GR00T N1.7 SFT on sim-table

This repository stores Isaac-GR00T checkpoints for the sim_table_gr00t fine-tuning run on IDEAS-Lab-Northwestern/sim-table.

The checkpoint layout mirrors the local training output so future steps can be appended directly:

checkpoints/
  sim_table_gr00t/
    checkpoint-5000/
      config.json
      model-*.safetensors
      model.safetensors.index.json
      processor_config.json
      statistics.json
      trainer_state.json
      ...

The dataset was converted with:

scripts/sim_table/convert_sim_table_to_gr00t.py
examples/sim_table/sim_table_config.py

The EEF action group is delta XYZ + delta rotvec in the dataset already, so the modality config avoids GR00T's internal absolute-to-relative action conversion.

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