README.md

metadata

library_name: lerobot
base_model: nvidia/GR00T-N1.7-3B
datasets:
  - sreetz-nv/so101-clean-up-vials-into-rack-50_20260628_131121
tags:
  - lerobot
  - robotics
  - imitation-learning
  - groot
  - so101
  - gr00t-n1.7
  - albumentations

GR00T N1.7 SO-101 Cleanup Vials, Albumentations, H16, 15k

Fine-tuned GR00T N1.7 policy for the SO-101 cleanup-vials-into-rack task.

Checkpoint

• Source run: groot-n17-so101-cleanup-vials-relact-bs128-lr1e4-preset-albu-20k-save5k-20260630-1845
• Checkpoint step: 015000
• Base model: nvidia/GR00T-N1.7-3B
• Dataset: sreetz-nv/so101-clean-up-vials-into-rack-50_20260628_131121
• Embodiment tag: new_embodiment
• Batch size: 128
• Chunk size: 16
• Action steps: 16
• Optimizer: AdamW, learning rate 1e-4, weight decay 1e-5
• Scheduler: cosine decay with warmup, 500 warmup steps
• Relative actions: enabled, excluding gripper
• GR00T preprocessor use_albumentations: true

Usage

Load this policy with LeRobot using the uploaded Hub repo ID:

uv run lerobot-eval --policy.path=awrenn53/groot-n17-so101-cleanup-vials-relact-bs128-lr1e4-albu-h16-015000