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feat(unitree_g1): load GR00T policies from LEROBOT_GROOT_POLICY_DIR

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Allow load_groot_policies() to read the Balance/Walk ONNX from a local
directory (e.g. finetuned checkpoints) via the LEROBOT_GROOT_POLICY_DIR
env var, falling back to the Hub download when unset.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Martino Russi
2026-07-24 12:02:51 +02:00
parent d5cf538ffb
commit 39fe436248
1 changed files with 21 additions and 12 deletions
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src/lerobot/robots/unitree_g1/gr00t_locomotion.py
+21 -12
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@@ -15,6 +15,7 @@
# limitations under the License.
import logging
import os
from collections import deque
import numpy as np
@@ -63,22 +64,30 @@ DEFAULT_GROOT_REPO_ID = "nepyope/GR00T-WholeBodyControl_g1"
def load_groot_policies(
repo_id: str = DEFAULT_GROOT_REPO_ID,
) -> tuple[ort.InferenceSession, ort.InferenceSession]:
"""Load GR00T dual-policy system (Balance + Walk) from the hub.
"""Load GR00T dual-policy system (Balance + Walk).
If the env var ``LEROBOT_GROOT_POLICY_DIR`` is set, the two ONNX files are
loaded from that local directory (e.g. finetuned checkpoints) instead of the
Hub. Otherwise they are downloaded from ``repo_id``.
Args:
repo_id: Hugging Face Hub repository ID containing the ONNX policies.
"""
logger.info(f"Loading GR00T dual-policy system from the hub ({repo_id})...")
# Download ONNX policies from Hugging Face Hub
balance_path = hf_hub_download(
repo_id=repo_id,
filename="GR00T-WholeBodyControl-Balance.onnx",
)
walk_path = hf_hub_download(
repo_id=repo_id,
filename="GR00T-WholeBodyControl-Walk.onnx",
)
local_dir = os.environ.get("LEROBOT_GROOT_POLICY_DIR")
if local_dir:
balance_path = os.path.join(local_dir, "GR00T-WholeBodyControl-Balance.onnx")
walk_path = os.path.join(local_dir, "GR00T-WholeBodyControl-Walk.onnx")
logger.info(f"Loading GR00T dual-policy system from local dir ({local_dir})...")
else:
logger.info(f"Loading GR00T dual-policy system from the hub ({repo_id})...")
balance_path = hf_hub_download(
repo_id=repo_id,
filename="GR00T-WholeBodyControl-Balance.onnx",
)
walk_path = hf_hub_download(
repo_id=repo_id,
filename="GR00T-WholeBodyControl-Walk.onnx",
)
# Load ONNX policies. Cap onnxruntime to a single thread: these are tiny MLP
# policies run in the real-time control loop, and letting ORT grab one intra-op