Spa-Bench/spa-bench-model-groot-n1-7-full-finetune-epoch-12

GR00T-N1.7 Full Fine-Tune — Spa-Bench Epoch 12

This checkpoint is released as an anonymous supplementary artifact for a paper under double-blind review. It was evaluated on a physical SO-101 robot in Spa-Bench.

Model details

Field	Value
Checkpoint	End of epoch 12; step 76,596
Inputs	Middle RGB, wrist RGB, six joint positions, and a text instruction
Outputs	Six absolute joint-position targets
Action horizon	16
Adaptation	Language, visual, projector, VLLN, and diffusion-action modules updated
Optimizer	AdamW; learning rate 1e-5; weight decay 1e-5

Training-data documentation: spa-bench-training-teleoperation-1200.

Physical evaluation

25/120 familiar trials succeeded. Evaluation stopped before the withheld-composition protocol, so this is a partial result. These are physical rollout results, not simulation metrics.

Rollouts: spa-bench-eval-rollouts-groot-n1-7-full-finetune-partial.

Limitations and safety

Training used a two-camera projection of the 1,200-episode release. This condition received a small upward initialization assist, limiting direct ablation claims. Robot policies can move hardware unexpectedly. Use conservative limits, an accessible emergency stop, a clear workspace, and direct supervision. Do not deploy unattended or in safety-critical settings.

Double-blind release note

Author, institution, source-repository, and archival citation details are intentionally omitted during review. They will be restored in the archival release.