Downloads · 30 days
7
13% of all-time downloads
gr00t-n1.6-pick-cube
leepanic/gr00t-n1.6-pick-cube
gr00t-n1.6-pick-cube is a robotics model from leepanic. 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.
Fine-tune of nvidia/GR00T-N1.6-3B on a Unitree pickcubedemo teleop dataset.
All-time downloads
54
Public
Parameters
3.3B
6.6 GB on disk
Likes
0
Public
Repo makeup
Click a slice to open those files.
.safetensors6.6 GB · 100%
At a glance
- Task
- Robotics
- License
- apache-2.0
- Model type
- Gr00tN1d6
- Access
- Public
- Created
- Apr 16, 2026
- Updated
- Apr 16, 2026
- SHA
- 44b05259
Base models
Model card
From the Hugging Face model README
GR00T N1.6 — Pick Cube (Unitree teleop)
Fine-tune of nvidia/GR00T-N1.6-3B on a Unitree pick_cube_demo teleop dataset.
Task instruction: pick up cube and place it on the green plate.
Embodiment
- State: 63 dims —
left_arm(7) right_arm(7) left_ee(7) right_ee(7) body(35) - Action: 31 dims —
left_arm(7) right_arm(7) left_ee(7) right_ee(7) body(3) - Camera: single
ego_viewat 640×480, 30 fps - Action chunk: 16 steps, absolute non-EEF targets
- Embodiment tag:
NEW_EMBODIMENT
Modality config: examples/pick_cube/pick_cube_config.py in the Isaac-GR00T fork used for training.
Training
| base model | nvidia/GR00T-N1.6-3B |
| steps | 10,000 |
| global batch size | 64 |
| learning rate | 1e-4 (warmup ratio 0.05) |
| weight decay | 1e-5 |
| GPUs | 4 |
| color jitter | brightness 0.3, contrast 0.4, saturation 0.5, hue 0.08 |
Usage
from gr00t.model.policy import Gr00tPolicy
from gr00t.data.embodiment_tags import EmbodimentTag
policy = Gr00tPolicy(
model_path="leepanic/gr00t-n1.6-pick-cube",
embodiment_tag=EmbodimentTag.NEW_EMBODIMENT,
modality_config=pick_cube_config, # see examples/pick_cube/pick_cube_config.py
)
Only the final model weights are published here — intermediate training checkpoints are not included.
- Task
- Robotics
- Type
- Gr00tN1d6
- License
- apache-2.0
- Created
- Apr 16, 2026
- Updated
- Apr 16, 2026