GR00T N1.7 SO-101 Cleanup Vials, Albumentations, H16, 20k

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: 020000
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

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-h16-020000

Safetensors

Model size

3B params

Tensor type

F32

BF16

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Base model

Finetuned

(71)

this model