---
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.