Downloads · 30 days
7
11% of all-time downloads
IDM-OMX-v3-50K
cppraii/IDM-OMX-v3-50K
IDM-OMX-v3-50K is a robotics model from cppraii. 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 apache-2.0.
NVIDIA GR00T IDM (Inverse Dynamics Model) fine-tuned for ROBOTIS OMX-F robot.
All-time downloads
64
Public
Parameters
637M
2.5 GB on disk
Likes
0
Public
Repo makeup
Click a slice to open those files.
.safetensors2.5 GB · 100%
At a glance
- Task
- Robotics
- License
- apache-2.0
- Model type
- idm
- Access
- Public
- Created
- Mar 8, 2026
- Updated
- Mar 8, 2026
- SHA
- 55e9d6bc
Model card
From the Hugging Face model README
IDM-OMX-v3-50K
NVIDIA GR00T IDM (Inverse Dynamics Model) fine-tuned for ROBOTIS OMX-F robot.
Model Details
- Architecture: SiGLIP2(768d) → VL Transformer(4L) → DiT(8L, 1024d)
- Parameters: 612M
- Embodiment: OMX (slot 30)
- Action Space: 6-DOF delta joint angles (radians), 30 FPS
- Action Horizon: 16 steps
Training
- Base Model: IDM-OMX-v2 (20K steps checkpoint)
- Dataset: 558 episodes, 257,466 frames (OMX combined + SO-101 megamix FK→IK converted)
- Steps: 50,000 (6.21 epochs)
- Batch Size: 16 (effective 32 with gradient accumulation)
- Learning Rate: 1e-4 (cosine schedule)
- Duration: 5h 08min on RTX 5090
- Final Train Loss: 0.2644
Evaluation
| Metric | Baseline (10K) | v2 (20K) | v3 (50K) |
|---|---|---|---|
| Normalized MAE | 0.6092 | 0.5582 | 0.3551 (-36.4%) |
| Forward Loss | 0.3942 | 0.3453 | 0.2517 (-27.1%) |
Per-Joint MAE (degrees)
| Joint | v2 | v3 | Change |
|---|---|---|---|
| shoulder_pan | 82.12 | 71.76 | -12.6% |
| shoulder_lift | 83.01 | 72.74 | -12.4% |
| elbow_flex | 65.65 | 30.12 | -54.1% |
| wrist_flex | 141.40 | 96.43 | -31.8% |
| wrist_roll | 67.87 | 56.43 | -16.9% |
| gripper | 6.50 | 4.21 | -35.2% |
Usage
Pseudo-label Extraction
Citation
Based on NVIDIA GR00T IDM.
- Task
- Robotics
- Type
- idm
- License
- apache-2.0
- Created
- Mar 8, 2026
- Updated
- Mar 8, 2026