为 LeRobot SO-101 机械臂微调 GR00T N1.5 并在 Jetson AGX Thor 上部署

介绍

本 wiki 解释了如何为 LeRobot SO-101 机械臂微调 NVIDIA Isaac GR00T N1.5 并在 NVIDIA Jetson Thor 上部署。内容包括：

LeRobot SO-101 和 Jetson AGX Thor 的硬件准备
在 Jetson Thor 上为 GR00T N1.5 设置软件环境
使用 LeRobot 训练平台：数据收集、数据集格式化和为 SO-101 机械臂进行微调
在 Jetson Thor 上部署训练好的 GR00T N1.5 策略（LeRobot + SO-101）的示例工作流程
故障排除技巧和常见陷阱

提供详细的分步说明和参考文档，帮助您从初始设置到完整部署。

NVIDIA Jetson Thor 开发者套件入门

Jetson Thor 概述

NVIDIA® Jetson AGX Thor™ 开发者套件是物理 AI 和人形机器人的强大平台。它基于 NVIDIA Blackwell GPU 构建，包含 128 GB 高速内存，在 40-130 W（常用功耗高达 130 W）功耗范围内提供高达 2,070 FP4 TFLOPS 的 AI 计算能力。

您可以从 Seeed Studio 获取 Jetson AGX Thor 开发者套件：Seeed – NVIDIA Jetson AGX Thor™ 开发者套件

包装盒中包含的硬件物品是一个 Thor 单元和一个电源适配器：

刷写 Thor 系统镜像

截至 2025 年 9 月 10 日，Thor 的最新可用系统镜像版本是 38.2。如果您需要为 Thor 重新刷写系统，请按照本节中的说明操作。刷写所需物品：

一台具有超过 25 GB 可用磁盘空间的主机设备（支持 Ubuntu 或 Windows 操作系统）
一个容量至少为 16 GB 的 USB 驱动器
一台显示器和 DP/HDMI 显示线缆
一个能够提供超过 240 W 功率的电源供应环境
一个带 USB 接口的键盘

首先，从 NVIDIA 官方网站下载 Thor 的 ISO 格式系统镜像。点击这里访问下载页面：

在主机上安装 Balena Etcher。要下载安装程序，请点击这里并根据您的主机操作系统选择适当的版本：

下载 ISO 镜像文件并成功安装 Balena Etcher 后，将 USB 驱动器插入主机。然后，启动 Balena Etcher 创建用于刷写 Thor 的可启动 USB 驱动器：

danger

此过程将格式化 USB 驱动器。请确保事先备份任何重要数据。

从本地存储中选择下载的 ISO 镜像文件，然后选择目标设备——即您的 USB 驱动器。请务必仔细验证目标设备名称和挂载目录！点击 Flash! 并等待过程完成。完成后，用于将系统刷写到 Thor 的 USB 驱动器就准备好了：

接下来，将准备好的 USB 驱动器、键盘、显示线缆（DP/HDMI）和电源（Type-C）插入 Thor 板以开始刷写过程。

启动 Thor 并进入启动界面。选择 Boot Manager，然后选择插入 Thor 的 USB 驱动器（根据您的 USB 驱动器名称）。按 Esc 返回上一个菜单，然后选择 Continue：

经过短暂的黑屏后，将出现以下界面。选择 Jetson Thor options 并按 Enter。然后，选择选项 Flash Jetson AGX Thor Developer Kit on NVMe 0.2.0-r38.2 将系统镜像刷写到 Thor 的 NVMe 固态硬盘：

屏幕上将显示大量日志信息。等待大约 15 分钟。此阶段完成后，设备将自动重启并进入下一个界面。等待 Update Progress 进度条达到 100%，这表示刷写过程已成功完成：

刷写完成后，您可以继续进行初始系统配置：

warning

此系统镜像不包含 CUDA、TensorRT 或 JetPack 的其他 SDK 组件。

Thor 上的基本开发环境设置

本节提供了如何在 Thor 上安装常用软件依赖项以用于开发目的的示例。这些依赖项旨在促进后续开发。

请注意，列出的依赖项仅供参考——请根据各自项目的要求安装其他软件包。

安装基本开发依赖项

JetPack SDK 安装

打开终端并运行以下命令。稍等片刻后，CUDA、TensorRT 和其他 SDK 组件将被安装：

sudo apt update
sudo apt install nvidia-jetpack

浏览器安装

Firefox 已经过测试并验证可在 Ubuntu 24.04 上稳定运行：

sudo apt update
sudo apt install firefox

Jtop 安装

要安装 jtop，请参考以下说明。

sudo apt update
sudo apt install python3
sudo apt install python3-pip

sudo pip3 install -U pip
sudo pip3 install jetson-stats

Miniconda 安装

Miniconda 用于隔离开发环境。要安装 miniconda，请参考以下说明：

wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
bash Miniconda3-latest-Linux-x86_64.sh
source ~/.bashrc
conda --version

安装 GPU 版本的 PyTorch

在 Thor 上从源代码编译 GPU 版本的 PyTorch 可能会导致兼容性问题。为了方便起见，我们提供了一个预编译的 .whl 文件，帮助开发者在 Thor 上快速设置支持 PyTorch 的开发环境。

这里提供了一个预编译的 wheel 文件，用于在 Thor 上安装 PyTorch 2.9。此文件是在 Python 3.10 + CUDA 13 环境中编译的。点击这里下载 .whl 文件。

