Push model using huggingface_hub.

README.md

@@ -0,0 +1,13 @@
+---
+library_name: gr00t
+tags:
+- gr00t
+- model_hub_mixin
+---
+
+This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
+- Code: https://github.com/NVIDIA/Isaac-GR00T
+- Paper: [More Information Needed]
+- Docs: [More Information Needed]
+
+# Gr00t

class_config.json

@@ -0,0 +1,6 @@
+{
+  "denoising_steps": null,
+  "device": "cuda",
+  "embodiment_tag": "gr1",
+  "model_path": "/tmp/tmpqg6z100q/not-lain/gr00t_policy_1"
+}

composed_modality.pickle

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cd1e3494b6f5c7d514766b33cd7c26938a6def3be7330974a63eac0b9add295
+size 2022720

config.json

@@ -0,0 +1,63 @@
+{
+  "action_dim": 32,
+  "action_head_cfg": {
+    "action_dim": 32,
+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "diffusion_model_cfg": {
+      "attention_head_dim": 48,
+      "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
+    },
+    "freeze_decode_layer": false,
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "load_pretrained_det_decode_layer_path": null,
+    "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": 16,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true
+  },
+  "action_horizon": 16,
+  "architectures": [
+    "GR00T_N1"
+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "allow_reshape_visual": true,
+    "load_pretrained_det_eagle_path": null,
+    "model_name": "$GR00T_BACKBONE_PATH/eagle2_hg_model",
+    "processor_cfg": {
+      "max_input_tiles": 1,
+      "model_path": "$GR00T_BACKBONE_PATH/eagle2_hg_model",
+      "model_spec": {
+        "num_image_token": 64,
+        "template": "qwen2-chat"
+      }
+    },
+    "projector_dim": 2048,
+    "remove_llm": false,
+    "reproject_vision": false,
+    "scale_image_resolution": 1,
+    "select_layer": 12,
+    "tune_llm": false,
+    "tune_visual": true
+  },
+  "hidden_size": 1536,
+  "model_dtype": "float32",
+  "model_type": "gr00t_n1",
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.50.0"
+}

experiment_cfg/metadata.json

@@ -0,0 +1 @@
+{}

model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6c403942008a5f9e02141f28cc22360c091d8f70a7a58b4b89ed29d93de74de
+size 4380149488