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omkarpatil/ffw_sg2_pick-blue-cylinder-right-arm_groot-n1.7

sourceHugging Faceotherupdated 28d agoView on Hugging Face

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Model Card

GR00T N1.7 — FFW SG2 rev1 — pick blue cylinder (right arm)

nvidia/GR00T-N1.7-3B fine-tuned (projector + diffusion head, Isaac-GR00T fork in cyclo_intelligence) on 25 teleop demos (omkarpatil/pick-blue-cylinder-right-arm, LeRobot v2.1, 4796 frames @ 15 fps). Checkpoints checkpoint-10000/ and checkpoint-20000/ (~66 and ~133 epochs), global batch 32, lr 1e-4 cosine, color jitter. Optimizer/scheduler state removed.


Embodiment tag	`NEW_EMBODIMENT` (modality config: `modality_config/`)
Cameras	`cam_left_head`, `cam_left_wrist`, `cam_right_wrist` (224×224)
State	22-D: `arm_left`(8) `arm_right`(8) `head`(2) `lift`(1) `odometry`(3)
Action	16-D absolute joint targets: `arm_left`(8) `arm_right`(8) — horizon 16 @ 15 Hz
Task	`Pick up the blue cylinder`

Runs as-is in the cyclo_intelligence GR00T inference container (point it at a checkpoint-<step> folder); head/lift/base are not commanded.