其他用于 thor 的预编译依赖项 .whl 文件可以在这里找到。

如果预期的 wheel 文件不可用，开发者需要自己构建所需的依赖项以完成开发环境的设置。

安装其他依赖项

本文档提供了一个参考 Docker 镜像，帮助开发者快速适应 Jetson AGX Thor 开发环境。此镜像仅供参考，开发者可以根据具体需求自由选择是否使用。

note

由于镜像大小超过 40 GB，从服务器下载相对较慢。

此 Docker 镜像可以稳定运行 GR00T N1.5 推理。镜像中 pip list 命令的输出如下：

pip.list

Package                   Version           Location         Installer                              Editable project location
------------------------- ----------------- ---------------- -------------------------------------- -------------------------
absl-py                   2.3.1                              /opt/venv/lib/python3.12/site-packages pip
accelerate                1.2.1                              /opt/venv/lib/python3.12/site-packages pip
aiohappyeyeballs          2.6.1                              /opt/venv/lib/python3.12/site-packages pip
aiohttp                   3.12.15                            /opt/venv/lib/python3.12/site-packages pip
aiosignal                 1.4.0                              /opt/venv/lib/python3.12/site-packages pip
albucore                  0.0.17                             /opt/venv/lib/python3.12/site-packages pip
albumentations            1.4.18                             /opt/venv/lib/python3.12/site-packages pip
annotated-types           0.7.0                              /opt/venv/lib/python3.12/site-packages pip
antlr4-python3-runtime    4.9.3                              /opt/venv/lib/python3.12/site-packages pip
anyio                     4.10.0                             /opt/venv/lib/python3.12/site-packages pip
argon2-cffi               25.1.0                             /opt/venv/lib/python3.12/site-packages pip
argon2-cffi-bindings      25.1.0                             /opt/venv/lib/python3.12/site-packages pip
arrow                     1.3.0                              /opt/venv/lib/python3.12/site-packages pip
asttokens                 3.0.0                              /opt/venv/lib/python3.12/site-packages pip
astunparse                1.6.3                              /opt/venv/lib/python3.12/site-packages pip
async-lru                 2.0.5                              /opt/venv/lib/python3.12/site-packages pip
attrs                     23.2.0                             /usr/lib/python3/dist-packages         debian
av                        12.3.0                             /opt/venv/lib/python3.12/site-packages pip
babel                     2.17.0                             /opt/venv/lib/python3.12/site-packages pip
beautifulsoup4            4.13.5                             /opt/venv/lib/python3.12/site-packages pip
bleach                    6.2.0                              /opt/venv/lib/python3.12/site-packages pip
blessings                 1.7                                /opt/venv/lib/python3.12/site-packages pip
blinker                   1.9.0                              /opt/venv/lib/python3.12/site-packages pip
certifi                   2025.8.3                           /opt/venv/lib/python3.12/site-packages pip
cffi                      2.0.0                              /opt/venv/lib/python3.12/site-packages pip
charset-normalizer        3.4.3                              /opt/venv/lib/python3.12/site-packages pip
click                     8.2.1                              /opt/venv/lib/python3.12/site-packages pip
cloudpickle               3.1.1                              /opt/venv/lib/python3.12/site-packages pip
cmake                     3.31.6                             /opt/venv/lib/python3.12/site-packages pip
comm                      0.2.3                              /opt/venv/lib/python3.12/site-packages pip
contourpy                 1.3.3                              /opt/venv/lib/python3.12/site-packages pip
cramjam                   2.11.0                             /opt/venv/lib/python3.12/site-packages pip
cryptography              41.0.7                             /usr/lib/python3/dist-packages         debian
cuda-bindings             13.0.0                             /opt/venv/lib/python3.12/site-packages pip
cuda-core                 0.3.2                              /opt/venv/lib/python3.12/site-packages pip
cuda-pathfinder           1.2.2                              /opt/venv/lib/python3.12/site-packages pip
cycler                    0.12.1                             /opt/venv/lib/python3.12/site-packages pip
Cython                    3.1.3                              /opt/venv/lib/python3.12/site-packages pip
datasets                  4.0.0                              /opt/venv/lib/python3.12/site-packages pip
dbus-python               1.3.2                              /usr/lib/python3/dist-packages
debugpy                   1.8.16                             /opt/venv/lib/python3.12/site-packages pip
decorator                 5.2.1                              /opt/venv/lib/python3.12/site-packages pip
decord                    0.6.0                              /opt/venv/lib/python3.12/site-packages pip
deepdiff                  8.6.1                              /opt/venv/lib/python3.12/site-packages pip
defusedxml                0.7.1                              /opt/venv/lib/python3.12/site-packages pip
devscripts                2.23.7                             /usr/lib/python3/dist-packages
diffusers                 0.36.0.dev0                        /opt/venv/lib/python3.12/site-packages pip
dill                      0.3.8                              /opt/venv/lib/python3.12/site-packages pip
distro                    1.9.0                              /usr/lib/python3/dist-packages         debian
dm-tree                   0.1.8                              /opt/venv/lib/python3.12/site-packages pip
docker-pycreds            0.4.0                              /opt/venv/lib/python3.12/site-packages pip
docstring_parser          0.17.0                             /opt/venv/lib/python3.12/site-packages pip
docutils                  0.22                               /opt/venv/lib/python3.12/site-packages pip
draccus                   0.11.5                             /opt/venv/lib/python3.12/site-packages pip
einops                    0.8.1                              /opt/venv/lib/python3.12/site-packages pip
