Zhengyuan Su (苏政渊)andClaude Opus 4.8
2d0b1d8a29
Signed-off-by: Zhengyuan Su <su.zhengyuan@u.nus.edu> Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
42 lines
1.5 KiB
YAML
42 lines
1.5 KiB
YAML
# GR00T N1.7 deploy: single diffusion stage.
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#
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# Topology is declared in vllm_omni/model_executor/models/gr00t/pipeline.py.
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# This default uses one GPU with TP=1 and CFG parallel disabled.
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pipeline: Gr00tN1d7
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# Required: async_chunk defaults to True, which the deploy validator rejects for a
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# single-stage pipeline (no next-stage processor). Must be false here.
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async_chunk: false
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stages:
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- stage_id: 0
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max_num_seqs: 1
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enforce_eager: true
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model_class_name: Gr00tN1d7Pipeline
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model_config:
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embodiment_tag: OXE_DROID_RELATIVE_EEF_RELATIVE_JOINT
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# OpenPI client handshake — model/embodiment-specific values for GR00T-N1.7.
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# Sent verbatim to the client (the pipeline never reads these); they describe the
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# action space / inputs the client must produce for this checkpoint + embodiment.
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policy_server_config:
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image_resolution: [180, 320]
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needs_session_id: true
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embodiment_tag: OXE_DROID_RELATIVE_EEF_RELATIVE_JOINT
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action_horizon: 40
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action_keys:
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- eef_9d
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- gripper_position
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- joint_position
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supported_embodiments:
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- OXE_DROID_RELATIVE_EEF_RELATIVE_JOINT
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- XDOF
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- XDOF_SUBTASK
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- REAL_G1
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- REAL_R1_PRO_SHARPA
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- REAL_R1_PRO_SHARPA_HUMAN
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- REAL_R1_PRO_SHARPA_MAXINSIGHTS
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- REAL_R1_PRO_SHARPA_MECKA
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- LIBERO_PANDA
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- SIMPLER_ENV_GOOGLE
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- SIMPLER_ENV_WIDOWX
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