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Merged
merged 29 commits into from
May 15, 2025
Merged

Eval GR00T N1 model #106

merged 29 commits into from
May 15, 2025

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@KumoLiu
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@KumoLiu KumoLiu commented Apr 16, 2025 •
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Part of #127

Description

Eval GRROT N1 model

@KumoLiu KumoLiu requested review from Nic-Ma, guopengf and heyufan1995 May 8, 2025 03:01
KumoLiu added 2 commits May 8, 2025 11:57
@KumoLiu KumoLiu marked this pull request as ready for review May 8, 2025 04:21
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update test file
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Signed-off-by: YunLiu <[email protected]>
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mingxin-zheng
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mingxin-zheng commented May 8, 2025

/build

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KumoLiu added 2 commits May 14, 2025 10:13
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address comments
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KumoLiu commented May 14, 2025

I have 1 open question: Will GR00T N1.5 and N2 use the same dependencies? If yes, we can use policy=gr00t instead of policy=gr00tn1, otherwise, let's stay with gr00tn1 in this PR.

Hi @Nic-Ma, I didn't see any documentation in the GR00T repo mentioned the dependency related things for N1.5 and N2. Let's keep gr00tn1 for now, and we can update it accordingly later. Thanks!

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KumoLiu commented May 14, 2025

Please replace all the GR00TN1 with GR00T N1, let's try to unify the naming.

replaced, thanks.

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Nic-Ma commented May 14, 2025

Please paste the test results before merging.

Thanks.

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KumoLiu commented May 14, 2025

Test result:

$ python robotic_ultrasound/tests/test_policy_runner/test_policy.py 
RTI Connext DDS Evaluation License issued to NVIDIA - Partner Activities ... For non-production use only.
Expires on 31-jan-2026
Please contact [email protected] with any questions or comments.
RTI Connext DDS Evaluation License issued to NVIDIA - Partner Activities ... For non-production use only.
Expires on 31-jan-2026
Please contact [email protected] with any questions or comments.
RTI Connext DDS Evaluation License issued to NVIDIA - Partner Activities ... For non-production use only.
Expires on 31-jan-2026
Please contact [email protected] with any questions or comments.
RTI Connext DDS Evaluation License issued to NVIDIA - Partner Activities ... For non-production use only.
Expires on 31-jan-2026
Please contact [email protected] with any questions or comments.
101:topic_franka_ctrl - Thread is reading data => topic_franka_ctrl
.RTI Connext DDS Evaluation License issued to NVIDIA - Partner Activities ... For non-production use only.
Expires on 31-jan-2026
Please contact [email protected] with any questions or comments.
RTI Connext DDS Evaluation License issued to NVIDIA - Partner Activities ... For non-production use only.
Expires on 31-jan-2026
Please contact [email protected] with any questions or comments.
RTI Connext DDS Evaluation License issued to NVIDIA - Partner Activities ... For non-production use only.
Expires on 31-jan-2026
Please contact [email protected] with any questions or comments.
RTI Connext DDS Evaluation License issued to NVIDIA - Partner Activities ... For non-production use only.
Expires on 31-jan-2026
Please contact [email protected] with any questions or comments.
101:topic_franka_ctrl - Thread is reading data => topic_franka_ctrl
.
----------------------------------------------------------------------
Ran 2 tests in 31.462s

OK

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update README
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mingxin-zheng commented May 14, 2025

/build

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KumoLiu commented May 14, 2025

/build

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KumoLiu added 2 commits May 14, 2025 17:47
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strip policy
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@KumoLiu KumoLiu changed the title Eval GRROT N1 model Eval GR00T N1 model May 14, 2025
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mingxin-zheng commented May 14, 2025

/build

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KumoLiu commented May 15, 2025

/build

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Nic-Ma commented May 15, 2025

/build

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mingxin-zheng commented May 15, 2025

The tests copyright / lint /'markdown-link-checkis queued for a long time. It passed in previous commit before the merge up-to-date frommain`. So we will merge without waiting for requirements to be met.

@mingxin-zheng mingxin-zheng merged commit ffd9ab1 into main May 15, 2025
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@mingxin-zheng mingxin-zheng deleted the yunl/n1-policy-eval branch May 15, 2025 06:57
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@mingxin-zheng mingxin-zheng mingxin-zheng approved these changes

@Nic-Ma Nic-Ma Nic-Ma approved these changes

@guopengf guopengf Awaiting requested review from guopengf

@heyufan1995 heyufan1995 Awaiting requested review from heyufan1995

@NigelNelson NigelNelson Awaiting requested review from NigelNelson

@yiheng-wang-nv yiheng-wang-nv Awaiting requested review from yiheng-wang-nv

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