aloha_setup is an open-weight model from Byungjun Yoon. Its published files total 773.8 MB.
Parameters—
Context—
Weights45.2 MB
License—
AccessOpen weights
Monthly Downloads—
Model Card
The publisher has not written a card for this model.
Identity and Version
- Repository
- happyhappy-jun/aloha_setup
- Publisher
- Byungjun Yoon
- Task
- Not stated by the source
- Modality
- Other
- Library
- Not stated by the source
- Parameters
- Not stated by the source
- Languages
- Not stated by the source
- Revision
- 48598f0971d94e2e93313cac1a7759a1ac19c971
- First published
- 2026-10-07
- Last updated
- 2026-10-07
Files and Weights
501 files, 773.8 MB in total. The weights are 43 files totalling 45.2 MB in npz.
Weights43 files · 45.2 MB
Configuration179 files · 1.4 MB
Documentation27 files · 215.1 KB
Other244 files · 726.8 MB
Repository8 files · 23.9 KB
Every file
| File | Type | Size | SHA-256 |
|---|---|---|---|
| aloha_src/scripts/all/20260920_104634_Kitchen_Task_1_baseline-task1.npz | Weights | 253.3 KB | d2f4c8a4d444 |
| aloha_src/scripts/all/20260920_104723_Kitchen_Task_1_baseline-test.npz | Weights | 1.1 MB | 6c00596488e1 |
| aloha_src/scripts/all/20260920_104939_Kitchen_Task_1_baseline-test.npz | Weights | 960.2 KB | 05fc66f4a7e9 |
| aloha_src/scripts/all/20260920_105102_Kitchen_Task_1_baseline-test.npz | Weights | 446.2 KB | f9b9c5589f3e |
| aloha_src/scripts/all/20260920_105141_Kitchen_Task_1_baseline-test.npz | Weights | 830.9 KB | 256d83c86382 |
| aloha_src/scripts/all/20260920_105529_Kitchen_Task_1_baseline-task1.npz | Weights | 90.7 KB | a6fb196ac55c |
| aloha_src/scripts/all/20260920_105635_Kitchen_Task_1_baseline-task1.npz | Weights | 953.2 KB | 3eb15917085b |
| aloha_src/scripts/all/20260920_105754_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | 88925526a8ca |
| aloha_src/scripts/all/20260920_105943_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | f58f95b0c1cb |
| aloha_src/scripts/all/20260920_110443_Kitchen_Task_1_baseline-task1.npz | Weights | 985.9 KB | a50b77a6690f |
| aloha_src/scripts/all/20260920_110612_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | c3ba38ff04a5 |
| aloha_src/scripts/all/20260920_110759_Kitchen_Task_1_baseline-task1.npz | Weights | 1.1 MB | b49937caa08e |
| aloha_src/scripts/all/20260920_110938_Kitchen_Task_1_baseline-task1.npz | Weights | 973.4 KB | a852289102b0 |
| aloha_src/scripts/all/20260920_111106_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | 01bb22342346 |
| aloha_src/scripts/all/20260920_111233_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | c8ab64e4b0e6 |
| aloha_src/scripts/all/20260920_111400_Kitchen_Task_1_baseline-task1.npz | Weights | 1.1 MB | 03095ea136bf |
| aloha_src/scripts/all/20260920_111528_Kitchen_Task_1_baseline-task1.npz | Weights | 1.1 MB | edd9c839d5cd |
| aloha_src/scripts/all/20260920_111702_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | 63cfd82c3f15 |
| aloha_src/scripts/all/20260920_111829_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | 1f49563f58ca |
| aloha_src/scripts/all/20260920_112009_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | ee56eda8eed1 |
| aloha_src/scripts/all/20260920_112154_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | a8c6bec35d35 |
| aloha_src/scripts/all/20260920_112337_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | 2b7227fda1c9 |
| aloha_src/scripts/all/20260920_112503_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | 5efa41ec3c2f |
| aloha_src/scripts/all/20260920_112628_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | 3df6a699b755 |
| aloha_src/scripts/all/20260920_112755_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | 50bcf48db301 |
| aloha_src/scripts/all/20260920_113322_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | 929c4e7d7a6f |
| aloha_src/scripts/all/20260920_113442_Kitchen_Task_1_baseline-task1.npz | Weights | 179.8 KB | 5cc87b43dcb9 |
| aloha_src/scripts/all/20260920_113511_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | f208af66be0b |
| aloha_src/scripts/all/20260920_113646_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | bb9baa663cff |
| aloha_src/scripts/all/20260920_113817_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | eedc0d5f464f |
| aloha_src/scripts/all/20260920_113946_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | ed00f2d93d5f |
| aloha_src/scripts/all/20260920_114116_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | 553bf4cbc336 |
