---
license: mit
base_model:
- nvidia/GR00T-N1-2B
pipeline_tag: robotics
library_name: transformers
---

# Post-trained Models of GR00T-N1-2B

This repository provides **post-trained weights** of the GR00T-N1-2B model used in our paper.  
For detailed results, implementation notes, and demonstration videos, please visit our [paper](https://arxiv.org/abs/2510.22201), [project page](https://davian-robotics.github.io/ACG) and [GitHub repository](https://github.com/DAVIAN-Robotics/ACG).

## Available Models

- **RoboCasa (MG100)** [GR00T-N1-2B-tuned-RoboCasa-MG100-FrankaPandaGripper](https://huggingface.co/DAVIAN-Robotics/GR00T-N1-2B-tuned-RoboCasa-MG100-FrankaPandaGripper)
- **DexMimicGen (MG100)** [GR00T-N1-2B-tuned-DexMG-MG100-CrossEmbodiments](https://huggingface.co/DAVIAN-Robotics/GR00T-N1-2B-tuned-DexMG-MG100-CrossEmbodiments)

## Usage

You can clone the repository and run the rollout scripts as follows.  
Please ensure that the preprocessing steps described in the [Quick Start section](https://github.com/davian-robotics/ACG?tab=readme-ov-file#-quick-start) are completed beforehand.

## Citation

If you find this model or code useful in your research, please cite our paper:

```bibtex
@article{park2025acg,
  title={ACG: Action Coherence Guidance for Flow-based VLA Models},
  author={Park, Minho and Kim, Kinam and Hyung, Junha and Jang, Hyojin and Jin, Hoiyeong and Yun, Jooyeol and Lee, Hojoon and Choo, Jaegul},
  journal={arXiv preprint arXiv:2510.22201},
  year={2025}
}
```

## Acknowledgement

This repository builds upon the incredible open-source efforts of
[Isaac-GR00T](https://github.com/NVIDIA/Isaac-GR00T),
[Robosuite](https://github.com/ARISE-Initiative/robosuite),
[Robomimic](https://github.com/ARISE-Initiative/robomimic),
[RoboCasa](https://github.com/robocasa/robocasa),
[DexMimicGen](https://github.com/NVlabs/dexmimicgen), and
[Diffusers](https://github.com/huggingface/diffusers).  
We sincerely appreciate their outstanding contributions to the robotics and AI community.