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feat(policies): add Nvidia Gr00t N1.5 model (#2292)

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* 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>
This commit is contained in:
Steven Palma
2025-10-23 13:50:30 +02:00
committed by GitHub
parent 306429a85b
commit be46bdea8f
26 changed files with 4766 additions and 6 deletions
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13
pyproject.toml
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@@ -118,6 +118,17 @@ phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0"]
# Policies
pi = ["transformers @ git+https://github.com/huggingface/transformers.git@fix/lerobot_openpi"]
smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>=1.7.0,<2.0.0", "safetensors>=0.4.3,<1.0.0"]
groot = [
"lerobot[transformers-dep]",
"peft>=0.13.0,<1.0.0",
"dm-tree>=0.1.8,<1.0.0",
"timm>=1.0.0,<1.1.0",
"safetensors>=0.4.3,<1.0.0",
"Pillow>=10.0.0,<13.0.0",
"decord>=0.6.0,<1.0.0; (platform_machine == 'AMD64' or platform_machine == 'x86_64')",
"ninja>=1.11.1,<2.0.0",
"flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
]
hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
# Features
@@ -145,6 +156,7 @@ all = [
"lerobot[intelrealsense]",
"lerobot[pi]",
"lerobot[smolvla]",
# "lerobot[groot]", TODO(Steven): Gr00t requires specific installation instructions for flash-attn
"lerobot[hilserl]",
"lerobot[async]",
"lerobot[dev]",
@@ -243,6 +255,7 @@ default.extend-ignore-identifiers-re = [
"pn",
"ser",
"ein",
"thw",
"inpt",
]