| aloha_src/scripts/all/20260920_114244_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | 46ed15183533 |
| aloha_src/scripts/all/20260920_114418_Kitchen_Task_1_baseline-task1.npz | Weights | 1.2 MB | 151524efba3b |
| aloha_src/scripts/all/20260920_114657_Kitchen_Task_1_baseline-task.npz | Weights | 1.2 MB | 28612b71afe3 |
| aloha_src/scripts/all/20260920_114853_Kitchen_Task_1_baseline-task.npz | Weights | 1.2 MB | cf9f7d4f471b |
| aloha_src/scripts/all/20260920_115039_Kitchen_Task_1_baseline-task.npz | Weights | 1.1 MB | 7b58bf0aa8ce |
| aloha_src/scripts/all/20260920_115158_Kitchen_Task_1_baseline-task.npz | Weights | 1.2 MB | cda25ac27590 |
| aloha_src/scripts/all/20260920_115320_Kitchen_Task_1_baseline-task.npz | Weights | 1.1 MB | e4e54273ce13 |
| aloha_src/scripts/all/20260920_115459_Kitchen_Task_1_baseline-task-test.npz | Weights | 131.6 KB | 6f9c97027361 |
| aloha_src/scripts/all/20260920_120155_Kitchen_Task_1_baseline-task-1-white-first.npz | Weights | 271.7 KB | 920e32e71008 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5_with_mask/masks/chunk-000/observation.images.front/episode_000000_masks.npz | Weights | 1.9 MB | a7d2840a1563 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5_with_mask/masks/chunk-000/observation.images.wrist/episode_000000_masks.npz | Weights | 2.1 MB | 511e00dbaaca |
| aloha_src/_asw_repo/data_generation/aloha/planning/client.py | Configuration | 4.8 KB | — |
| aloha_src/_asw_repo/data_generation/aloha/planning/robot/__init__.py | Configuration | 409 B | — |
| aloha_src/_asw_repo/data_generation/aloha/planning/robot/candidates.py | Configuration | 5.8 KB | — |
| aloha_src/_asw_repo/data_generation/aloha/planning/robot/clamp.py | Configuration | 3.6 KB | — |
| aloha_src/_asw_repo/data_generation/aloha/planning/robot/shadow.py | Configuration | 4.8 KB | — |
| aloha_src/_asw_repo/data_generation/ogbench/planning/wire.py | Configuration | 1.5 KB | — |
| aloha_src/aloha/__init__.py | Configuration | — | |
| aloha_src/aloha/camera_proc.py | Configuration | 13.2 KB | — |
| aloha_src/aloha/chunking.py | Configuration | 4.6 KB | — |
| aloha_src/aloha/exposure.py | Configuration | 7.8 KB | — |
| aloha_src/aloha/kitchen_hierarchy.py | Configuration | 15.3 KB | — |
| aloha_src/aloha/motor_health.py | Configuration | 7.3 KB | — |
| aloha_src/aloha/perturb.py | Configuration | 17.4 KB | — |
| aloha_src/aloha/preview.py | Configuration | 19.0 KB | — |
| aloha_src/aloha/real_env.py | Configuration | 15.0 KB | — |
| aloha_src/aloha/robot_utils.py | Configuration | 15.4 KB | — |
| aloha_src/aloha/rtc_schedule.py | Configuration | 836 B | — |
| aloha_src/aloha/session/__init__.py | Configuration | 614 B | — |
| aloha_src/aloha/session/events.py | Configuration | 1.6 KB | — |
| aloha_src/aloha/session/gesture.py | Configuration | 8.0 KB | — |
| aloha_src/aloha/session/keyboard.py | Configuration | 2.3 KB | — |
| aloha_src/aloha/session/pacing.py | Configuration | 3.6 KB | — |
| aloha_src/aloha/session/pedal.py | Configuration | 3.6 KB | — |
| aloha_src/aloha/session/recorder.py | Configuration | 17.6 KB | — |
| aloha_src/aloha/session/session.py | Configuration | 38.4 KB | — |
| aloha_src/aloha/video_log.py | Configuration | 7.3 KB | — |
| aloha_src/config/base_joystick_teleop.yaml | Configuration | 245 B | — |
| aloha_src/config/follower_modes_left.yaml | Configuration | 340 B | — |
| aloha_src/config/follower_modes_right.yaml | Configuration | 341 B | — |
| aloha_src/config/leader_modes_left.yaml | Configuration | 117 B | — |
| aloha_src/config/leader_modes_right.yaml | Configuration | 118 B | — |
| aloha_src/config/leader_motor_specs_left.yaml | Configuration | 2.6 KB | — |
| aloha_src/config/leader_motor_specs_right.yaml | Configuration | 2.6 KB | — |
| aloha_src/config/robot/aloha_mobile.yaml | Configuration | 4.0 KB | — |
| aloha_src/config/robot/aloha_solo.yaml | Configuration | 3.1 KB | — |
| aloha_src/config/robot/aloha_stationary.yaml | Configuration | 3.5 KB | — |
| aloha_src/config/tasks_config.yaml | Configuration | 1.8 KB | — |
| aloha_src/launch/aloha_bringup.launch.py | Configuration | 14.5 KB | — |
| aloha_src/scripts/camera_preview.py | Configuration | 4.3 KB | — |
| aloha_src/scripts/dump_frame.py | Configuration | 1.7 KB | — |
| aloha_src/scripts/flare_client_smoke.py | Configuration | 3.6 KB | — |
| aloha_src/scripts/groot_chunk_probe.py | Configuration | 3.9 KB | — |
| aloha_src/scripts/groot_client_smoke.py | Configuration | 1.4 KB | — |
| aloha_src/scripts/groot_log_report.py | Configuration | 8.1 KB | — |
