GR00T-N1.7 finetuned on super_chatton
LeRobot-native finetune of nvidia/GR00T-N1.7-3B on imstevenpmwork/super_chatton (SO-101 arm, 73,842 frames / 100 eps, 2 cams front+wrist, 30fps).
Training
- 20,000 steps, batch 64, seed 42, adamw lr 1e-4 cosine (500 warmup), bf16
- chunk_size 16, n_action_steps 16
- use_relative_actions=true, relative_exclude_joints=['gripper']
- embodiment_tag=new_embodiment, policy training preset
- Final loss 0.016 (from 1.06), 17.3 epochs, single H100, 5h49m
Usage
from lerobot.policies.groot.modeling_groot import GrootPolicy
policy = GrootPolicy.from_pretrained("nvkartik/groot-n17-super-chatton")
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Base model
nvidia/GR00T-N1.7-3B