| library_name: gr00t | |
| tags: | |
| - gr00t | |
| - gr00t-n1.7 | |
| - robotics | |
| - vla | |
| base_model: nvidia/GR00T-N1.7-3B | |
| # groot1.7_transfer_cube | |
| Fine-tuned [GR00T N1.7-3B](https://huggingface.co/nvidia/GR00T-N1.7-3B) on SO101 data (`transfer_cube`). | |
| | | | | |
| |---|---| | |
| | **Base model** | [nvidia/GR00T-N1.7-3B](https://huggingface.co/nvidia/GR00T-N1.7-3B) | | |
| | **Dataset** | [villekuosmanen/armnetbench_transfer_cube](https://huggingface.co/datasets/villekuosmanen/armnetbench_transfer_cube) | | |
| | **Task** | `transfer_cube` | | |
| | **Training** | Isambard-AI GH200, batch 64, action horizon 16 | | |
| | **W&B project** | [groot1.7_transfer_cube](https://wandb.ai/pravsels/groot1.7_transfer_cube) | | |
| | **W&B run** | [4shbof7g](https://wandb.ai/pravsels/groot1.7_transfer_cube/runs/4shbof7g) | | |
| ## Checkpoints | |
| | Step | Loss | Path | | |
| |------|------|------| | |
| | 8,000 | 0.0210 | `checkpoints/8000/pretrained_model/` | | |
| | 6,000 | 0.0234 | `checkpoints/6000/pretrained_model/` | | |
| ## Usage | |
| Load from a specific step: | |
| ```python | |
| from pathlib import Path | |
| # Use checkpoints/<step>/pretrained_model/ with the GR00T inference stack | |
| ckpt = "pravsels/groot1.7_transfer_cube/checkpoints/8000/pretrained_model" | |
| ``` | |