| aloha_src/scripts/inference.py | Configuration | 27.8 KB | — |
| aloha_src/scripts/init_pose.py | Configuration | 4.5 KB | — |
| aloha_src/scripts/pedal_confirm.py | Configuration | 1.9 KB | — |
| aloha_src/scripts/perturb_report.py | Configuration | 7.8 KB | — |
| aloha_src/scripts/perturbed_minutes.py | Configuration | 3.1 KB | — |
| aloha_src/scripts/pi_client_smoke.py | Configuration | 2.0 KB | — |
| aloha_src/scripts/probe_camera_backend.py | Configuration | 4.8 KB | — |
| aloha_src/scripts/probe_cameras.py | Configuration | 3.6 KB | — |
| aloha_src/scripts/record_episodes.py | Configuration | 21.5 KB | — |
| aloha_src/scripts/record_session.py | Configuration | 7.5 KB | — |
| aloha_src/scripts/replay_episodes.py | Configuration | 5.1 KB | — |
| aloha_src/scripts/replay_perturbed.py | Configuration | 19.1 KB | — |
| aloha_src/scripts/run_groot_policy.py | Configuration | 69.5 KB | — |
| aloha_src/scripts/run_pi_policy.py | Configuration | 21.8 KB | — |
| aloha_src/scripts/scene_overlay.py | Configuration | 14.7 KB | — |
| aloha_src/scripts/sleep.py | Configuration | 4.9 KB | — |
| aloha_src/scripts/teleop.py | Configuration | 9.3 KB | — |
| aloha_src/scripts/teleop_session.py | Configuration | 8.7 KB | — |
| aloha_src/scripts/visualize_episodes.py | Configuration | 10.1 KB | — |
| aloha_src/setup.py | Configuration | 1.1 KB | — |
| aloha_src/test/test_kitchen_hierarchy.py | Configuration | 14.3 KB | — |
| aloha_src/test/test_rtc_schedule.py | Configuration | 3.8 KB | — |
| aloha_src/test/test_session_offline.py | Configuration | 53.9 KB | — |
| artifacts/kitchen_figure/detailed/frames.json | Configuration | 9.6 KB | — |
| artifacts/kitchen_figure/detailed_figure.py | Configuration | 6.3 KB | — |
| artifacts/kitchen_figure/extract_frames.py | Configuration | 1.3 KB | — |
| artifacts/kitchen_figure/figma/data.json | Configuration | 27.5 KB | — |
| artifacts/kitchen_figure/figma/simple_state.json | Configuration | 4.5 KB | — |
| artifacts/kitchen_figure/figma/state.json | Configuration | 38.3 KB | — |
| artifacts/kitchen_figure/figma/wrist_selection.json | Configuration | 4.7 KB | — |
| artifacts/kitchen_figure/frames.json | Configuration | 2.9 KB | — |
| artifacts/kitchen_figure/render_figure.py | Configuration | 1.5 KB | — |
| artifacts/kitchen_figure/wrist/frames.json | Configuration | 8.1 KB | — |
| artifacts/kitchen_figure/wrist_left/frames.json | Configuration | 8.1 KB | — |
| artifacts/kitchen_figure/wrist_right/frames.json | Configuration | 8.1 KB | — |
| config/base_joystick_teleop.yaml | Configuration | 245 B | — |
| config/follower_modes_left.yaml | Configuration | 340 B | — |
| config/follower_modes_right.yaml | Configuration | 341 B | — |
| config/leader_modes_left.yaml | Configuration | 117 B | — |
| config/leader_modes_right.yaml | Configuration | 118 B | — |
| config/leader_motor_specs_left.yaml | Configuration | 2.6 KB | — |
| config/leader_motor_specs_right.yaml | Configuration | 2.6 KB | — |
| config/pedal.yaml | Configuration | 920 B | — |
| config/robot/aloha_mobile.yaml | Configuration | 4.0 KB | — |
| config/robot/aloha_solo.yaml | Configuration | 3.1 KB | — |
| config/robot/aloha_stationary.yaml | Configuration | 7.0 KB | — |
| config/robot/aloha_stationary_15hz.yaml | Configuration | 5.2 KB | — |
| config/robot/aloha_stationary_25hz.yaml | Configuration | 6.8 KB | — |
| config/robot/aloha_stationary_30fps.yaml | Configuration | 7.0 KB | — |
| config/robot/aloha_stationary_60fps.yaml | Configuration | 6.6 KB | — |
| config/robot/aloha_stationary_60fps_vga.yaml | Configuration | 7.0 KB | — |
| config/robot/aloha_stationary_pi.yaml | Configuration | 6.9 KB | — |
| config/sigma_per_dim.json | Configuration | 1.4 KB | — |
| config/tasks_config.yaml | Configuration | 13.4 KB | — |
| groot/Isaac-GR00T/.github/ISSUE_TEMPLATE/bug_report.yml | Configuration | 2.0 KB | — |
| groot/Isaac-GR00T/.github/ISSUE_TEMPLATE/documentation.yml | Configuration | 602 B | — |
| groot/Isaac-GR00T/.github/ISSUE_TEMPLATE/feature_request.yml | Configuration | 935 B | — |
| groot/Isaac-GR00T/.github/actions/setup-venv/action.yml | Configuration | 1.6 KB | — |
