snupilab/humanoidtoolbench-groot-sim-3003

HumanoidToolBench GR00T N1.7: Simulation training, 3,003 segments

The validated final policy checkpoint is available in this repository.

This is a HumanoidToolBench training-result repository. It does not substitute an upstream pretrained policy for a HumanoidToolBench-trained checkpoint.

Pinned training data.

The simulation pool contains 1,200 successful L1/L2 demonstrations and 1,803 extracted L0 prefixes, spanning 18 conditions. The 3,003 segments are not 3,003 independent demonstrations.

Use the model's native HumanoidToolBench adapter and model-specific dependencies. This repository does not claim compatibility with arbitrary Transformers or simulation loaders. No evaluation score is claimed by checkpoint publication.

Load this directory with the native NVIDIA GR00T policy and the HumanoidToolBench simulation modality adapter (36-dimensional actions). The native loader first loads the backbone weights and processor from nvidia/Cosmos-Reason2-2B, pinned to revision 9ce19a195e423419c349abfc86fd07178b230561, before restoring this trained state. That upstream snapshot must be available separately. Use the pinned HumanoidToolBench/GR00T environment; this is not a generic Transformers AutoModel checkpoint.

Training uses independent model optimizers and shared GPU execution through MPS. Publication is performed by a CPU uploader after final checkpoint validation.