eval_type_backport        0.2.2                              /opt/venv/lib/python3.12/site-packages pip
evdev                     1.9.2                              /opt/venv/lib/python3.12/site-packages pip
executing                 2.2.1                              /opt/venv/lib/python3.12/site-packages pip
Farama-Notifications      0.0.4                              /opt/venv/lib/python3.12/site-packages pip
fastjsonschema            2.21.2                             /opt/venv/lib/python3.12/site-packages pip
fastparquet               2024.11.0                          /opt/venv/lib/python3.12/site-packages pip
feetech-servo-sdk         1.0.0                              /opt/venv/lib/python3.12/site-packages pip
filelock                  3.19.1                             /opt/venv/lib/python3.12/site-packages pip
flash_attn                2.8.4                              /opt/venv/lib/python3.12/site-packages pip
Flask                     3.1.2                              /opt/venv/lib/python3.12/site-packages pip
flatbuffers               25.2.10                            /opt/venv/lib/python3.12/site-packages pip
fonttools                 4.59.2                             /opt/venv/lib/python3.12/site-packages pip
fqdn                      1.5.1                              /opt/venv/lib/python3.12/site-packages pip
frozenlist                1.7.0                              /opt/venv/lib/python3.12/site-packages pip
fsspec                    2025.3.0                           /opt/venv/lib/python3.12/site-packages pip
gast                      0.6.0                              /opt/venv/lib/python3.12/site-packages pip
gitdb                     4.0.12                             /opt/venv/lib/python3.12/site-packages pip
GitPython                 3.1.45                             /opt/venv/lib/python3.12/site-packages pip
google-pasta              0.2.0                              /opt/venv/lib/python3.12/site-packages pip
grpcio                    1.74.0                             /opt/venv/lib/python3.12/site-packages pip
gymnasium                 1.0.0                              /opt/venv/lib/python3.12/site-packages pip
h11                       0.16.0                             /opt/venv/lib/python3.12/site-packages pip
h5py                      3.12.1                             /opt/venv/lib/python3.12/site-packages pip
hf-xet                    1.1.9                              /opt/venv/lib/python3.12/site-packages pip
httpcore                  1.0.9                              /opt/venv/lib/python3.12/site-packages pip
httplib2                  0.20.4                             /usr/lib/python3/dist-packages
httpx                     0.28.1                             /opt/venv/lib/python3.12/site-packages pip
huggingface-hub           0.34.4                             /opt/venv/lib/python3.12/site-packages pip
hydra-core                1.3.2                              /opt/venv/lib/python3.12/site-packages pip
id                        1.5.0                              /opt/venv/lib/python3.12/site-packages pip
idna                      3.10                               /opt/venv/lib/python3.12/site-packages pip
imageio                   2.34.2                             /opt/venv/lib/python3.12/site-packages pip
importlib_metadata        8.7.0                              /opt/venv/lib/python3.12/site-packages pip
iniconfig                 2.1.0                              /opt/venv/lib/python3.12/site-packages pip
inquirerpy                0.3.4                              /opt/venv/lib/python3.12/site-packages pip
iopath                    0.1.9                              /opt/venv/lib/python3.12/site-packages pip
ipykernel                 6.30.1                             /opt/venv/lib/python3.12/site-packages pip
ipython                   9.5.0                              /opt/venv/lib/python3.12/site-packages pip
ipython_pygments_lexers   1.1.1                              /opt/venv/lib/python3.12/site-packages pip
ipywidgets                8.1.7                              /opt/venv/lib/python3.12/site-packages pip
isoduration               20.11.0                            /opt/venv/lib/python3.12/site-packages pip
itsdangerous              2.2.0                              /opt/venv/lib/python3.12/site-packages pip
jaraco.classes            3.4.0                              /opt/venv/lib/python3.12/site-packages pip
jaraco.context            6.0.1                              /opt/venv/lib/python3.12/site-packages pip
jaraco.functools          4.3.0                              /opt/venv/lib/python3.12/site-packages pip
jedi                      0.19.2                             /opt/venv/lib/python3.12/site-packages pip
jeepney                   0.9.0                              /opt/venv/lib/python3.12/site-packages pip
Jinja2                    3.1.6                              /opt/venv/lib/python3.12/site-packages pip
json5                     0.12.1                             /opt/venv/lib/python3.12/site-packages pip
jsonlines                 4.0.0                              /opt/venv/lib/python3.12/site-packages pip
jsonpointer               3.0.0                              /opt/venv/lib/python3.12/site-packages pip
jsonschema                4.25.1                             /opt/venv/lib/python3.12/site-packages pip
jsonschema-specifications 2025.9.1                           /opt/venv/lib/python3.12/site-packages pip
jupyter                   1.1.1                              /opt/venv/lib/python3.12/site-packages pip
jupyter_client            8.6.3                              /opt/venv/lib/python3.12/site-packages pip
jupyter-console           6.6.3                              /opt/venv/lib/python3.12/site-packages pip
jupyter_core              5.8.1                              /opt/venv/lib/python3.12/site-packages pip
jupyter-events            0.12.0                             /opt/venv/lib/python3.12/site-packages pip
jupyter-lsp               2.3.0                              /opt/venv/lib/python3.12/site-packages pip
jupyter_server            2.17.0                             /opt/venv/lib/python3.12/site-packages pip
jupyter_server_terminals  0.5.3                              /opt/venv/lib/python3.12/site-packages pip
