Downloading Checkpoints
We post-trained the Isaac GR00T N1 policy using the above dataset, and the finetuned checkpoints are available to download.
Available Checkpoints
Download Instructions
Make sure you have registered your Hugging Face account and have read-access token ready.
# Provide your access token with read permission
huggingface-cli login
export CKPT="nvidia/GR00T-N1-2B-tuned-Nut-Pouring-task"
# Or, to use the other checkpoint, uncomment the next line:
# export CKPT="nvidia/GR00T-N1-2B-tuned-Exhaust-Pipe-Sorting-task"
# Define the path to save the checkpoints as CKPT_LOCAL_DIR
huggingface-cli download --resume-download $CKPT --local-dir $CKPT_LOCAL_DIR