metadata
license: other
tags:
- robotics
- gr00t
- isaac
- humanoid
base_model: nvidia/GR00T-N1.7-3B
GR00T fine-tune
Fine-tuned from nvidia/GR00T-N1.7-3B on 2026-05-26T22:35:50+00:00.
Embodiment: UNITREE_G1_SONIC. Trained on 1 GPUs.
Hyperparameters
timestamp = 2026-05-26T21:02:27+00:00
log_file = /home/ubuntu/groot-files/logs/train-2026-05-26-210227.log
base_model = nvidia/GR00T-N1.7-3B
embodiment_tag = UNITREE_G1_SONIC
dataset_dir = /home/ubuntu/groot-files/dataset
hf_dataset = LucaFrat/dataset_100
checkpoint_dir = /home/ubuntu/groot-files/checkpoints/g1_finetune
num_gpus = 1
visible_gpu = 1
global_batch_size = 64
max_steps = 15000
save_steps = 3000
save_total_limit = 10
learning_rate = 1e-4
warmup_ratio = 0.05
weight_decay = 1e-5
dataloader_workers = 6
resume = <none>
use_wandb = 1
wandb_project = groot-finetune
wandb_run_name = <auto>
Checkpoints
Intermediate checkpoints (checkpoint-N/) are pushed incrementally during
training; the top-level files in this repo are the final model state.