├── .gitattributes ├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.yml │ ├── documentation.yml │ └── feature_request.yml ├── actions │ └── setup-venv │ │ └── action.yml ├── pull_request_template.md └── workflows │ └── main.yml ├── .gitignore ├── CONTRIBUTING.md ├── Dockerfile ├── LICENSE ├── Makefile ├── README.md ├── demo_data └── robot_sim.PickNPlace │ ├── data │ └── chunk-000 │ │ ├── episode_000000.parquet │ │ ├── episode_000001.parquet │ │ ├── episode_000002.parquet │ │ ├── episode_000003.parquet │ │ └── episode_000004.parquet │ ├── meta │ ├── episodes.jsonl │ ├── info.json │ ├── modality.json │ ├── stats.json │ └── tasks.jsonl │ └── videos │ └── chunk-000 │ └── observation.images.ego_view │ ├── episode_000000.mp4 │ ├── episode_000001.mp4 │ ├── episode_000002.mp4 │ ├── episode_000003.mp4 │ └── episode_000004.mp4 ├── deployment_scripts ├── README.md ├── action_head_utils.py ├── build_engine.sh ├── export_onnx.py ├── gr00t_inference.py ├── orin │ └── README.md ├── setup_env.sh ├── trt_model_forward.py └── trt_torch.py ├── examples ├── Libero │ ├── README.md │ ├── __init__.py │ ├── custom_data_config.py │ ├── eval │ │ ├── __init__.py │ │ ├── run_libero_eval.py │ │ └── utils.py │ └── modality.json ├── RoboCasa │ └── README.md ├── SO-100 │ ├── README.md │ ├── eval_gr00t_so100.py │ ├── eval_lerobot.py │ ├── so100__modality.json │ ├── so100_dualcam__modality.json │ ├── tictac_bot.py │ └── tictac_bot_setup.jpg ├── SimplerEnv │ ├── README.md │ ├── bridge_modality.json │ ├── custom_data_config.py │ └── fractal_modality.json ├── UnitreeG1 │ ├── unitree_g1__modality.json │ └── unitree_g1_blocks__modality.json └── __init__.py ├── getting_started ├── 0_load_dataset.ipynb ├── 1_gr00t_inference.ipynb ├── 2_finetuning.ipynb ├── 3_0_new_embodiment_finetuning.md ├── 3_1_new_embodiment_finetuning.ipynb ├── 4_deeper_understanding.md ├── 5_policy_deployment.md └── LeRobot_compatible_data_schema.md ├── gr00t ├── __init__.py ├── data │ ├── __init__.py │ ├── dataset.py │ ├── embodiment_tags.py │ ├── schema.py │ └── transform │ │ ├── __init__.py │ │ ├── base.py │ │ ├── concat.py │ │ ├── state_action.py │ │ └── video.py ├── eval │ ├── http_server.py │ ├── robot.py │ ├── service.py │ ├── simulation.py │ └── wrappers │ │ ├── multistep_wrapper.py │ │ ├── obs_index_selection_wrapper.py │ │ └── video_recording_wrapper.py ├── experiment │ ├── __init__.py │ ├── data_config.py │ ├── runner.py │ └── trainer.py ├── model │ ├── __init__.py │ ├── action_head │ │ ├── __init__.py │ │ ├── action_encoder.py │ │ ├── cross_attention_dit.py │ │ └── flow_matching_action_head.py │ ├── backbone │ │ ├── __init__.py │ │ ├── eagle2_hg_model │ │ │ ├── added_tokens.json │ │ │ ├── chat_template.json │ │ │ ├── config.json │ │ │ ├── configuration_eagle2_5_vl.py │ │ │ ├── generation_config.json │ │ │ ├── image_processing_eagle2.py │ │ │ ├── image_processing_eagle2_5_vl_fast.py │ │ │ ├── merges.txt │ │ │ ├── modeling_eagle2_5_vl.py │ │ │ ├── preprocessor_config.json │ │ │ ├── processing_eagle2_5_vl.py │ │ │ ├── processor_config.json │ │ │ ├── radio_model.py │ │ │ ├── special_tokens_map.json │ │ │ ├── tokenizer_config.json │ │ │ └── vocab.json │ │ └── eagle_backbone.py │ ├── gr00t_n1.py │ ├── policy.py │ └── transforms.py ├── py.typed └── utils │ ├── __init__.py │ ├── eval.py │ ├── experiment.py │ ├── misc.py │ ├── peft.py │ └── video.py ├── media ├── dual-humanoid-industrial.mp4 ├── g1-eval-pick-apple-states.png ├── g1-pick-apple-images.png ├── g1-pick-apple-state-action.png ├── g1_ft_10k.png ├── g1_ft_1k.png ├── header_compress.png ├── header_compress_green.png ├── model-architecture.png ├── orin-perf.png ├── real-data.gif ├── robot-demo.gif ├── robots-banner.png ├── sim-data.gif ├── so100-7k-steps.png ├── so100_eval_demo.gif ├── so101-pens-pickup.gif ├── so101-table-cleanup.png ├── thor-perf.png └── videos │ ├── whitepaper_figure_14 │ ├── 0_robocasa_multiview.mp4 │ ├── 0_robocasa_multiview_temp.mp4 │ ├── 1_multiround_1.mp4 │ ├── 1_multiround_2.mp4 │ ├── 2_microwave.mp4 │ ├── 3_liquid.mp4 │ └── 4_inpainting.mp4 │ └── whitepaper_figure_5 │ ├── 0_counterfactual_1.mp4 │ ├── 0_counterfactual_2.mp4 │ ├── 0_counterfactual_3.mp4 │ ├── 1_pnp_1.mp4 │ ├── 1_pnp_2.mp4 │ ├── 2_meshcup_pouring.mp4 │ └── 3_sim_microwave.mp4 ├── orin.Dockerfile ├── pyproject.toml ├── reference_architecture ├── GR00T-reference-arch-diagram.png └── reference_architecture.md ├── scripts ├── eval_policy.py ├── gr00t_finetune.py ├── http_client_example.py ├── inference_service.py ├── load_dataset.py └── simulation_service.py ├── tests ├── labeled_frames_video.mp4 ├── test_dataset.py ├── test_load.py └── test_load_video.py └── thor.Dockerfile /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVIDIA/Isaac-GR00T/HEAD/.gitattributes -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/bug_report.yml: 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