---
license: other
base_model: nvidia/GR00T-N1.7-3B
pipeline_tag: robotics
tags:
- robotics
- gr00t
- vla
- franka
- inspire-hand
---

# GR00T N1.7 - pick_up_corn (Franka FR3 + Inspire RH56)

Fine-tuned from `nvidia/GR00T-N1.7-3B` on the **pick_up_corn** dataset (30 episodes, ~17k frames).
Inference-only weights: DeepSpeed optimizer/scheduler/RNG states are intentionally excluded.

- **Embodiment tag:** NEW_EMBODIMENT (`new_embodiment`)
- **Task / prompt:** "Pick up the corn and place it in the cup"
- **Robot:** Franka FR3 (7-DOF arm) + Inspire RH56 (6-DOF hand)
- **Cameras:** tpv, third_person, wrist (480x640)
- **Training:** ~24,000 steps, global batch 64, 8x A100-80GB

## Modality
- state: arm(7) + hand(6)
- action: arm(7, RELATIVE) + hand(6, ABSOLUTE), 16-step prediction horizon
- video: tpv, third_person, wrist

## Load (Isaac-GR00T)
```
python gr00t/eval/run_gr00t_server.py --model-path <this repo> --embodiment-tag new_embodiment
```
Use the matching modality config (state=arm+hand, action=arm+hand, video=tpv/third_person/wrist).