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Initial commit: QuantVLA GR00T (DuQuant W4A8 + ATM + OHB)
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‎.gitattributes‎

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*.safetensors filter=lfs diff=lfs merge=lfs -text

‎.github/ISSUE_TEMPLATE/bug_report.yml‎

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name: 🐛 Bug Report
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description: Create a report to help us reproduce and fix the bug
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labels: 'bug'
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body:
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- type: markdown
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attributes:
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value: >
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#### Before submitting a bug, please make sure the issue hasn't been already addressed by searching through [the existing and past issues](https://github.com/NVIDIA/Isaac-GR00T/issues?q=is%3Aissue+sort%3Acreated-desc+).
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- type: textarea
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attributes:
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label: 🐛 Describe the bug
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description: |
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Please provide a clear and concise description of what the bug is.
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If relevant, add a minimal example so that we can reproduce the error by running the code. It is very important for the snippet to be as succinct (minimal) as possible, so please take time to trim down any irrelevant code to help us debug efficiently. We are going to copy-paste your code and we expect to get the same result as you did: avoid any external data, and include the relevant imports, etc. For example:
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```python
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# All necessary imports at the beginning
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import gr00t
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# A succinct reproducing example trimmed down to the essential parts:
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assert False is True, "Oh no!"
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```
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If the code is too long (hopefully, it isn't), feel free to put it in a public gist and link it in the issue: https://gist.github.com.
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Please also paste or describe the results you observe instead of the expected results. If you observe an error, please paste the error message including the **full** traceback of the exception. It may be relevant to wrap error messages in ```` ```triple quotes blocks``` ````.
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placeholder: |
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A clear and concise description of what the bug is.
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validations:
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required: true
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- type: textarea
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attributes:
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label: Versions
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description: |
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Please run the following and paste the output below.
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```sh
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python --version && pip freeze
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```
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validations:
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required: true
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- type: markdown
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attributes:
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value: >
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Thanks for contributing 🎉!

‎.github/ISSUE_TEMPLATE/documentation.yml‎

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name: 📚 Documentation
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description: Report an issue related to https://github.com/NVIDIA/Isaac-GR00T
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labels: 'documentation'
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body:
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- type: textarea
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attributes:
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label: 📚 The doc issue
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description: >
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A clear and concise description of what content in https://github.com/NVIDIA/Isaac-GR00T is an issue.
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validations:
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required: true
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- type: textarea
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attributes:
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label: Suggest a potential alternative/fix
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description: >
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Tell us how we could improve the documentation in this regard.
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- type: markdown
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attributes:
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value: >
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Thanks for contributing 🎉!

‎.github/ISSUE_TEMPLATE/feature_request.yml‎

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name: 🚀 Feature request
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description: Submit a proposal/request for a new feature
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labels: 'feature request'
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body:
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- type: textarea
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attributes:
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label: 🚀 The feature, motivation and pitch
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description: >
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A clear and concise description of the feature proposal. Please outline the motivation for the proposal. Is your feature request related to a specific problem? e.g., *"I'm working on X and would like Y to be possible"*. If this is related to another GitHub issue, please link here too.
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validations:
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required: true
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- type: textarea
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attributes:
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label: Alternatives
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description: >
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A description of any alternative solutions or features you've considered, if any.
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- type: textarea
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attributes:
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label: Additional context
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description: >
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Add any other context or screenshots about the feature request.
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- type: markdown
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attributes:
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value: >
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Thanks for contributing 🎉!

‎.github/actions/setup-venv/action.yml‎

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name: Python virtualenv
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description: Set up a Python virtual environment with caching
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inputs:
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python-version:
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description: The Python version to use
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required: true
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cache-prefix:
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description: Update this to invalidate the cache
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required: true
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default: v4
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runs:
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using: composite
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steps:
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- name: Setup Python
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uses: actions/setup-python@v4
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with:
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python-version: ${{ inputs.python-version }}
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- shell: bash
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run: |
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# Install prerequisites.
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pip install --upgrade pip setuptools wheel virtualenv
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- shell: bash
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run: |
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# Get the exact Python version to use in the cache key.
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echo "PYTHON_VERSION=$(python --version)" >> $GITHUB_ENV
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- uses: actions/cache@v4
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id: virtualenv-cache
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with:
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path: .venv
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key: ${{ inputs.cache-prefix }}-${{ runner.os }}-${{ env.PYTHON_VERSION }}-${{ hashFiles('pyproject.toml') }}
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- if: steps.virtualenv-cache.outputs.cache-hit != 'true'
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shell: bash
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run: |
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# Set up virtual environment without cache hit.
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test -d .venv || virtualenv -p $(which python) --copies --reset-app-data .venv
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. .venv/bin/activate
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pip install -e .[dev]
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- if: steps.virtualenv-cache.outputs.cache-hit == 'true'
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shell: bash
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run: |
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# Set up virtual environment from cache hit.
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. .venv/bin/activate
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pip install --no-deps -e .[dev]
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- shell: bash
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run: |
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# Show environment info.
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. .venv/bin/activate
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echo "✓ Installed $(python --version) virtual environment to $(which python)"
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echo "Packages:"
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pip freeze

