gr00t-n16-real-clutter-60-refined

GR00T-N1.6 - Real Clutter (joint, 2-cam)

NVIDIA Isaac GR00T-N1.6-3B fine-tuned on the ManiGuard real-clutter base task (real Franka Panda, DROID-schema teleop). Part of the ManiGuard VLA benchmark - GR00T vs pi0.5 on the same task families with identical data, cameras, and controller.

Model

• Base: nvidia/GR00T-N1.6-3B - Eagle (nvidia/Eagle-Block2A-2B-v2) VLM + flow-matching DiT action head
• Embodiment: NEW_EMBODIMENT - Franka Panda, 8-D joint state/action (7 arm joints + 1 gripper)
• Cameras (2): image_left (overview) + wrist (180x320, 16:9 centre-cropped at conversion time)
• Action: arm = joint VELOCITY (rad/s, ABSOLUTE representation - no state delta is applied), gripper = next-frame target; 16-step horizon at 15 fps (1.07 s); NON_EEF (joint space)
• Tuning: GR00T-N1.6 default - VLM (LLM + visual) frozen, train projector + diffusion action head (no LoRA)

Training

• single-card config, bf16, global batch 4, 50000 steps (~15 epochs over 13,171 frames), cosine LR (peak 2.5e-5, sqrt-scaled), warmup 0.05
• Data: IDEAS-Lab-Northwestern/real-clutter-60-droid-refined; videos decoded as H.264 for GR00T's torchcodec loader

Usage

Load with Gr00tPolicy from Isaac-GR00T (n1d6), --embodiment-tag NEW_EMBODIMENT. The included processor/ carries the normalization stats + modality config.

WARNING - Convention (must match at eval): the policy emits joint VELOCITY in rad/s - the client must apply delta = action / 15 with NO clip, and must send 16:9 centre-cropped frames (the crop is baked into the training data), from 2 cameras (exterior_image_1_left + wrist_image_left). A mismatched controller or camera set silently feeds an out-of-distribution input.

Paper & Citation

Part of ManiGuard: paper (arXiv:2608.17386) · code · docs

@misc{peng2026maniguard,
  title         = {{MANIGUARD}: A Benchmark and Data Suite for Specification-Grounded
                   Safety Evaluation and Improvement of Robotic Manipulation},
  author        = {Peng, Yiyan and Wang, Philip and Zhan, Simon Sinong and Lyu, Yiqi
                   and Ni, Zhenyang and Yan, Jixin and Wong, Fiorelli and Jiao, Ruochen
                   and Yin, Hang and Cao, Xinyu and Shao, Huajie and Li, Manling
                   and Zhang, Ruohan and Zhu, Qi},
  year          = {2026},
  eprint        = {2608.17386},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url           = {https://arxiv.org/abs/2608.17386},
}