phospho-app / gr00t-policy

Fine-tune GR00T-N1 from Nvidia on a LeRobot dataset

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Run time and cost

This model runs on Nvidia A100 (80GB) GPU hardware. We don't yet have enough runs of this model to provide performance information.

Readme

This pipeline is designed to train a gr00t model from Nvidia on a LeRobot Dataset.

This run will push a model to Hugging Face for you to access. You will have the model id when the run completes.

Note that we expect your dataset to have 1 or 2 cameras, we also expect your robot to be 6 DoF, this will work with a regular so100.

If you are training specific configurations, this pipeline might fail.

With default parameters, training takes up to 3 hours (which costs roughly $10). Decrease the number of epochs for faster and cheaper training runs.

Reach out and join our Discord for more AI robotics: https://discord.com/invite/m8wzBGQA55