883ff3eb21
test(groot): add N1.7 original-vs-LeRobot output parity test
...
Verifies the LeRobot GR00T N1.7 integration produces equivalent raw
action_pred to NVIDIA Isaac-GR00T for the same checkpoint, inputs, seed,
precision (fp32) and attention kernel (SDPA): max|diff|=8.9e-7 on the
libero_sim embodiment (GR00T-N1.7-LIBERO/libero_10).
The two impls pin incompatible transformers majors (orig 4.57.3 vs
LeRobot 5.x) and cannot share a process, so the original outputs + exact
collated inputs are produced out-of-process and loaded from an .npz. The
test skips on CI / when the checkpoint or artifact are absent.
2026-06-28 12:55:18 -07:00
87e4460f60
Reconnect GR00T relative action processors
2026-06-28 12:55:17 -07:00
1b24d7bc86
removed remaining N1.5 traces
2026-06-28 12:55:17 -07:00
b6c910e936
removed n1.5 dependency
2026-06-28 12:55:17 -07:00
58247ab9bc
Ignore padded GR00T N1.7 RTC prefix rows
2026-06-28 12:55:02 -07:00
3159f473df
Trim GR00T N1.7 RTC chunks to valid horizon
2026-06-28 12:55:02 -07:00
bed3747804
Fix GR00T N1.7 RTC action decoding
2026-06-28 12:55:02 -07:00
60e1474cf6
Allow Groot fake RTC chunk prefetch
2026-06-28 12:55:02 -07:00
111dceeb8a
Move Groot processor compatibility into Groot loader
2026-06-28 12:55:01 -07:00
9c26e111d1
Add GR00T N1.7 support
...
Add GR00T N1.7 policy configuration, checkpoint compatibility, processor parity, LIBERO documentation, and focused tests.
Co-authored-by: Ryan Halabi <ryhalabi@nvidia.com >
2026-06-28 12:55:01 -07:00
df0763a2bc
feat(dependencies): minimal default tag install ( #3362 )
2026-04-12 20:03:04 +02:00
a07b1d76f1
chore(dependecies): untangle dependecies across internal modules ( #3149 )
2026-03-15 20:26:06 -07:00
be46bdea8f
feat(policies): add Nvidia Gr00t N1.5 model ( #2292 )
...
* feat(policies): add Nvidia Gr00t N1.5 model
Co-authored-by: lbenhorin <lbenhorin@nvidia.com >
Co-authored-by: Aravindh <aravindhs@nvidia.com >
Co-authored-by: nv-sachdevkartik <ksachdev@nvidia.com >
Co-authored-by: youliangt <youliangt@nvidia.com >
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
Co-authored-by: Jade Choghari <chogharijade@gmail.com >
* fix(docs): add groot to index
Co-authored-by: sachdevkartik <sachdev.kartik25@gmail.com >
---------
Co-authored-by: lbenhorin <lbenhorin@nvidia.com >
Co-authored-by: Aravindh <aravindhs@nvidia.com >
Co-authored-by: nv-sachdevkartik <ksachdev@nvidia.com >
Co-authored-by: youliangt <youliangt@nvidia.com >
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
Co-authored-by: Jade Choghari <chogharijade@gmail.com >
Co-authored-by: sachdevkartik <sachdev.kartik25@gmail.com >
2025-10-23 13:50:30 +02:00
nv-sachdevkartik