jupyterlab                4.4.7                              /opt/venv/lib/python3.12/site-packages pip
jupyterlab_myst           2.4.2                              /opt/venv/lib/python3.12/site-packages pip
jupyterlab_pygments       0.3.0                              /opt/venv/lib/python3.12/site-packages pip
jupyterlab_server         2.27.3                             /opt/venv/lib/python3.12/site-packages pip
jupyterlab_widgets        3.0.15                             /opt/venv/lib/python3.12/site-packages pip
keras                     3.11.3                             /opt/venv/lib/python3.12/site-packages pip
keyring                   25.6.0                             /opt/venv/lib/python3.12/site-packages pip
kiwisolver                1.4.9                              /opt/venv/lib/python3.12/site-packages pip
kornia                    0.7.4                              /opt/venv/lib/python3.12/site-packages pip
kornia_rs                 0.1.9                              /opt/venv/lib/python3.12/site-packages pip
lark                      1.2.2                              /opt/venv/lib/python3.12/site-packages pip
launchpadlib              1.11.0                             /usr/lib/python3/dist-packages
lazr.restfulclient        0.14.6                             /usr/lib/python3/dist-packages
lazr.uri                  1.0.6                              /usr/lib/python3/dist-packages
lazy_loader               0.4                                /opt/venv/lib/python3.12/site-packages pip
lerobot                   0.3.4             /opt/lerobot     /opt/venv/lib/python3.12/site-packages pip
libclang                  18.1.1                             /opt/venv/lib/python3.12/site-packages pip
llvmlite                  0.44.0                             /opt/venv/lib/python3.12/site-packages pip
lockfile                  0.12.2                             /opt/venv/lib/python3.12/site-packages pip
Mako                      1.3.10                             /opt/venv/lib/python3.12/site-packages pip
Markdown                  3.9                                /opt/venv/lib/python3.12/site-packages pip
markdown-it-py            4.0.0                              /opt/venv/lib/python3.12/site-packages pip
MarkupSafe                3.0.2                              /opt/venv/lib/python3.12/site-packages pip
matplotlib                3.10.0                             /opt/venv/lib/python3.12/site-packages pip
matplotlib-inline         0.1.7                              /opt/venv/lib/python3.12/site-packages pip
mdurl                     0.1.2                              /opt/venv/lib/python3.12/site-packages pip
mergedeep                 1.3.4                              /opt/venv/lib/python3.12/site-packages pip
mistune                   3.1.4                              /opt/venv/lib/python3.12/site-packages pip
ml_dtypes                 0.5.3                              /opt/venv/lib/python3.12/site-packages pip
more-itertools            10.8.0                             /opt/venv/lib/python3.12/site-packages pip
mpmath                    1.3.0                              /opt/venv/lib/python3.12/site-packages pip
msgpack                   1.1.1                              /opt/venv/lib/python3.12/site-packages pip
multidict                 6.6.4                              /opt/venv/lib/python3.12/site-packages pip
multiprocess              0.70.16                            /opt/venv/lib/python3.12/site-packages pip
mypy_extensions           1.1.0                              /opt/venv/lib/python3.12/site-packages pip
namex                     0.1.0                              /opt/venv/lib/python3.12/site-packages pip
nbclient                  0.10.2                             /opt/venv/lib/python3.12/site-packages pip
nbconvert                 7.16.6                             /opt/venv/lib/python3.12/site-packages pip
nbformat                  5.10.4                             /opt/venv/lib/python3.12/site-packages pip
nest-asyncio              1.6.0                              /opt/venv/lib/python3.12/site-packages pip
networkx                  3.5                                /opt/venv/lib/python3.12/site-packages pip
nh3                       0.3.0                              /opt/venv/lib/python3.12/site-packages pip
ninja                     1.13.0                             /opt/venv/lib/python3.12/site-packages pip
notebook                  7.4.5                              /opt/venv/lib/python3.12/site-packages pip
notebook_shim             0.2.4                              /opt/venv/lib/python3.12/site-packages pip
numba                     0.61.2                             /opt/venv/lib/python3.12/site-packages pip
numpy                     2.3.3                              /opt/venv/lib/python3.12/site-packages pip
numpydantic               1.6.7                              /opt/venv/lib/python3.12/site-packages pip
nvtx                      0.2.13                             /opt/venv/lib/python3.12/site-packages pip
oauthlib                  3.2.2                              /usr/lib/python3/dist-packages
omegaconf                 2.3.0                              /opt/venv/lib/python3.12/site-packages pip
onnx                      1.17.0                             /opt/venv/lib/python3.12/site-packages pip
opencv-contrib-python     4.13.0                             /opt/venv/lib/python3.12/site-packages pip
opencv-python             4.11.0.86                          /opt/venv/lib/python3.12/site-packages pip
opencv-python-headless    4.11.0.86                          /opt/venv/lib/python3.12/site-packages pip
opt_einsum                3.4.0                              /opt/venv/lib/python3.12/site-packages pip
optimum                   1.27.0                             /opt/venv/lib/python3.12/site-packages pip
optree                    0.17.0                             /opt/venv/lib/python3.12/site-packages pip
orderly-set               5.5.0                              /opt/venv/lib/python3.12/site-packages pip
packaging                 25.0                               /opt/venv/lib/python3.12/site-packages pip
pandas                    2.2.3                              /opt/venv/lib/python3.12/site-packages pip
