---
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}
}
```