From 2391fcf1619562b4ed82613261a81f0701ab2b9b Mon Sep 17 00:00:00 2001 From: Teeeio <1712003847@qq.com> Date: Sun, 29 Mar 2026 18:05:58 +0800 Subject: [PATCH 1/4] Update GR00T N1.5 README dependencies --- examples/gr00t_n1_5/README.md | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/examples/gr00t_n1_5/README.md b/examples/gr00t_n1_5/README.md index cc5074cc21..70ee5bec4f 100644 --- a/examples/gr00t_n1_5/README.md +++ b/examples/gr00t_n1_5/README.md @@ -24,10 +24,23 @@ Install FlagScale and robotics dependencies: ```sh cd FlagScale/ -# replace "[cuda-train]" with "[ascend-train]" on Huawei Ascend, or "[musa-train]" on Moore Threads MUSA +# For NVIDIA CUDA training pip install ".[cuda-train]" --verbose + +# For NVIDIA CUDA serving +pip install ".[cuda-serve]" --verbose + +# Replace "cuda-train" in the training command above with "ascend-train" +# on Huawei Ascend, or "musa-train" on Moore Threads MUSA. + +# Additional GR00T N1.5 runtime dependencies +pip install peft torchcodec ``` +GR00T N1.5 also requires: +- `flash-attn` built against the current `torch` version +- FFmpeg runtime libraries for `torchcodec` + Install additional dependencies for downloading models/datasets: ```sh @@ -204,7 +217,7 @@ Configure the following fields: - `engine_args.host` - Server host (default: `"0.0.0.0"`) - `engine_args.port` - Server port (default: `5000`) - `engine_args.model_variant` - Model variant: `"Gr00tN15"` -- `engine_args.model` - Path to pretrained or fine-tuned model checkpoint (e.g., `/workspace/models/nvidia/GR00T-N1.5-3B`) +- `engine_args.model` - Path to a training checkpoint directory (e.g., `outputs/gr00t_n1_5_train/checkpoints/last`). The checkpoint should contain `pretrained_model/train_config.yaml` and `pretrained_model/model.safetensors` - `engine_args.device` - Device to use (e.g., `"cuda"`, `"npu"`, `"musa"`) ### Run Serving From 9ac403a3c971830b6285662eee849a22572a5cb5 Mon Sep 17 00:00:00 2001 From: Teeeio <1712003847@qq.com> Date: Mon, 30 Mar 2026 08:49:45 +0800 Subject: [PATCH 2/4] Add FFmpeg install instructions to GR00T README --- examples/gr00t_n1_5/README.md | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/examples/gr00t_n1_5/README.md b/examples/gr00t_n1_5/README.md index 70ee5bec4f..47a726e72c 100644 --- a/examples/gr00t_n1_5/README.md +++ b/examples/gr00t_n1_5/README.md @@ -30,8 +30,8 @@ pip install ".[cuda-train]" --verbose # For NVIDIA CUDA serving pip install ".[cuda-serve]" --verbose -# Replace "cuda-train" in the training command above with "ascend-train" -# on Huawei Ascend, or "musa-train" on Moore Threads MUSA. +# Replace [cuda-train] in the training command above with [ascend-train] +# on Huawei Ascend, or [musa-train] on Moore Threads MUSA. # Additional GR00T N1.5 runtime dependencies pip install peft torchcodec @@ -41,6 +41,17 @@ GR00T N1.5 also requires: - `flash-attn` built against the current `torch` version - FFmpeg runtime libraries for `torchcodec` +Install FFmpeg using one of the following options: + +```sh +# Using conda +conda install -c conda-forge ffmpeg + +# Or on Ubuntu/Debian +sudo apt-get update +sudo apt-get install -y ffmpeg +``` + Install additional dependencies for downloading models/datasets: ```sh @@ -217,7 +228,7 @@ Configure the following fields: - `engine_args.host` - Server host (default: `"0.0.0.0"`) - `engine_args.port` - Server port (default: `5000`) - `engine_args.model_variant` - Model variant: `"Gr00tN15"` -- `engine_args.model` - Path to a training checkpoint directory (e.g., `outputs/gr00t_n1_5_train/checkpoints/last`). The checkpoint should contain `pretrained_model/train_config.yaml` and `pretrained_model/model.safetensors` +- `engine_args.model` - Path to pretrained or fine-tuned model checkpoint (e.g., `/workspace/models/nvidia/GR00T-N1.5-3B`) - `engine_args.device` - Device to use (e.g., `"cuda"`, `"npu"`, `"musa"`) ### Run Serving From 6bb804c5d777b1285a2e05a56f4297faa9bd2517 Mon Sep 17 00:00:00 2001 From: Teeeio <1712003847@qq.com> Date: Mon, 30 Mar 2026 15:43:18 +0800 Subject: [PATCH 3/4] Pin peft version in GR00T README --- examples/gr00t_n1_5/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/gr00t_n1_5/README.md b/examples/gr00t_n1_5/README.md index 47a726e72c..feac615180 100644 --- a/examples/gr00t_n1_5/README.md +++ b/examples/gr00t_n1_5/README.md @@ -34,7 +34,7 @@ pip install ".[cuda-serve]" --verbose # on Huawei Ascend, or [musa-train] on Moore Threads MUSA. # Additional GR00T N1.5 runtime dependencies -pip install peft torchcodec +pip install "peft==0.18.1" torchcodec ``` GR00T N1.5 also requires: From 9b11693d71286d2b5eba21a534b633d0ae825038 Mon Sep 17 00:00:00 2001 From: Teeeio <1712003847@qq.com> Date: Tue, 31 Mar 2026 16:16:02 +0800 Subject: [PATCH 4/4] Update GR00T requirements for single-command install --- examples/gr00t_n1_5/README.md | 8 ++------ requirements/ascend/serve.txt | 3 +++ requirements/cuda/serve.txt | 4 ++++ requirements/cuda/train.txt | 6 ++++++ 4 files changed, 15 insertions(+), 6 deletions(-) diff --git a/examples/gr00t_n1_5/README.md b/examples/gr00t_n1_5/README.md index feac615180..fe7c117d16 100644 --- a/examples/gr00t_n1_5/README.md +++ b/examples/gr00t_n1_5/README.md @@ -32,14 +32,10 @@ pip install ".[cuda-serve]" --verbose # Replace [cuda-train] in the training command above with [ascend-train] # on Huawei Ascend, or [musa-train] on Moore Threads MUSA. - -# Additional GR00T N1.5 runtime dependencies -pip install "peft==0.18.1" torchcodec ``` -GR00T N1.5 also requires: -- `flash-attn` built against the current `torch` version -- FFmpeg runtime libraries for `torchcodec` +GR00T N1.5 requires FFmpeg runtime libraries for `torchcodec`. +Install FFmpeg before running training or dataset preprocessing. Install FFmpeg using one of the following options: diff --git a/requirements/ascend/serve.txt b/requirements/ascend/serve.txt index c2ef02f201..0587d5987a 100644 --- a/requirements/ascend/serve.txt +++ b/requirements/ascend/serve.txt @@ -2,6 +2,9 @@ -r ./base.txt +# for robotics +peft==0.18.1 + # FlagTree for Ascend (extra index so PyPI remains available for build deps) # [--extra-index-url https://resource.flagos.net/repository/flagos-pypi-hosted/simple] flagtree==0.4.0+ascend3.2 diff --git a/requirements/cuda/serve.txt b/requirements/cuda/serve.txt index 50bfd806e2..40c32116cb 100644 --- a/requirements/cuda/serve.txt +++ b/requirements/cuda/serve.txt @@ -1,6 +1,10 @@ # serve-specific dependencies -r ./base.txt + +# for robotics +peft==0.18.1 + vllm @ https://resource.flagos.net/repository/flagos-pypi-hosted/packages/vllm/0.13.0%2Bfl.0.1.cu128.g72506c983/vllm-0.13.0%2Bfl.0.1.cu128.g72506c983-cp312-cp312-linux_x86_64.whl # support 0.5b_multiple_instance ci test diff --git a/requirements/cuda/train.txt b/requirements/cuda/train.txt index d700b0e60b..7a864ac23e 100644 --- a/requirements/cuda/train.txt +++ b/requirements/cuda/train.txt @@ -4,4 +4,10 @@ sentencepiece==0.2.1 transformers==4.57.6 tiktoken==0.12.0 + +# for robotics +peft==0.18.1 +torchcodec==0.8.1 +flash-attn @ https://github.com/Dao-AILab/flash-attention/releases/download/v2.8.1/flash_attn-2.8.1+cu12torch2.9cxx11abiTRUE-cp312-cp312-linux_x86_64.whl + megatron_core @ https://resource.flagos.net/repository/flagos-pypi-hosted/packages/megatron-core/0.16.0rc0/megatron_core-0.16.0rc0-cp312-cp312-linux_x86_64.whl