pandocfilters             1.5.1                              /opt/venv/lib/python3.12/site-packages pip
parso                     0.8.5                              /opt/venv/lib/python3.12/site-packages pip
peft                      0.17.0                             /opt/venv/lib/python3.12/site-packages pip
pettingzoo                1.25.0                             /opt/venv/lib/python3.12/site-packages pip
pexpect                   4.9.0                              /opt/venv/lib/python3.12/site-packages pip
pfzy                      0.3.4                              /opt/venv/lib/python3.12/site-packages pip
pid                       3.0.4                              /opt/venv/lib/python3.12/site-packages pip
pillow                    11.3.0                             /opt/venv/lib/python3.12/site-packages pip
pip                       25.2                               /opt/venv/lib/python3.12/site-packages pip
pkginfo                   1.12.1.2                           /opt/venv/lib/python3.12/site-packages pip
platformdirs              4.4.0                              /opt/venv/lib/python3.12/site-packages pip
pluggy                    1.6.0                              /opt/venv/lib/python3.12/site-packages pip
portalocker               3.2.0                              /opt/venv/lib/python3.12/site-packages pip
prometheus_client         0.22.1                             /opt/venv/lib/python3.12/site-packages pip
prompt_toolkit            3.0.52                             /opt/venv/lib/python3.12/site-packages pip
propcache                 0.3.2                              /opt/venv/lib/python3.12/site-packages pip
protobuf                  6.32.0                             /opt/venv/lib/python3.12/site-packages pip
psutil                    7.0.0                              /opt/venv/lib/python3.12/site-packages pip
ptyprocess                0.7.0                              /opt/venv/lib/python3.12/site-packages pip
pure_eval                 0.2.3                              /opt/venv/lib/python3.12/site-packages pip
pyarrow                   21.0.0                             /opt/venv/lib/python3.12/site-packages pip
pycparser                 2.23                               /opt/venv/lib/python3.12/site-packages pip
pycuda                    2025.1.1                           /opt/venv/lib/python3.12/site-packages pip
pydantic                  2.10.6                             /opt/venv/lib/python3.12/site-packages pip
pydantic_core             2.27.2                             /opt/venv/lib/python3.12/site-packages pip
Pygments                  2.19.2                             /opt/venv/lib/python3.12/site-packages pip
PyGObject                 3.48.2                             /usr/lib/python3/dist-packages
PyJWT                     2.7.0                              /usr/lib/python3/dist-packages         debian
pynput                    1.8.1                              /opt/venv/lib/python3.12/site-packages pip
pyparsing                 3.1.1                              /usr/lib/python3/dist-packages         debian
pyrsistent                0.20.0                             /usr/lib/python3/dist-packages
pyserial                  3.5                                /opt/venv/lib/python3.12/site-packages pip
pytest                    8.4.2                              /opt/venv/lib/python3.12/site-packages pip
python-apt                2.7.7+ubuntu5                      /usr/lib/python3/dist-packages
python-daemon             3.1.2                              /opt/venv/lib/python3.12/site-packages pip
python-dateutil           2.9.0.post0                        /opt/venv/lib/python3.12/site-packages pip
python-json-logger        3.3.0                              /opt/venv/lib/python3.12/site-packages pip
python-xlib               0.33                               /opt/venv/lib/python3.12/site-packages pip
pytools                   2025.2.4                           /opt/venv/lib/python3.12/site-packages pip
pytorch3d                 0.7.8                              /opt/venv/lib/python3.12/site-packages pip
pytz                      2025.2                             /opt/venv/lib/python3.12/site-packages pip
PyYAML                    6.0.2                              /opt/venv/lib/python3.12/site-packages pip
pyyaml-include            1.4.1                              /opt/venv/lib/python3.12/site-packages pip
pyzmq                     27.1.0                             /opt/venv/lib/python3.12/site-packages pip
ray                       2.40.0                             /opt/venv/lib/python3.12/site-packages pip
readme_renderer           44.0                               /opt/venv/lib/python3.12/site-packages pip
referencing               0.36.2                             /opt/venv/lib/python3.12/site-packages pip
regex                     2025.9.1                           /opt/venv/lib/python3.12/site-packages pip
requests                  2.32.3                             /opt/venv/lib/python3.12/site-packages pip
requests-toolbelt         1.0.0                              /opt/venv/lib/python3.12/site-packages pip
rerun-sdk                 0.24.1                             /opt/venv/lib/python3.12/site-packages pip
rfc3339-validator         0.1.4                              /opt/venv/lib/python3.12/site-packages pip
rfc3986                   2.0.0                              /opt/venv/lib/python3.12/site-packages pip
rfc3986-validator         0.1.1                              /opt/venv/lib/python3.12/site-packages pip
rfc3987-syntax            1.1.0                              /opt/venv/lib/python3.12/site-packages pip
rich                      14.1.0                             /opt/venv/lib/python3.12/site-packages pip
rpds-py                   0.27.1                             /opt/venv/lib/python3.12/site-packages pip
safetensors               0.6.2                              /opt/venv/lib/python3.12/site-packages pip
scikit-build              0.18.1                             /opt/venv/lib/python3.12/site-packages pip
scikit-image              0.25.2                             /opt/venv/lib/python3.12/site-packages pip