| groot/Isaac-GR00T/.github/workflows/main.yml | Configuration | 1.4 KB | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/meta/info.json | Configuration | 3.2 KB | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/meta/modality.json | Configuration | 664 B | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/meta/relative_stats.json | Configuration | 20.2 KB | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/meta/stats.json | Configuration | 3.0 KB | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5_with_mask/meta/info.json | Configuration | 3.3 KB | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5_with_mask/meta/modality.json | Configuration | 854 B | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5_with_mask/meta/relative_stats.json | Configuration | 20.2 KB | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5_with_mask/meta/stats.json | Configuration | 3.0 KB | — |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/meta/info.json | Configuration | 5.3 KB | — |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/meta/modality.json | Configuration | 1.7 KB | — |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/meta/relative_stats.json | Configuration | 104.3 KB | — |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/meta/stats.json | Configuration | 14.2 KB | — |
| groot/Isaac-GR00T/examples/ALOHA/aloha_config.py | Configuration | — | |
| groot/Isaac-GR00T/examples/DROID/main_gr00t.py | Configuration | 15.2 KB | — |
| groot/Isaac-GR00T/examples/DROID/server_client.py | Configuration | 12.4 KB | — |
| groot/Isaac-GR00T/examples/DROID/utils.py | Configuration | 2.6 KB | — |
| groot/Isaac-GR00T/examples/LIBERO/modality.json | Configuration | 1.4 KB | — |
| groot/Isaac-GR00T/examples/PointNav/modality.json | Configuration | 577 B | — |
| groot/Isaac-GR00T/examples/PointNav/modality_config.py | Configuration | 1.1 KB | — |
| groot/Isaac-GR00T/examples/SO100/modality.json | Configuration | 664 B | — |
| groot/Isaac-GR00T/examples/SO100/so100_config.py | Configuration | 1.5 KB | — |
| groot/Isaac-GR00T/examples/SimplerEnv/bridge_modality.json | Configuration | 1.4 KB | — |
| groot/Isaac-GR00T/examples/SimplerEnv/convert_av1_to_h264.py | Configuration | 2.5 KB | — |
| groot/Isaac-GR00T/examples/SimplerEnv/fractal_modality.json | Configuration | 1.4 KB | — |
| groot/Isaac-GR00T/examples/mask-guided-background-suppression/so101_config.py | Configuration | 1.3 KB | — |
| groot/Isaac-GR00T/examples/mask-guided-background-suppression/test_extra_augmentation.py | Configuration | 6.9 KB | — |
| groot/Isaac-GR00T/gr00t/__init__.py | Configuration | — | |
| groot/Isaac-GR00T/gr00t/configs/__init__.py | Configuration | — | |
| groot/Isaac-GR00T/gr00t/configs/base_config.py | Configuration | 5.5 KB | — |
| groot/Isaac-GR00T/gr00t/configs/data/__init__.py | Configuration | — | |
| groot/Isaac-GR00T/gr00t/configs/data/data_config.py | Configuration | 3.0 KB | — |
| groot/Isaac-GR00T/gr00t/configs/data/embodiment_configs.py | Configuration | 10.9 KB | — |
| groot/Isaac-GR00T/gr00t/configs/deepspeed/zero2_config.json | Configuration | 828 B | — |
| groot/Isaac-GR00T/gr00t/configs/deepspeed/zero3_config.json | Configuration | 848 B | — |
| groot/Isaac-GR00T/gr00t/configs/finetune_config.py | Configuration | 5.3 KB | — |
| groot/Isaac-GR00T/gr00t/configs/model/__init__.py | Configuration | 957 B | — |
| groot/Isaac-GR00T/gr00t/configs/model/gr00t_n1d6.py | Configuration | 6.0 KB | — |
| groot/Isaac-GR00T/gr00t/configs/training/__init__.py | Configuration | — | |
| groot/Isaac-GR00T/gr00t/configs/training/training_config.py | Configuration | 3.2 KB | — |
| groot/Isaac-GR00T/gr00t/data/__init__.py | Configuration | — | |
| groot/Isaac-GR00T/gr00t/data/collator/__init__.py | Configuration | 41 B | — |
| groot/Isaac-GR00T/gr00t/data/collator/collators.py | Configuration | 333 B | — |
| groot/Isaac-GR00T/gr00t/data/dataset/__init__.py | Configuration | — | |
| groot/Isaac-GR00T/gr00t/data/dataset/factory.py | Configuration | 3.5 KB | — |
| groot/Isaac-GR00T/gr00t/data/dataset/lerobot_episode_loader.py | Configuration | 24.6 KB | — |
| groot/Isaac-GR00T/gr00t/data/dataset/sharded_mixture_dataset.py | Configuration | 19.5 KB | — |
| groot/Isaac-GR00T/gr00t/data/dataset/sharded_single_step_dataset.py | Configuration | 11.7 KB | — |
| groot/Isaac-GR00T/gr00t/data/embodiment_tags.py | Configuration | 1.2 KB | — |
| groot/Isaac-GR00T/gr00t/data/interfaces.py | Configuration | 4.6 KB | — |
| groot/Isaac-GR00T/gr00t/data/state_action/action_chunking.py | Configuration | 25.7 KB | — |
| groot/Isaac-GR00T/gr00t/data/state_action/pose.py | Configuration | 23.3 KB | — |
| groot/Isaac-GR00T/gr00t/data/state_action/state_action_processor.py | Configuration | 28.1 KB | — |
| groot/Isaac-GR00T/gr00t/data/stats.py | Configuration | 10.3 KB | — |
