GR00T N1.7 — FFW SG2 rev1 — pick blue cylinder (right arm)
nvidia/GR00T-N1.7-3B fine-tuned (projector + diffusion head, Isaac-GR00T fork in cyclo_intelligence) on 25
teleop demos (omkarpatil/pick-blue-cylinder-right-arm, LeRobot v2.1, 4796 frames @ 15 fps). Checkpoints checkpoint-10000/ and
checkpoint-20000/ (~66 and ~133 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.
Model tree for omkarpatil/ffw_sg2_pick-blue-cylinder-right-arm_groot-n1.7
Base model
nvidia/GR00T-N1.7-3B