scipy                     1.16.1                             /opt/venv/lib/python3.12/site-packages pip
SecretStorage             3.4.0                              /opt/venv/lib/python3.12/site-packages pip
semantic-version          2.10.0                             /opt/venv/lib/python3.12/site-packages pip
Send2Trash                1.8.3                              /opt/venv/lib/python3.12/site-packages pip
sentencepiece             0.2.1                              /opt/venv/lib/python3.12/site-packages pip
sentry-sdk                2.37.1                             /opt/venv/lib/python3.12/site-packages pip
service                   0.6.0                              /opt/venv/lib/python3.12/site-packages pip
setproctitle              1.3.7                              /opt/venv/lib/python3.12/site-packages pip
setuptools                80.9.0                             /opt/venv/lib/python3.12/site-packages pip
setuptools-rust           1.12.0                             /opt/venv/lib/python3.12/site-packages pip
shtab                     1.7.2                              /opt/venv/lib/python3.12/site-packages pip
siphash24                 1.8                                /opt/venv/lib/python3.12/site-packages pip
six                       1.16.0                             /usr/lib/python3/dist-packages
smmap                     5.0.2                              /opt/venv/lib/python3.12/site-packages pip
sniffio                   1.3.1                              /opt/venv/lib/python3.12/site-packages pip
soupsieve                 2.8                                /opt/venv/lib/python3.12/site-packages pip
stack-data                0.6.3                              /opt/venv/lib/python3.12/site-packages pip
sympy                     1.14.0                             /opt/venv/lib/python3.12/site-packages pip
tensorboard               2.20.0                             /opt/venv/lib/python3.12/site-packages pip
tensorboard-data-server   0.7.2                              /opt/venv/lib/python3.12/site-packages pip
tensorflow                2.20.0                             /opt/venv/lib/python3.12/site-packages pip
tensorrt                  10.13.2.6                          /opt/venv/lib/python3.12/site-packages pip
termcolor                 3.1.0                              /opt/venv/lib/python3.12/site-packages pip
terminado                 0.18.1                             /opt/venv/lib/python3.12/site-packages pip
tf_keras                  2.20.1                             /opt/venv/lib/python3.12/site-packages pip
tianshou                  0.5.1                              /opt/venv/lib/python3.12/site-packages pip
tifffile                  2025.9.9                           /opt/venv/lib/python3.12/site-packages pip
timm                      1.0.14                             /opt/venv/lib/python3.12/site-packages pip
tinycss2                  1.4.0                              /opt/venv/lib/python3.12/site-packages pip
tokenizers                0.21.4                             /opt/venv/lib/python3.12/site-packages pip
toml                      0.10.2                             /opt/venv/lib/python3.12/site-packages pip
torch                     2.9.0                              /opt/venv/lib/python3.12/site-packages pip
torchvision               0.24.0                             /opt/venv/lib/python3.12/site-packages pip
tornado                   6.5.2                              /opt/venv/lib/python3.12/site-packages pip
tqdm                      4.67.1                             /opt/venv/lib/python3.12/site-packages pip
traitlets                 5.14.3                             /opt/venv/lib/python3.12/site-packages pip
transformers              4.51.3                             /opt/venv/lib/python3.12/site-packages pip
triton                    3.5.0+gite3b8f77a                  /opt/venv/lib/python3.12/site-packages pip
twine                     6.2.0                              /opt/venv/lib/python3.12/site-packages pip
typeguard                 4.4.2                              /opt/venv/lib/python3.12/site-packages pip
types-python-dateutil     2.9.0.20250822                     /opt/venv/lib/python3.12/site-packages pip
typing_extensions         4.12.2                             /opt/venv/lib/python3.12/site-packages pip
typing-inspect            0.9.0                              /opt/venv/lib/python3.12/site-packages pip
tyro                      0.9.17                             /opt/venv/lib/python3.12/site-packages pip
tzdata                    2025.2                             /opt/venv/lib/python3.12/site-packages pip
uri-template              1.3.0                              /opt/venv/lib/python3.12/site-packages pip
urllib3                   2.5.0                              /opt/venv/lib/python3.12/site-packages pip
uv                        0.8.16                             /opt/venv/lib/python3.12/site-packages pip
wadllib                   1.3.6                              /usr/lib/python3/dist-packages
wandb                     0.18.0                             /opt/venv/lib/python3.12/site-packages pip
wcwidth                   0.2.13                             /opt/venv/lib/python3.12/site-packages pip
webcolors                 24.11.1                            /opt/venv/lib/python3.12/site-packages pip
webencodings              0.5.1                              /opt/venv/lib/python3.12/site-packages pip
websocket-client          1.8.0                              /opt/venv/lib/python3.12/site-packages pip
Werkzeug                  3.1.3                              /opt/venv/lib/python3.12/site-packages pip
wheel                     0.45.1                             /opt/venv/lib/python3.12/site-packages pip
widgetsnbextension        4.0.14                             /opt/venv/lib/python3.12/site-packages pip
wrapt                     1.17.3                             /opt/venv/lib/python3.12/site-packages pip
xxhash                    3.5.0                              /opt/venv/lib/python3.12/site-packages pip
yarl                      1.20.1                             /opt/venv/lib/python3.12/site-packages pip
zipp                      3.23.0                             /opt/venv/lib/python3.12/site-packages pip

