---
license: other
base_model: nvidia/GR00T-N1.7-3B
tags: [robotics, gr00t, vla, robotis, ffw_sg2, cyclo_intelligence]
datasets: [omkarpatil/pick-blue-cylinder-left-arm]
---

# GR00T N1.7 — FFW SG2 rev1 — pick blue cylinder (left arm)

`nvidia/GR00T-N1.7-3B` fine-tuned (projector + diffusion head, Isaac-GR00T fork in cyclo_intelligence) on 26
teleop demos (`omkarpatil/pick-blue-cylinder-left-arm`, LeRobot v2.1, 4666 frames @ 15 fps). Checkpoints **checkpoint-10000/** and
**checkpoint-20000/** (~68 and ~137 epochs), 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 up the blue cylinder` |

Runs as-is in the cyclo_intelligence GR00T inference container (point it at a `checkpoint-<step>` folder);
head/lift/base are not commanded.