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so101-simstudio-lab01-pnp-groot-n17
alexhegit/so101-simstudio-lab01-pnp-groot-n17
so101-simstudio-lab01-pnp-groot-n17 is a robotics model from alexhegit. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot. The card lists the license as other.
Fine-tune of nvidia/GR00T-N1.7-3B on the Lab 01 50-episode joint-position dataset. This is a documented negative result, not a classroom pick-and-place policy. Same data: ACT 6-D ~58% and MolmoAct2 6-D ~54% full-range…
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- other
- Access
- Public
- Created
- Sep 19, 2026
- Updated
- Sep 19, 2026
- SHA
- 62afcdf3
Base models
Model card
From the Hugging Face model README
SO-101 Lab01 Pick-and-Place — GR00T N1.7 (negative result)
Fine-tune of nvidia/GR00T-N1.7-3B on the Lab 01 50-episode joint-position dataset. This is a documented negative result, not a classroom pick-and-place policy. Same data: ACT 6-D ~58% and MolmoAct2 6-D ~54% full-range; this checkpoint does not lift the cube.
Training data: alexhegit/so101-simstudio-lab01-pnp
This Hub revision is the kept Lab 01 GR00T run: embodiment_tag=new_embodiment, 6-D *.pos (pad to GR00T max_action_dim), relative actions with gripper excluded, LLM and vision frozen, batch 4 × 10 000 steps on AMD Instinct MI300X (~35 min, train loss ~0.03–0.1). Checkpoint 010000.
Do not use the later continuation 30K (10K as base_model_path after cosine lr=0) or visual-unfreeze 20K — both scored 0/10 with worse approach than this 10K (reach_8cm 9–10/10 → 0–2/10). Details: SimStudio groot_n1_7_adapt.md, Lab 01 §6.4, and issue #6.
Cameras stay Lab 01 keys (camera_front, camera_top, camera_wrist). Relative actions require RTC (GrootPolicy.select_action is not implemented). Eval in this repo patches gated Cosmos tokenizer files to public Qwen/Qwen3-VL-2B-Instruct.
Weights inherit the NVIDIA Open Model License from the N1.7 base (not Apache-2.0).
Closed-loop (do not treat as a working policy)
Task: pick the cube and place it in the box. reset_arm: home, RTC execution_horizon=8. Cube stays near spawn z≈0.015 (no lift).
| Protocol | Backend | Success | Funnel (reach 8 cm → 4 cm → close → lift) | Real chunk Hz |
|---|---|---|---|---|
| Full-range random | 8060S EGL | 0/10 | 9/10 → 7/10 → 5/10 → 0/10 | 2.53 (~395 ms) |
| Fixed demo cube | 8060S EGL | 0/10 | 9/10 → 6/10 → 2/10 → 0/10 | 2.51 |
| Full-range random | MI300X OSMesa | 0/10 | 10/10 → 6/10 → 1/10 → 0/10 | control compute ~2 Hz (software render) |
Log “10k+ Hz” figures are RTC queue pops, not predict_action_chunk.
Documentation
| Resource | Link |
|---|---|
| SimStudio repo | rocPAI-Forge/so101-simstudio |
| Lab 01 GR00T notes | labs/lab01_pnp/groot_n1_7_adapt.md |
| Lab 01 §6.4 | labs/lab01_pnp/lab01_pnp.md |
| Base weights | nvidia/GR00T-N1.7-3B |
Eval (SimStudio)
source .venv-rocm/bin/activate
LAB01_POLICY_PATH=./outputs/hub/lab01_pnp_groot_n17 \
LAB01_EVAL_CONFIG=labs/lab01_pnp/configs/rollout_groot.yaml \
LAB01_EVAL_EPISODES=10 LAB01_MUJOCO_GL=egl LAB01_RENDER_WINDOW=false \
./labs/lab01_pnp/eval.cmd
- Task
- Robotics
- Library
- lerobot
- License
- other
- Created
- Sep 19, 2026
- Updated
- Sep 19, 2026