镜像可以直接从 Docker Hub 拉取，包含常用的依赖项，如 PyTorch、TensorRT 和 FlashAttention：

docker pull johnnync/lerobot:r38.2.aarch64-cu130-24.04

要在 Thor 上运行 Docker，请参考以下命令。将 your_docker_img:tag 替换为您的 Docker 镜像名称和标签，或使用镜像 ID：

sudo docker run --rm -it \
  --network=host \
  -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,video,graphics \
  --runtime nvidia \
  --privileged \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  -v /etc/X11:/etc/X11 \
  --device /dev/nvhost-vic \
  -v /dev:/dev \
  your_docker_img:tag

使用 SO-ARM 进行数据收集

有关数据收集的详细教程，请参考以下链接：
https://wiki.seeedstudio.com/cn/lerobot_so100m_new/#record-the-dataset
此链接包含 SO-ARM 的完整教程，涵盖配置、组装、校准、数据收集、训练和推理。

lerobot 机械臂的数据收集可以在 PC 上执行，也可以直接在 Jetson 设备上执行。

方法 1：使用 Jetson 收集数据
方法 2：使用 Ubuntu PC 收集数据

两种方法的数据收集程序基本相同。

warning

Jetson 可能无法同时流式传输两个具有相同带宽要求的 USB 摄像头。如果您连接两个 USB 摄像头，它们必须连接到不同的 USB 集线器芯片！

要在 Thor 上同时流式传输两个 USB 摄像头，在将一个摄像头连接到 USB-A 端口后，您还需要使用通过 USB Type-C 端口连接的外部 USB 集线器。这确保第二个 USB 摄像头挂载到 Thor 内的不同 USB 集线器控制器。兼容的 USB Type-C 集线器示例如下所示：

Lerobot 环境设置

Lerobot 的开发环境设置过程可以在以下链接的子部分中找到：
https://wiki.seeedstudio.com/cn/lerobot_so100m_new/#install-lerobot

配置电机

SO-ARM 每个关节上的电机需要在组装前进行配置。配置步骤可以在以下链接的子部分中找到： https://wiki.seeedstudio.com/cn/lerobot_so100m_new/#configure-the-motors

组装

SO-ARM 主臂和从臂的安装过程可以在以下链接的子部分中找到：
https://wiki.seeedstudio.com/cn/lerobot_so100m_new/#assembly

SO-ARM 校准

SO-ARM 完全组装后，需要进行校准。校准程序请参考以下链接的子部分：
https://wiki.seeedstudio.com/cn/lerobot_so100m_new/#calibrate

note

校准机械臂时，请不要连接任何 USB 摄像头，因为这可能导致端口冲突或端口分配错误。

运行校准脚本后，手动移动机械臂的每个关节，确保其达到完整的运动范围！否则可能导致遥操作期间主臂和从臂姿态不匹配。

Camera Add

It is generally recommended to install one camera on the wrist/gripper of the robotic arm, and another camera on the desktop surface, to ensure proper coverage of the arm’s posture. The specific installation approach depends on your application scenario; the example shown below is for reference only.

For details, please refer to the subsection of the following link:
https://wiki.seeedstudio.com/lerobot_so100m_new/#add-cameras

Data Collection

After completing both the camera installation and the robotic arm calibration, the dataset collection procedure can be found in the subsection of the following link:
https://wiki.seeedstudio.com/lerobot_so100m_new/#record-the-dataset

Visualizing Collected Data

To visualize the data collected on the SO-ARM, please refer to the subsection of the following link:
https://wiki.seeedstudio.com/lerobot_so100m_new/#visualize-the-dataset

Policy Training

Based on the collected data, the procedure for training a Policy can be found in the subsection of the following link:
https://wiki.seeedstudio.com/lerobot_so100m_new/#train-a-policy

tip

In the following sections, we will introduce a cloud-based training platform and demonstrate basic usage. You may choose to complete training more efficiently on the remote server.

note

If you choose to train the policy in the cloud, make sure that your dataset is uploaded to the cloud server in advance, or downloaded from the Hugging Face Hub. However, due to potential network issues when downloading directly from the Hugging Face Hub, it is strongly recommended to manually upload the dataset to your cloud server.

Use NVIDIA Brev for training policies

NVIDIA Brev provides streamlined access to NVIDIA GPU instances on popular cloud platforms, automatic environment setup, and flexible deployment options, enabling developers to start experimenting instantly.

Platform access URL: https://login.brev.nvidia.com/signin

You will need to register an account to use the platform. This section introduces the basic usage of the training platform.

Enabling the Cloud-Based Training Platform

Step-by-Step Instructions

Create a Cloud Server Instance -step 1

Create a Cloud Server Instance -step 2

Create a Cloud Server Instance -step 3

Launch the Web-Based Jupyter Notebook：

Training the Model and Exporting from the Server

Developers can train models directly within the notebook terminal. Below is an example for training an act model and exporting it from the server afterward.

Install Conda on the server:

mkdir -p ~/miniconda3
cd miniconda3
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
source ~/miniconda3/bin/activate
conda init --all

Install lerobot projectt:

conda create -y -n lerobot python=3.10 && conda activate lerobot
git clone https://github.com/Seeed-Projects/lerobot.git ~/lerobot
cd ~/lerobot && pip install -e ".[feetech]"

Train the ACT model:

python -m lerobot.scripts.train \
  --dataset.repo_id=seeedstudio123/test \
  --policy.type=act \
  --output_dir=outputs/train/act_so101_test \
  --job_name=act_so101_test \
  --policy.device=cuda \
  --wandb.enable=false \
  --policy.push_to_hub=false\
  --steps=300000 

note

If you want to train or fine-tune Gr00t on a server, you can refer to this link.

After training is completed, you may want to download the model to your local machine. But he Jupyter Notebook sidebar does not support direct navigation into model training folders.

Solution is that: First compress the target folder into a .zip or .tar.gz archive, then download the archive file through the notebook interface. Refer to the figure below for an example.

Isaac GR00T N1.5 Inference on Thor

Jetson AGX Thor, as a powerful edge computing and deployment platform, provides sufficient resources to support large-scale model inference. In this section, building upon the previously introduced content, we demonstrate how to run inference for GR00T N1.5 on Thor.

GR00T N1.5 is an open-source baseline system released by NVIDIA Research in the field of robot learning. It aims to provide a unified framework for embodied AI training and inference, particularly focusing on imitation learning and policy learning driven by large-scale models.

Preparation

The pre-trained models of GR00T N1.5 are available via Hugging Faces. You can download them from the following link:

https://huggingface.co/nvidia/GR00T-N1.5-3B/tree/main

All dependencies required for GR00T inference have been pre-configured in a dedicated Docker image.

