| --- |
| library_name: transformers |
| tags: |
| - isaac-gr00t |
| - gr00t-n1.7 |
| - robotics |
| - lerobot |
| - sim-table |
| --- |
| |
| # 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: |
|
|
| ```text |
| 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: |
|
|
| ```text |
| 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. |
|
|