| groot/Isaac-GR00T/gr00t/data/types.py | Configuration | 3.9 KB | — |
| groot/Isaac-GR00T/gr00t/data/utils.py | Configuration | 11.3 KB | — |
| groot/Isaac-GR00T/gr00t/eval/open_loop_eval.py | Configuration | 12.3 KB | — |
| groot/Isaac-GR00T/gr00t/eval/real_robot/SO100/eval_so100.py | Configuration | 8.3 KB | — |
| groot/Isaac-GR00T/gr00t/eval/rollout_policy.py | Configuration | 18.3 KB | — |
| groot/Isaac-GR00T/gr00t/eval/run_gr00t_server.py | Configuration | 3.3 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/BEHAVIOR/available_tasks.yaml | Configuration | 22.0 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/BEHAVIOR/behavior_env.py | Configuration | 32.0 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/BEHAVIOR/og_teleop_cfg.py | Configuration | 12.1 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/BEHAVIOR/og_teleop_utils.py | Configuration | 7.7 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/BEHAVIOR/prepare_test_instances.py | Configuration | 412 B | — |
| groot/Isaac-GR00T/gr00t/eval/sim/LIBERO/libero_env.py | Configuration | 8.6 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/SimplerEnv/simpler_env.py | Configuration | 11.1 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/__init__.py | Configuration | — | |
| groot/Isaac-GR00T/gr00t/eval/sim/env_utils.py | Configuration | 1.4 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/wrapper/multistep_wrapper.py | Configuration | 15.0 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/wrapper/video_recording_wrapper.py | Configuration | 19.1 KB | — |
| groot/Isaac-GR00T/gr00t/experiment/__init__.py | Configuration | — | |
| groot/Isaac-GR00T/gr00t/experiment/dist_utils.py | Configuration | 412 B | — |
| groot/Isaac-GR00T/gr00t/experiment/experiment.py | Configuration | 11.8 KB | — |
| groot/Isaac-GR00T/gr00t/experiment/launch_finetune.py | Configuration | 3.9 KB | — |
| groot/Isaac-GR00T/gr00t/experiment/launch_train.py | Configuration | 998 B | — |
| groot/Isaac-GR00T/gr00t/experiment/trainer.py | Configuration | 12.1 KB | — |
| AGENTS.md | Documentation | 7.0 KB | — |
| CLAUDE.md | Documentation | 21.1 KB | — |
| aloha_src/LICENSE | Documentation | 1.1 KB | — |
| aloha_src/README.md | Documentation | 1.2 KB | — |
| docker/README.md | Documentation | 9.3 KB | — |
| docs/KITCHEN_HL_LL_5090.md | Documentation | 23.0 KB | — |
| groot/Isaac-GR00T/.github/pull_request_template.md | Documentation | 864 B | — |
| groot/Isaac-GR00T/CONTRIBUTING.md | Documentation | 8.1 KB | — |
| groot/Isaac-GR00T/LICENSE | Documentation | 4.7 KB | — |
| groot/Isaac-GR00T/README.md | Documentation | 22.5 KB | — |
| groot/Isaac-GR00T/docker/README.md | Documentation | 3.2 KB | — |
| groot/Isaac-GR00T/examples/BEHAVIOR/README.md | Documentation | 9.7 KB | — |
| groot/Isaac-GR00T/examples/DROID/README.md | Documentation | 1.1 KB | — |
| groot/Isaac-GR00T/examples/GR00T-WholeBodyControl/README.md | Documentation | 4.1 KB | — |
| groot/Isaac-GR00T/examples/LIBERO/README.md | Documentation | 8.4 KB | — |
| groot/Isaac-GR00T/examples/PointNav/README.md | Documentation | 2.8 KB | — |
| groot/Isaac-GR00T/examples/SO100/README.md | Documentation | 3.1 KB | — |
| groot/Isaac-GR00T/examples/SimplerEnv/README.md | Documentation | 6.1 KB | — |
| groot/Isaac-GR00T/examples/mask-guided-background-suppression/README.md | Documentation | 8.4 KB | — |
| groot/Isaac-GR00T/examples/robocasa-gr1-tabletop-tasks/README.md | Documentation | 3.9 KB | — |
| groot/Isaac-GR00T/examples/robocasa/README.md | Documentation | 3.3 KB | — |
| groot/Isaac-GR00T/getting_started/data_config.md | Documentation | 11.2 KB | — |
| groot/Isaac-GR00T/getting_started/data_preparation.md | Documentation | 8.2 KB | — |
| groot/Isaac-GR00T/getting_started/finetune_new_embodiment.md | Documentation | 4.5 KB | — |
| groot/Isaac-GR00T/getting_started/hardware_recommendation.md | Documentation | 2.2 KB | — |
| groot/Isaac-GR00T/getting_started/policy.md | Documentation | 15.7 KB | — |
| groot/Isaac-GR00T/getting_started/real_world_deployment.md | Documentation | 20.5 KB | — |
| aloha_src/_asw_repo/asw_plan_authkey | Other | 43 B | — |
| aloha_src/package.xml | Other | 1.0 KB | — |
| aloha_src/requirements.txt | Other | 193 B | — |
| aloha_src/resource/99-fixed-interbotix-udev.rules | Other | 831 B | — |
| aloha_src/resource/aloha | Other | — | |
| aloha_src/rviz/aloha.rviz | Other | 22.0 KB | — |
| aloha_src/scripts/a.out | Other | — | |
| aloha_src/scripts/all/20260920_104634_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 3.4 MB | 17995a36514f |
