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real-stanford / universal_manipulation_interface

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
https://umi-gripper.github.io/
MIT License
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Hardware requirements #4

Closed nicrusso7 closed 9 months ago

nicrusso7 commented 9 months ago

Hi there,

first of all thank you for sharing this amazing work!

I was wondering what is the minimum required setup in terms of GPUs/RAM to train the model?

I saw in your paper you guys are using 4/8 A100, is there any chance to train the model using consumer GPUs?

Thanks

cheng-chi commented 9 months ago

Hi @nicrusso7 I just updated the README.md with sample sample data and training instructions for 3090. Training on consumer grade GPUs are entirely feasible, just a little slower.

nicrusso7 commented 9 months ago

Amazing, thanks!

I've a RTX 3070 with just 8GB vRAM and 16GB system RAM, not sure the model will fits but I'll try!