9f1ee224cb
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.
2026-06-11 20:59:14 +00:00
de1a9e5ad9
Reconnect GR00T relative action processors
2026-06-05 09:31:04 -07:00
90d1e70da2
removed remaining N1.5 traces
2026-06-05 00:11:37 +00:00
a35ac22afd
removed n1.5 dependency
2026-06-04 22:14:07 +00:00
6caeac9d07
Ignore padded GR00T N1.7 RTC prefix rows
2026-06-03 14:04:31 -07:00
1d6810b814
Trim GR00T N1.7 RTC chunks to valid horizon
2026-06-03 13:51:35 -07:00
de9af57475
Fix GR00T N1.7 RTC action decoding
2026-06-03 13:43:13 -07:00
364750ada2
Allow Groot fake RTC chunk prefetch
2026-06-02 14:20:00 -07:00
e3b203e5a7
Move Groot processor compatibility into Groot loader
2026-06-02 13:19:12 -07:00
b568c41355
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 >
2026-06-01 08:57:04 -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