Modelpublic

omkarpatil/ffw_sg2_put-blocks-in-bowl_groot-n1.7

sourceHugging Faceotherupdated 29d agoView on Hugging Face

0likes24downloads

Model Card

GR00T N1.7 — FFW SG2 rev1 — "Pick the two blocks up and put them in the green bowl"

nvidia/GR00T-N1.7-3B fine-tuned (projector + diffusion head, Isaac-GR00T fork in cyclo_intelligence) on 78 teleop demos (omkarpatil/put-blocks-in-bowl, LeRobot v2.1, 15 fps). Final checkpoint: step 20 000, 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 the two blocks up and put them in the green bowl`

Runs as-is in the cyclointelligence GR00T inference container (`Gr00tPolicy(embodimenttag=NEWEMBODIMENT, modelpath=…)`); head/lift/base are not commanded.