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GR00T-N1.6-3B-Pick-Orange
hi-space/GR00T-N1.6-3B-Pick-Orange
GR00T-N1.6-3B-Pick-Orange is a robotics model from hi-space. 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.
A fine-tuned version of nvidia/GR00T-N1.5-3B for orange pick-and-place tasks in simulation, trained on the LightwheelAI/leisaac-pick-orange dataset.
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From the Hugging Face model README
GR00T-N1.6-3B-Pick-Orange-Sim
A fine-tuned version of nvidia/GR00T-N1.5-3B for orange pick-and-place tasks in simulation, trained on the LightwheelAI/leisaac-pick-orange dataset.
Model Description
GR00T-N1.6 (Gr00tN1d6) is a vision-language-action (VLA) model for robot manipulation. This checkpoint is fine-tuned for a pick-and-place task where the robot picks up an orange in a simulated environment.
- Architecture: Gr00tN1d6 with Eagle-Block2A-2B-v2 vision-language backbone + diffusion policy action head
- Base model: nvidia/GR00T-N1.5-3B
- Task: Pick orange (simulation)
- Action horizon: 50 steps
- Inference timesteps: 4 (diffusion)
- Model dtype: bfloat16
Fine-tuning Configuration
| Parameter | Value |
|---|---|
| Tuned components | Diffusion model, projector, top 4 LLM layers, VL-LN |
| Frozen components | Vision encoder, LLM backbone |
| Training steps | 6000 |
| Batch size | 32 |
| Final training loss | ~0.017 |
| Action representation | Relative actions |
| Attention | Flash Attention 2 |
Training Details
- Dataset: LightwheelAI/leisaac-pick-orange
- Max steps: 6000 (1 epoch)
- Loss curve: Started at ~1.1, converged to ~0.017
Usage
from gr00t.model.gr00t_n1 import GR00TPolicy
policy = GR00TPolicy.from_pretrained("hi-space/GR00T-N1.6-3B-Pick-Orange-Sim")
Refer to the NVIDIA Isaac GR00T repository for full inference and deployment instructions.
Intended Use
This model is intended for simulation-based robotic pick-and-place tasks involving oranges. It is not guaranteed to transfer zero-shot to real hardware without additional fine-tuning.
License
This model inherits the license from the base model nvidia/GR00T-N1.5-3B. Please refer to NVIDIA's terms for usage restrictions.
- Task
- Robotics
- Type
- Gr00tN1d6
- License
- other
- Languages
- en
- Created
- May 10, 2026
- Updated
- May 10, 2026