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omkarpatil/ffw_sg2_push-tape-right_groot-n1.7_sharednorm_noproprio_wristcams

sourceHugging Faceotherupdated 25d agoView on Hugging Face

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Model Card

GR00T N1.7 (shared-norm, wrist cams, no proprio) — FFW SG2 rev1 — push-tape-right

nvidia/GR00T-N1.7-3B fine-tuned with the stock recipe (projector + diffusion head, q01/q99 min-max normalization with clipping, fp32) on 16 teleop demos (omkarpatil/push-tape-right, LeRobot v2.1 @ 15 fps). Checkpoint checkpoint-20000/; global batch 32, lr 1e-4 cosine, color jitter.

Shared normalization for score-space composition: the normalization statistics were pooled over the push composition group (push-tape-left + push-tape-right, 5,768 frames) and are identical in both policies (e.g. action arml q01[0] = −1.7173) — one common invertible transform across the group. **Vision-only:** `excludestate=true in the processor (state zeroed at train and inference, serialized). **Cameras:** camleftwrist, camrightwrist` only.


Embodiment tag	`NEW_EMBODIMENT`
Action	16-D absolute joint targets: arml×7, gripperl, armr×7, gripperr — horizon 16 @ 15 Hz
Task	`Push the red tape`

Runs as-is in the cyclo GR00T container; all normalization/flags live in processor_config.json + statistics.json.