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gr00t-n17-pick-up-corn-v1
PID0930/gr00t-n17-pick-up-corn-v1
gr00t-n17-pick-up-corn-v1 is a robotics model from PID0930. Use it for the robotics task on the model card, and read the license before you ship it in a product. The card lists the license as other.
Fine-tuned from nvidia/GR00T-N1.7-3B on the pickupcorn dataset (30 episodes, ~17k frames). Inference-only weights: DeepSpeed optimizer/scheduler/RNG states are intentionally excluded.
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At a glance
- Task
- Robotics
- License
- other
- Model type
- Gr00tN1d7
- Access
- Public
- Created
- Jun 6, 2026
- Updated
- Jun 6, 2026
- SHA
- c3c4b344
Base models
Model card
From the Hugging Face model README
GR00T N1.7 - pick_up_corn (Franka FR3 + Inspire RH56)
Fine-tuned from nvidia/GR00T-N1.7-3B on the pick_up_corn dataset (30 episodes, ~17k frames).
Inference-only weights: DeepSpeed optimizer/scheduler/RNG states are intentionally excluded.
- Embodiment tag: NEW_EMBODIMENT (
new_embodiment) - Task / prompt: "Pick up the corn and place it in the cup"
- Robot: Franka FR3 (7-DOF arm) + Inspire RH56 (6-DOF hand)
- Cameras: tpv, third_person, wrist (480x640)
- Training: ~24,000 steps, global batch 64, 8x A100-80GB
Modality
- state: arm(7) + hand(6)
- action: arm(7, RELATIVE) + hand(6, ABSOLUTE), 16-step prediction horizon
- video: tpv, third_person, wrist
Load (Isaac-GR00T)
python gr00t/eval/run_gr00t_server.py --model-path <this repo> --embodiment-tag new_embodiment
Use the matching modality config (state=arm+hand, action=arm+hand, video=tpv/third_person/wrist).
- Task
- Robotics
- Type
- Gr00tN1d7
- License
- other
- Created
- Jun 6, 2026
- Updated
- Jun 6, 2026