Provides the pretrained model of assembly trocar for RLinf post-training#5722
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Greptile SummaryThis PR updates the RLinf post-training documentation to advertise a pretrained GR00T checkpoint for the
Confidence Score: 3/5The download command is likely broken as written and points to a repository that may not be publicly accessible long-term. The --include glob pattern ends with a bare trailing slash and no wildcard, so it will almost certainly match nothing at runtime — users who follow the documented steps will end up with an empty local directory and a confusing silent success from the CLI. The model also lives in nvidia/orca-dev-test, which implies a staging or internal resource that may not be available to external contributors. docs/source/experimental-features/bleeding-edge.rst — specifically the download command at lines 73-74 and the choice of host repository. Important Files Changed
Flowchart%%{init: {'theme': 'neutral'}}%%
flowchart TD
A[Prerequisites] --> B[Download pretrained checkpoint]
B --> C[Install dependencies]
C --> D{Workflow}
D -->|Training| E[RL fine-tuning via train.py]
D -->|Evaluation| F[Evaluation via play.py]
E --> G[FSDP Actor Worker]
E --> H[Rollout Worker VLA inference]
E --> I[Env Worker IsaacLab sim]
G & H & I --> J[Updated VLA checkpoint]
Reviews (1): Last reviewed commit: "Provides the pretrained model of assembl..." | Re-trigger Greptile |
| hf download --repo-type model nvidia/orca-dev-test \ | ||
| --include "rlinf/assemble_trocar/" --local-dir /path/to/local/models |
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--include glob pattern may not match any files
The pattern "rlinf/assemble_trocar/" ends with a trailing slash but includes no wildcard. HuggingFace Hub's --include uses fnmatch-style matching, which matches file paths character-for-character. Actual file paths in the repo look like rlinf/assemble_trocar/model.safetensors — they do not end with a slash — so this pattern will likely match nothing and the download will appear to succeed while writing no files. The pattern should end with * (e.g., "rlinf/assemble_trocar/*") to capture all files in that directory.
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| hf download --repo-type model nvidia/orca-dev-test \ |
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The checkpoint is served from nvidia/orca-dev-test. The dev-test suffix strongly implies this is an internal staging or experimentation repository rather than a stable, publicly-facing one. Depending on its visibility settings, users without appropriate HuggingFace credentials may receive a 404 or authentication error when running this command. If this is intended for public use, the model should be published to a stable repository and if authentication is required, that prerequisite should be called out explicitly.
| - **Isaac Lab** installed and configured | ||
| - **Isaac-GR00T** repo (for VLA inference and data transforms) | ||
| - A **pretrained VLA checkpoint** in HuggingFace format | ||
| - A **pretrained VLA checkpoint** in HuggingFace format. A pretrained GR00T checkpoint for | ||
| ``assemble_trocar`` is available and can be downloaded via: | ||
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| .. code-block:: bash | ||
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| hf download --repo-type model nvidia/orca-dev-test \ | ||
| --include "rlinf/assemble_trocar/" --local-dir /path/to/local/models |
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hf CLI prerequisite not listed
The hf command comes from the huggingface_hub Python package, which must be installed before running the download step. It is not listed as a prerequisite and is not installed by any of the steps in the Installation section. A user following the doc top-to-bottom will hit command not found: hf unless they happen to have it already. Adding huggingface_hub or a pip install huggingface_hub note to the prerequisites list would prevent this.
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@mingxueg-nv could you take a look at the conflict? we moved the RLInf docs into its own page. pls also make sure to submit another PR to cherry pick the change into the release branch |
… instructions to new rlinf_vla_posttraining page
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Thanks @kellyguo11, I have resolved the conflicts and updated the HF repo in here, and also in the PR for release branch. |
…ing (isaac-sim#5722) # Description Provides the pretrained GR00T model for assembly trocar task. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
Description
Provides the pretrained GR00T model for assembly trocar task.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there