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[release/0.2.1] Change the prompt for the finetuning #722

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[release/0.2.1] Change the prompt for the finetuning #722

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7f95423
Change the prompt to move the apple to the plate.
pulkitg01 May 26, 2026
7080605
Remove period at the end of the prompt
pulkitg01 May 26, 2026
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2 changes: 1 addition & 1 deletion docs/pages/example_workflows/static_apple/step_3_policy_training.rst
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Expand Up @@ -93,7 +93,7 @@ The converter is controlled by a config file at
hdf5_name: "arena_g1_static_apple_dataset_recorded.hdf5"

# Task description
language_instruction: "Pick up the apple from the shelf and place it onto the plate on the same shelf next to it."
language_instruction: "move the apple to the plate"
task_index: 3

# Data field mappings
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2 changes: 1 addition & 1 deletion isaaclab_arena_gr00t/lerobot/config/g1_static_apple_config.yaml
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Expand Up @@ -11,7 +11,7 @@
data_root: "/datasets/isaaclab_arena/static_apple_tutorial"

# Instruction given to the policy in natural language
language_instruction: "Pick up the apple from the shelf and place it onto the plate on the same shelf next to it."
language_instruction: "move the apple to the plate"
task_index: 3

# Name of the HDF5 file to use for the dataset (matches the recorder output from
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2 changes: 1 addition & 1 deletion isaaclab_arena_gr00t/policy/config/g1_static_apple_gr00t_closedloop_config.yaml
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Expand Up @@ -15,7 +15,7 @@
# (mount $MODELS_DIR -> /models, e.g. via `run_gr00t_server.sh -m $MODELS_DIR` or
# `-v $MODELS_DIR:/models` on raw `docker run`).
model_path: /models/isaaclab_arena/static_apple_tutorial/static_apple_n17_finetune/checkpoint-20000
language_instruction: "Pick up the apple from the shelf and place it onto the plate on the same shelf next to it."
language_instruction: "move the apple to the plate"

# Must match the diffusion head's action_horizon baked into the finetuned checkpoint
# (set via the action modality's `delta_indices=list(range(N))` in
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