| aloha_src/scripts/all/20260920_104723_Kitchen_Task_1_baseline-test_camera_high.mp4 | Other | 15.1 MB | 8919521636db |
| aloha_src/scripts/all/20260920_104939_Kitchen_Task_1_baseline-test_camera_high.mp4 | Other | 13.3 MB | 105e225e779f |
| aloha_src/scripts/all/20260920_105102_Kitchen_Task_1_baseline-test_camera_high.mp4 | Other | 5.6 MB | 71048d7bf818 |
| aloha_src/scripts/all/20260920_105141_Kitchen_Task_1_baseline-test_camera_high.mp4 | Other | 11.2 MB | fb40c1dc403a |
| aloha_src/scripts/all/20260920_105529_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 4.9 MB | ff749825c913 |
| aloha_src/scripts/all/20260920_105635_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 12.6 MB | 3a811791dc10 |
| aloha_src/scripts/all/20260920_105754_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.5 MB | 8dc943e5f5b1 |
| aloha_src/scripts/all/20260920_105943_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.4 MB | e568caaf5819 |
| aloha_src/scripts/all/20260920_110443_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 13.6 MB | bb38279862aa |
| aloha_src/scripts/all/20260920_110612_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.3 MB | 5bf479488d41 |
| aloha_src/scripts/all/20260920_110759_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 15.1 MB | d2d9d722e33b |
| aloha_src/scripts/all/20260920_110938_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 13.5 MB | 723c19f736b2 |
| aloha_src/scripts/all/20260920_111106_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.4 MB | c97f3efc986f |
| aloha_src/scripts/all/20260920_111233_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.5 MB | ea22635dce1c |
| aloha_src/scripts/all/20260920_111400_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 15.2 MB | a2821d5a7e81 |
| aloha_src/scripts/all/20260920_111528_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 14.6 MB | ab7be3694b54 |
| aloha_src/scripts/all/20260920_111702_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.2 MB | 852eac007e17 |
| aloha_src/scripts/all/20260920_111829_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.5 MB | a3ea11b7aeaf |
| aloha_src/scripts/all/20260920_112009_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.5 MB | 9044a70c3d16 |
| aloha_src/scripts/all/20260920_112154_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.4 MB | e4e18777ca72 |
| aloha_src/scripts/all/20260920_112337_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.4 MB | 65a4e3d75778 |
| aloha_src/scripts/all/20260920_112503_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.3 MB | 3a6e3e3df3ec |
| aloha_src/scripts/all/20260920_112628_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.5 MB | d12cc1868d7c |
| aloha_src/scripts/all/20260920_112755_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.0 MB | bddb9e5d9430 |
| aloha_src/scripts/all/20260920_113322_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 15.8 MB | ac54c3c68cea |
| aloha_src/scripts/all/20260920_113442_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 2.4 MB | 4aa4917f408a |
| aloha_src/scripts/all/20260920_113511_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.3 MB | 3c15834ac648 |
| aloha_src/scripts/all/20260920_113646_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.3 MB | 3851d73bb793 |
| aloha_src/scripts/all/20260920_113817_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 15.9 MB | 0cc16403cd8c |
| aloha_src/scripts/all/20260920_113946_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 15.7 MB | 2eb5d4a855f9 |
| aloha_src/scripts/all/20260920_114116_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.2 MB | 876f7582b996 |
| aloha_src/scripts/all/20260920_114244_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.1 MB | 014bd1763aa8 |
| aloha_src/scripts/all/20260920_114418_Kitchen_Task_1_baseline-task1_camera_high.mp4 | Other | 16.4 MB | 8d3c0d1ebd55 |
| aloha_src/scripts/all/20260920_114657_Kitchen_Task_1_baseline-task_camera_high.mp4 | Other | 16.3 MB | 99f55a75f613 |
| aloha_src/scripts/all/20260920_114853_Kitchen_Task_1_baseline-task_camera_high.mp4 | Other | 15.8 MB | b4bb4ec384de |
| aloha_src/scripts/all/20260920_115039_Kitchen_Task_1_baseline-task_camera_high.mp4 | Other | 16.3 MB | 31970427e057 |
| aloha_src/scripts/all/20260920_115158_Kitchen_Task_1_baseline-task_camera_high.mp4 | Other | 16.4 MB | 35b26d2f25e8 |
| aloha_src/scripts/all/20260920_115320_Kitchen_Task_1_baseline-task_camera_high.mp4 | Other | 14.4 MB | 9be03dbbc75c |
