| --- |
| license: apache-2.0 |
| tags: |
| - robotics |
| - inverse-dynamics-model |
| - idm |
| - omx |
| - gr00t |
| --- |
| |
| # IDM-OMX-v3-50K |
|
|
| NVIDIA GR00T IDM (Inverse Dynamics Model) fine-tuned for ROBOTIS OMX-F robot. |
|
|
| ## Model Details |
|
|
| - **Architecture**: SiGLIP2(768d) → VL Transformer(4L) → DiT(8L, 1024d) |
| - **Parameters**: 612M |
| - **Embodiment**: OMX (slot 30) |
| - **Action Space**: 6-DOF delta joint angles (radians), 30 FPS |
| - **Action Horizon**: 16 steps |
|
|
| ## Training |
|
|
| - **Base Model**: IDM-OMX-v2 (20K steps checkpoint) |
| - **Dataset**: 558 episodes, 257,466 frames (OMX combined + SO-101 megamix FK→IK converted) |
| - **Steps**: 50,000 (6.21 epochs) |
| - **Batch Size**: 16 (effective 32 with gradient accumulation) |
| - **Learning Rate**: 1e-4 (cosine schedule) |
| - **Duration**: 5h 08min on RTX 5090 |
| - **Final Train Loss**: 0.2644 |
|
|
| ## Evaluation |
|
|
| | Metric | Baseline (10K) | v2 (20K) | **v3 (50K)** | |
| |--------|:-:|:-:|:-:| |
| | Normalized MAE | 0.6092 | 0.5582 | **0.3551 (-36.4%)** | |
| | Forward Loss | 0.3942 | 0.3453 | **0.2517 (-27.1%)** | |
|
|
| ### Per-Joint MAE (degrees) |
|
|
| | Joint | v2 | v3 | Change | |
| |-------|---:|---:|---:| |
| | shoulder_pan | 82.12 | 71.76 | -12.6% | |
| | shoulder_lift | 83.01 | 72.74 | -12.4% | |
| | elbow_flex | 65.65 | 30.12 | **-54.1%** | |
| | wrist_flex | 141.40 | 96.43 | **-31.8%** | |
| | wrist_roll | 67.87 | 56.43 | -16.9% | |
| | gripper | 6.50 | 4.21 | -35.2% | |
| |
| ## Usage |
| |
| |
| |
| ### Pseudo-label Extraction |
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| |
| |
| ## Citation |
| |
| Based on [NVIDIA GR00T IDM](https://github.com/NVIDIA-Omniverse/GR00T-Dreams). |
| |
