| --- |
| library_name: gr00t |
| tags: |
| - gr00t |
| - gr00t-n1.7 |
| - robotics |
| - vla |
| - bimanual |
| base_model: nvidia/GR00T-N1.7-3B |
| --- |
| |
| # groot1.7_insert_candle_20k |
| |
| Fine-tuned [GR00T N1.7-3B](https://huggingface.co/nvidia/GR00T-N1.7-3B) for `insert_candle` on SO101 data. |
|
|
| | | | |
| |---|---| |
| | **Base model** | [nvidia/GR00T-N1.7-3B](https://huggingface.co/nvidia/GR00T-N1.7-3B) | |
| | **Dataset** | [villekuosmanen/armnetbench_insert_candle](https://huggingface.co/datasets/villekuosmanen/armnetbench_insert_candle) | |
| | **Task** | `insert_candle` | |
| | **Embodiment** | bimanual SO-101 | |
| | **Training** | 20k steps, batch 32 (8/GPU × 4 DDP), 4× RTX 5090 on Vast.ai, load_bf16=True | |
| | **Prior HF repo** | [pravsels/groot1.7_insert_candle](https://huggingface.co/pravsels/groot1.7_insert_candle) | |
| | **W&B project** | [groot1.7_insert_candle](https://wandb.ai/pravsels/groot1.7_insert_candle) | |
| | **W&B run** | [a2yr5czu](https://wandb.ai/pravsels/groot1.7_insert_candle/runs/a2yr5czu) | |
| |
| ## Checkpoints |
| |
| Final checkpoint (step `20000`) lives at the **repository root** for direct loading. |
| |
| ## Usage |
| |
| Load with the GR00T inference stack from this repo root (weights + processor configs). |
| |