‎.github/pull_request_template.md‎

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<!-- To ensure we can review your pull request promptly please complete this template entirely. -->
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<!-- Please reference the issue number here. You can replace "Fixes" with "Closes" if it makes more sense. -->
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Fixes #
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Changes proposed in this pull request:
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<!-- Please list all changes/additions here. -->
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-
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## Before submitting
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<!-- Please complete this checklist BEFORE submitting your PR to speed along the review process. -->
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- [ ] I've read and followed all steps in the [Making a pull request](https://github.com/NVIDIA/Isaac-GR00T/blob/main/CONTRIBUTING.md#making-a-pull-request)
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section of the `CONTRIBUTING` docs.
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- [ ] I've updated or added any relevant docstrings.
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- [ ] If this PR fixes a bug, I've added a test that will fail without my fix.
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- [ ] If this PR adds a new feature, I've added tests that sufficiently cover my new functionality.

‎.github/workflows/main.yml‎

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name: Main
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concurrency:
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group: ${{ github.workflow }}-${{ github.ref }}
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cancel-in-progress: true
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on:
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pull_request:
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branches:
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- main
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push:
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branches:
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- main
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tags:
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- "v*.*.*"
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env:
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# Change this to invalidate existing cache.
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CACHE_PREFIX: v4
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PYTHONPATH: ./
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jobs:
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checks:
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name: Python ${{ matrix.python }} - ${{ matrix.task.name }}
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runs-on: [ubuntu-latest]
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timeout-minutes: 15
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strategy:
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fail-fast: false
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matrix:
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python: ["3.10"]
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task:
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- name: Test
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run: |
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pytest -v --color=yes tests/
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include:
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- python: "3.10"
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task:
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name: Lint
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run: ruff check .
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- python: "3.10"
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task:
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name: Style
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run: |
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isort --check .
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black --check .
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steps:
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- uses: actions/checkout@v4
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with:
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lfs: true
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- name: Pull LFS objects
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run: git lfs pull
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- name: Setup Python environment
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uses: ./.github/actions/setup-venv
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with:
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python-version: ${{ matrix.python }}
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cache-prefix: ${{ env.CACHE_PREFIX }}
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- name: ${{ matrix.task.name }}
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run: |
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. .venv/bin/activate
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${{ matrix.task.run }}
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- name: Upload package distribution files
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if: matrix.task.name == 'Build'
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uses: actions/upload-artifact@v4
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with:
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name: package
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path: dist
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- name: Clean up
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if: always()
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run: |
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. .venv/bin/activate
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pip uninstall -y gr00t

‎.gitignore‎

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# C extensions
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*.so
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# Distribution / packaging
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.Python
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build/
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develop-eggs/
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dist/
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downloads/
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eggs/
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.eggs/
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lib/
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lib64/
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parts/
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sdist/
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var/
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wheels/
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share/python-wheels/
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*.egg-info/
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.installed.cfg
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*.egg
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MANIFEST
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# build artifacts
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.eggs/
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.mypy_cache
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*.egg-info/
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build/
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dist/
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pip-wheel-metadata/
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# dev tools
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.envrc
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.python-version
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.idea
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.venv/
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.vscode/
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/*.iml
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pyrightconfig.json
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.ruff_cache/
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# jupyter notebooks
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.ipynb_checkpoints
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# miscellaneous
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.cache/
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doc/_build/
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*.swp
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.DS_Store
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# python
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*.pyc
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*.pyo
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__pycache__
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# testing and continuous integration
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.coverage
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.pytest_cache/
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.benchmarks
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# documentation build artifacts
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docs/build
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site/
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# The following ignores are from vila repository
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*.whl
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*_dev
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dev/
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# config.json
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eval_output/
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eval-result/
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hostfile
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core.*
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*.out
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captioner_bk/
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slurm-logs/
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captioner/
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hostfile
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*_dev.py
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*_dev.sh
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# Python
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__pycache__
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*.pyc
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*.egg-info
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dist
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# Log
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*.log
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*.log.*
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# Data
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!**/alpaca-data-conversation.json
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# Editor
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.idea
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*.swp
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# Other
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.DS_Store
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wandb
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# Playground
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playground/
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# Hydra
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.hydra/
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# Data
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demo_data/gr00t-gr1-apple-to-shelf/
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tmp/
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output/
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duquant*/
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rollout*/
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ohb_viz/
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smooth*/
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atm_viz*/
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ckpts*/
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media*/
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SimplerEnv/

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