---
license: apache-2.0
tags:
- robotics
- gr00t
- ffw_sh5
library_name: transformers
---

# GR00T Fine-tuned Model

- **Base model**: unknown
- **Architecture**: GR00T_N1_5
- **Action horizon**: 50
- **Local checkpoint**: `checkpoint-50000`

## Usage

```python
from gr00t.model.policy import Gr00tPolicy
# modality_config / modality_transform 은 학습 data_config 와 동일하게 설정

policy = Gr00tPolicy(
    model_path="learner1119/ffw_sg2_n15_260820_left_50000",
    embodiment_tag="new_embodiment",
    modality_config=modality_config,
    modality_transform=modality_transform,
)
action = policy.get_action(observations)
```