| aloha_src/scripts/all/20260920_115459_Kitchen_Task_1_baseline-task-test_camera_high.mp4 | Other | 6.6 MB | 584c63d9613c |
| aloha_src/scripts/all/20260920_120155_Kitchen_Task_1_baseline-task-1-white-first_camera_high.mp4 | Other | 15.7 MB | 8f33b5e767b2 |
| aloha_src/scripts/auto_record.sh | Other | 817 B | — |
| aloha_src/scripts/get_xsarm_serial.sh | Other | 224 B | — |
| aloha_src/scripts/rollout_batch.sh | Other | 1.7 KB | — |
| aloha_src/scripts/run_groot_policy.py.bak-20260925 | Other | 58.8 KB | — |
| aloha_src/setup.cfg | Other | 79 B | — |
| artifacts/kitchen_figure/detailed/kitchen_tasks_detailed.pdf | Other | 5.0 MB | ad6fdd235b9d |
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| artifacts/kitchen_figure/detailed/task1_placefork.png | Other | 235.3 KB | 04d5a03e100e |
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| artifacts/kitchen_figure/wrist/task1_placefork.png | Other | 280.9 KB | 80d0ba69b9f2 |
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| artifacts/kitchen_figure/wrist_right/task1_placecup.png | Other | 256.7 KB | e9e585538626 |
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| artifacts/kitchen_figure/wrist_right/task2_putgreenplateintub.png | Other | 357.0 KB | 565a7cc177ff |
| artifacts/kitchen_figure/wrist_right/task2_putspongeintub.png | Other | 364.9 KB | d17c578cf532 |
| artifacts/kitchen_figure/wrist_right/task2_putspoonintub.png | Other | 365.7 KB | 2b4f7106043b |
| artifacts/kitchen_figure/wrist_right/task2_putwhiteplateintub.png | Other | 291.4 KB | b4f6e52314bd |
| artifacts/kitchen_figure/wrist_right/task2_scrubplacemat.png | Other | 369.9 KB | 68c2436cafc4 |
| config/robot/aloha_stationary.yaml.bak2 | Other | 4.3 KB | — |
| config/robot/aloha_stationary.yaml.bak_15fps | Other | 4.1 KB | — |
| config/robot/aloha_stationary.yaml.bak_60fps | Other | 4.3 KB | — |
| config/robot/aloha_stationary.yaml.bak_collect_60_50_20260911_1854 | Other | 5.4 KB | — |
| config/robot/aloha_stationary.yaml.orig | Other | 3.5 KB | — |
| config/tasks_config.yaml.bak_20260911_1857 | Other | 4.5 KB | — |
| config/tasks_config.yaml.bak_20260918_0138 | Other | 10.9 KB | — |
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| config/tasks_config.yaml.bak_20260919_170313 | Other | 13.3 KB | — |
| config/tasks_config.yaml.bak_20260920_004035 | Other | 13.4 KB | — |
| docker/Dockerfile | Other | 4.7 KB | — |
| docker/build.sh | Other | 359 B | — |
| docker/entrypoint.sh | Other | 671 B | — |
| docker/exec.sh | Other | 2.6 KB | — |
| docker/inference.sh | Other | 7.0 KB | — |
| docker/run.sh | Other | 6.2 KB | — |
| docker/run.sh.bak | Other | 6.1 KB | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/data/chunk-000/episode_000000.parquet | Other | 28.6 KB | 037ef9dacbe3 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/data/chunk-000/episode_000001.parquet | Other | 34.0 KB | 716f7fd62c64 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/data/chunk-000/episode_000002.parquet | Other | 26.1 KB | 9033b86ad779 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/data/chunk-000/episode_000003.parquet | Other | 37.1 KB | 4492790aec5f |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/data/chunk-000/episode_000004.parquet | Other | 32.1 KB | 463769d6aa0e |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/meta/episodes.jsonl | Other | 361 B | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/meta/tasks.jsonl | Other | 101 B | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/videos/chunk-000/observation.images.front/episode_000000.mp4 | Other | 2.4 MB | 3c9a00cb6e27 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/videos/chunk-000/observation.images.front/episode_000001.mp4 | Other | 3.2 MB | 0f1c9a635d03 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/videos/chunk-000/observation.images.front/episode_000002.mp4 | Other | 2.0 MB | 378605259ff8 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/videos/chunk-000/observation.images.front/episode_000003.mp4 | Other | 7.3 MB | fc28f6fd54be |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/videos/chunk-000/observation.images.front/episode_000004.mp4 | Other | 2.5 MB | bf89d6dbc888 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/videos/chunk-000/observation.images.wrist/episode_000000.mp4 | Other | 1.4 MB | 33f42924b0e6 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/videos/chunk-000/observation.images.wrist/episode_000001.mp4 | Other | 2.1 MB | 92fa46f856f4 