube task

README.md

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+---
+license: apache-2.0
+tags:
+- robotics
+- embodied-ai
+- imitation-learning
+- groot
+- easymimic
+---
+
+# EasyMimic Stack Cube Task - Fine-tuned GR00T Model
+
+这是基于 GR00T-N1.5-3B 在 "把一个方块堆在另一个方块上" 任务上微调的模型。
+
+## 模型信息
+
+- **基础模型**: GR00T-N1.5-3B
+- **任务**: Stack one cube on another cube
+- **训练数据**:
+  - 人手演示: 110 episodes (11 videos × 10 segments)
+  - 机械臂演示: 20 episodes (2 videos × 10 segments)
+- **训练步数**: 3000 steps
+- **最终损失**: 0.0326
+
+## 训练配置
+
+- Batch size: 8
+- Learning rate: 5e-5
+- 优化器: AdamW
+- 微调组件: Projector + Diffusion Model
+- 数据平衡: 启用 dataset weights 和 trajectory weights 平衡
+
+## 使用方法
+
+```python
+from transformers import AutoModel, AutoTokenizer
+
+model = AutoModel.from_pretrained("paradise-wujie/easymimic-stack-cube-groot")
+tokenizer = AutoTokenizer.from_pretrained("paradise-wujie/easymimic-stack-cube-groot")
+```
+
+## 训练日志
+
+完整训练日志和代码请查看: https://github.com/KKqdtjo/MyEasyMimic
+
+## 引用
+
+如果使用此模型，请引用 EasyMimic 论文：
+
+```bibtex
+@article{easymimic2024,
+  title={EasyMimic: Learning Robotic Manipulation from Human Demonstrations},
+  author={...},
+  journal={...},
+  year={2024}
+}
+```

config.json

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+{
+  "action_dim": 32,
+  "action_head_cfg": {
+    "action_dim": 32,
+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "backbone_embedding_dim": 2048,
+    "diffusion_model_cfg": {
+      "attention_head_dim": 48,
+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
+      "num_attention_heads": 32,
+      "num_layers": 16,
+      "output_dim": 1024,
+      "positional_embeddings": null
+    },
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "max_action_dim": 32,
+    "max_state_dim": 64,
+    "model_dtype": "float32",
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
+    "use_vlln": true,
+    "vl_self_attention_cfg": {
+      "attention_head_dim": 64,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "num_attention_heads": 32,
+      "num_layers": 4,
+      "positional_embeddings": null
+    }
+  },
+  "action_horizon": 16,
+  "architectures": [
+    "GR00T_N1_5"
+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
+    "project_to_dim": null,
+    "reproject_vision": false,
+    "select_layer": 12,
+    "tune_llm": false,
+    "tune_visual": true,
+    "use_flash_attention": true
+  },
+  "compute_dtype": "bfloat16",
+  "hidden_size": 2048,
+  "model_dtype": "float32",
+  "model_type": "gr00t_n1_5",
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

experiment_cfg/metadata.json

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+}

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