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