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/videos/chunk-000/observation.images.wrist/episode_000002.mp4 | Other | 1.2 MB | fdf0618a70f6 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/videos/chunk-000/observation.images.wrist/episode_000003.mp4 | Other | 5.7 MB | 1a658fbfc860 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5/videos/chunk-000/observation.images.wrist/episode_000004.mp4 | Other | 1.5 MB | 7d362fd9d101 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5_with_mask/data/chunk-000/episode_000000.parquet | Other | 28.6 KB | 037ef9dacbe3 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5_with_mask/meta/episodes.jsonl | Other | 72 B | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5_with_mask/meta/tasks.jsonl | Other | 101 B | — |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5_with_mask/videos/chunk-000/observation.images.front/episode_000000.mp4 | Other | 2.4 MB | 3c9a00cb6e27 |
| groot/Isaac-GR00T/demo_data/cube_to_bowl_5_with_mask/videos/chunk-000/observation.images.wrist/episode_000000.mp4 | Other | 1.4 MB | 33f42924b0e6 |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/data/chunk-000/episode_000000.parquet | Other | 180.5 KB | f9b7e519c075 |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/data/chunk-000/episode_000001.parquet | Other | 203.0 KB | cf8229e9fb49 |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/data/chunk-000/episode_000002.parquet | Other | 202.9 KB | 1d1c8351eb09 |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/data/chunk-000/episode_000003.parquet | Other | 178.8 KB | 9a211ec3d27e |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/data/chunk-000/episode_000004.parquet | Other | 143.9 KB | cdee402095a6 |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/meta/episodes.jsonl | Other | 591 B | — |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/meta/tasks.jsonl | Other | 476 B | — |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/videos/chunk-000/observation.images.ego_view/episode_000000.mp4 | Other | 1.1 MB | 8901a22d116a |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/videos/chunk-000/observation.images.ego_view/episode_000001.mp4 | Other | 858.3 KB | 71ebc9e46a96 |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/videos/chunk-000/observation.images.ego_view/episode_000002.mp4 | Other | 1.1 MB | c709527d40ef |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/videos/chunk-000/observation.images.ego_view/episode_000003.mp4 | Other | 788.3 KB | 042a1bf51a88 |
| groot/Isaac-GR00T/demo_data/gr1.PickNPlace/videos/chunk-000/observation.images.ego_view/episode_000004.mp4 | Other | 726.2 KB | 9871132e445d |
| groot/Isaac-GR00T/docker/Dockerfile | Other | 3.5 KB | — |
| groot/Isaac-GR00T/docker/build.sh | Other | 1.6 KB | — |
| groot/Isaac-GR00T/examples/LIBERO/patches/episode_000082.mp4 | Other | 306.2 KB | b260ad525ee2 |
| groot/Isaac-GR00T/examples/finetune.sh | Other | 3.6 KB | — |
| groot/Isaac-GR00T/getting_started/GR00T_inference.ipynb | Other | 449.0 KB | — |
| groot/Isaac-GR00T/gr00t/eval/real_robot/SO100/pyproject.toml | Other | 446 B | — |
| groot/Isaac-GR00T/gr00t/eval/sim/GR00T-WholeBodyControl/setup_GR00T_WholeBodyControl.sh | Other | 1.9 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/LIBERO/setup_libero.sh | Other | 1.8 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/SimplerEnv/setup_SimplerEnv.sh | Other | 1.8 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/robocasa-gr1-tabletop-tasks/setup_RoboCasaGR1TabletopTasks.sh | Other | 3.3 KB | — |
| groot/Isaac-GR00T/gr00t/eval/sim/robocasa/setup_RoboCasa.sh | Other | 2.5 KB | — |
| .gitattributes | Repository | 20.3 KB | — |
| aloha_src/.gitignore | Repository | 90 B | — |
| config/.active_robot | Repository | 17 B | — |
| groot/Isaac-GR00T/.gitattributes | Repository | 162 B | — |
| groot/Isaac-GR00T/.gitignore | Repository | 2.1 KB | — |
| groot/Isaac-GR00T/.gitmodules | Repository | 770 B | — |
| groot/Isaac-GR00T/demo_data/.gitignore | Repository | 1 B | — |
| groot/Isaac-GR00T/docker/.dockerignore | Repository | 463 B | — |
License and Download
- License
- Not stated by the source
- Access
- Open weights, no gate
- Download size
- 45.2 MB
Download from Byungjun Yoon
Released by Byungjun Yoon through its official repository on Hugging Face.
Memory Requirements
| Precision | Weights in memory |
|---|---|
| As published | 45.2 MB |
Weights only, from the published parameter count; the key-value cache and runtime add to this.