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Gr00t N1.6-DROID

We provide a checkpoint that is post-trained on the DROID dataset - GR00T-N1.6-DROID. Follow the instructions below to run inference for this model.

1. Inference Server:

On a machine with a sufficiently powerful GPU, start the policy server from the root folder of this repo:

uv run --extra=gpu python gr00t/eval/run_gr00t_server.py --embodiment-tag OXE_DROID --use_sim_policy_wrapper --model-path=nvidia/GR00T-N1.6-DROID

2. Control Script:

  1. Install the DROID package on the robot control laptop/workstation - instructions

  2. Install dependencies for the Gr00t control script in the environment from 1.:

pip install tyro moviepy==1.0.3 pydantic numpy==1.26.4

  1. Enter the camera IDs for your ZED cameras in examples/DROID/main_gr00t.py.

  2. Start the control script:

python examples/DROID/main_gr00t.py --external_camera="left" # or "right"