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groot-n1.7-molmoact-yam
helen9975/groot-n1.7-molmoact-yam
groot-n1.7-molmoact-yam is a robotics model from helen9975. 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 apache-2.0.
Partial fine-tune of GR00T N1.7 on the MolmoAct2-BimanualYAM-Dataset (3 cameras: top → left → right). Projector + diffusion trainable; LLM/vision frozen.
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Access
- Public
- Created
- Jul 20, 2026
- Updated
- Jul 20, 2026
- SHA
- 384ed60e
Base models
Model card
From the Hugging Face model README
GR00T N1.7 MolmoAct2 BimanualYAM
Partial fine-tune of GR00T N1.7 on the MolmoAct2-BimanualYAM-Dataset (3 cameras: top → left → right). Projector + diffusion trainable; LLM/vision frozen.
Checkpoint details
| Setting | Value |
|---|---|
| Training step | 30000 |
| Cameras | top, left, right |
| Action dim | 14 (absolute joints + grippers) |
| Chunk size | 16 |
| Embodiment | new_embodiment |
| Base model | nvidia/GR00T-N1.7-3B |
| Gripper range | [0, 1] (continuous) |
Usage (LeRobot)
from lerobot.policies.groot.modeling_groot import GrootPolicy
from lerobot.policies.factory import make_pre_post_processors
ckpt = "helen9975/groot-n1.7-molmoact-yam"
policy = GrootPolicy.from_pretrained(ckpt)
preprocessor, postprocessor = make_pre_post_processors(policy.config, pretrained_path=ckpt)
Open-loop smoke (2 held-out episodes, stride 30, reset-each-step)
- MSE: 0.00160
- MAE: 0.0244
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Jul 20, 2026
- Updated
- Jul 20, 2026