Use the following command to start the container:

sudo docker run --rm -it \
  --network=host \
  -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,video,graphics \
  --runtime nvidia \
  --privileged \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  -v /etc/X11:/etc/X11 \
  --device /dev/nvhost-vic \
  -v /dev:/dev \
  lerobot:r38.2.aarch64-cu130-24.04

Git clone the source code of Gr00t,and install it:

git clone https://github.com/NVIDIA/Isaac-GR00T.git
cd Isaac-GR00T
pip install --upgrade setuptools
pip install -e .[thor]

Gr00t is fully compatible with the datasets collected using the lerobot framework. Refer to the previous "Data Collection" section to prepare your dataset for fine-tuning the Gr00t model.

Model Fine-Tuning

The fine-tuning process can be executed either on the provided cloud training platform or directly inside the Docker container on Thor.

If you have not downloaded any pretrained GR00T model and do not plan to use a custom version, you may use the following command to fine-tune based on the Hugging Face weights:

python scripts/gr00t_finetune.py \
   --dataset-path ./demo_data/so101-table-cleanup/ \
   --num-gpus 1 \
   --output-dir ./so101-checkpoints  \
   --max-steps 10000 \
   --data-config so100_dualcam \
   --video-backend torchvision_av

This script will automatically download the pretrained GR00T model from Hugging Face and begin the fine-tuning process.

If you wish to use a locally stored pretrained GR00T model, modify the command as follows:

python scripts/gr00t_finetune.py \
   --dataset-path ./demo_data/so101-table-cleanup/ \
   --num-gpus 1 \
   --output-dir ./so101-checkpoints \
   --max-steps 10000 \
   --data-config so100_dualcam \
   --video-backend torchvision_av \
   --base-model-path ./pretrained/GR00T-N1.5-3

--dataset-path is the file path of collection data from SO-ARM.

note

The default fine-tuning settings require ~25G of VRAM. If you don't have that much VRAM, try adding the --no-tune_diffusion_model flag to the gr00t_finetune.py script.

Running Inference with GR00T N1.5

To achieve optimal performance, it is recommended to replicate the real-world setup used during data collection as closely as possible when deploying fine-tuned GR00T models. This is because the model's generalization capabilities are limited.

Inside the Docker container, open a terminal and launch the GR00T inference service:

python scripts/inference_service.py --server \
    --model_path ./so101-checkpoints \
    --embodiment-tag new_embodiment \
    --data-config so100_dualcam \
    --denoising-steps 4

Upon successful launch, the terminal should display logs similar to:

Open another terminal, and use the following command to enter the same container from a different shell:

sudo docker exec -it <container id> /bin/bahs

Then, in this second shell, start the inference client:

  python examples/eval_lerobot.py \
    --robot.type=so100_follower \
    --robot.port=/dev/ttyACM0 \
    --robot.id=my_awesome_follower_arm \
    --robot.cameras="{ wrist: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}, front: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30}}" \
    --policy_host=0.0.0.0 \
    --lang_instruction="Grab pens and place into pen holder."

When the client process starts successfully, the following output should appear:

tip

During the first run of the client process, you must calibrate the arm's servos. The calibration process is the same as described earlier.

Make sure each joint moves to its full range of motion to ensure proper teleoperation and inference behavior.

Once everything is set up, GR00T N1.5 can be successfully deployed on Jetson AGX Thor. The system and hardware environment are now verified to support full inference:

FAQ

Q1: The Brev CLI tool doesn't work on the cloud training platform?

This is often due to network issues. You may install and log in to Brev CLI on your local Ubuntu host, then attempt to connect to your cloud instance using SSH from your local terminal.

Q2: How do I upload data to the training platform?

Use the following command: scp <local-file-path> <brev-instance-name>:<remote-file-path>,例如scp -r ./record_2_cameras/ gr00t-trainer:/home/ubuntu/Datasets

References

Tech Support & Product Discussion

Thank you for choosing our products! We are here to provide you with different support to ensure that your experience with our products is as smooth as possible. We offer several communication channels to cater to different preferences and needs.

介绍​

NVIDIA Jetson Thor 开发者套件入门​

Jetson Thor 概述​

刷写 Thor 系统镜像​

Thor 上的基本开发环境设置​

安装基本开发依赖项​

安装其他依赖项​

使用 SO-ARM 进行数据收集​

Lerobot 环境设置​

配置电机​

组装​

SO-ARM 校准​

Camera Add​

Data Collection​

Visualizing Collected Data​

Policy Training​

Use NVIDIA Brev for training policies​

Enabling the Cloud-Based Training Platform​

Training the Model and Exporting from the Server​

Isaac GR00T N1.5 Inference on Thor​

Preparation​

Model Fine-Tuning​

Running Inference with GR00T N1.5​

FAQ​

References​

Tech Support & Product Discussion​

介绍

NVIDIA Jetson Thor 开发者套件入门

Jetson Thor 概述

刷写 Thor 系统镜像

Thor 上的基本开发环境设置

安装基本开发依赖项

安装其他依赖项

使用 SO-ARM 进行数据收集

Lerobot 环境设置

配置电机

组装

SO-ARM 校准

Camera Add

Data Collection

Visualizing Collected Data

Policy Training

Use NVIDIA Brev for training policies

Enabling the Cloud-Based Training Platform

Training the Model and Exporting from the Server

Isaac GR00T N1.5 Inference on Thor

Preparation

Model Fine-Tuning

Running Inference with GR00T N1.5

FAQ

References

Tech Support & Product Discussion