README.md

Deployment Scripts

Inference with Python TensorRT

Export ONNX model

python deployment_scripts/export_onnx.py

Build TensorRT engine

bash deployment_scripts/build_engine.sh

Inference with TensorRT

python deployment_scripts/gr00t_inference.py --inference_mode=tensorrt

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Jetson Deployment

Prerequisites

• AGX Orin installed with Jetpack 6.2

1. Installation Guide

Clone the repo:

git clone https://github.com/NVIDIA/Isaac-GR00T
cd Isaac-GR00T

Install Isaac-GR00T directly

Run below setup script to install the dependencies:

bash deployment_scripts/setup_env.sh

Deploy Isaac-GR00T with Container

Build Container

To build a container for Isaac-GR00T:

docker build -t isaac-gr00t-n1.5:l4t-jp6.2 -f orin.Dockerfile .

Run Container

To run the container:

docker run -it --rm --network=host --runtime=nvidia --volume /mnt:/mnt --workdir /mnt/Isaac-GR00T   isaac-gr00t-n1.5:l4t-jp6.2  /bin/bash

2. Inference

• The GR00T N1.5 model is hosted on Huggingface
• Example cross embodiment dataset is available at demo_data/robot_sim.PickNPlace
• This project supports to run the inference with PyTorch or Python TensorRT as instructions below

2.1 Inference with PyTorch

python deployment_scripts/gr00t_inference.py --inference_mode=pytorch

2.2 Inference with Python TensorRT

Export ONNX model

python deployment_scripts/export_onnx.py

Build TensorRT engine

bash deployment_scripts/build_engine.sh

Inference with TensorRT

python deployment_scripts/gr00t_inference.py --inference_mode=tensorrt

3. Performance

3.1 Pipline Performance

Here's comparison of E2E performance between PyTorch and TensorRT on Orin:

3.2 Models Performance

Model latency measured by trtexec with batch_size=1.

Model Name	Orin benchmark perf (ms)	Precision
Action_Head - process_backbone_output	5.17	FP16
Action_Head - state_encoder	0.05	FP16
Action_Head - action_encoder	0.20	FP16
Action_Head - DiT	7.77	FP16
Action_Head - action_decoder	0.04	FP16
VLM - ViT	11.96	FP16
VLM - LLM	17.25	FP16

Note：The module latency (e.g., DiT Block) in pipeline is slighly longer than the modoel latency in benchmark table above because the module (e.g., Action_Head - DiT) latency not only includes the model latency in table above but also accounts for the overhead of data transfer from PyTorch to TRT and returning from TRT to to PyTorch.