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namaewa-im/spot-gr00t-mountain

sourceHugging Faceupdated 1y agoView on Hugging Face

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Model Card

Spot Robot GR00T Model

This is a fine-tuned GR00T model for Spot robot control, specifically trained for quadruped locomotion tasks.

Model Details

—Base Model: GR00T-N1.5-3B
—Fine-tuning Method: LoRA (Low-Rank Adaptation)
—Task: Spot robot action generation
—Input Modalities: Video, State, Language
—Output: Robot joint actions (4 legs × 3 joints each)

Usage

python

from gr00t.model.policy import Gr00tPolicy
from gr00t.data.embodiment_tags import EmbodimentTag

# Load the model
policy = Gr00tPolicy(
    model_path="namaewa-im/spot-gr00t-task0",
    embodiment_tag=EmbodimentTag.NEW_EMBODIMENT,
    device="cuda"
)

# Use for inference
actions = policy.get_action(input_data)

Training Data

The model was fine-tuned on Spot robot demonstration data including:

—Video observations from ego-centric camera
—Joint positions and velocities
—Linear and angular velocities
—Gravity and command information
—Human-annotated task descriptions

Performance

The model achieves competitive performance on Spot robot locomotion tasks with:

—Mean MSE: ~0.55
—Standard deviation: ~0.12

License

This model is released under the MIT License.