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gr00t-n1.7_task2_10ksteps
nullPointerExcept1on/gr00t-n1.7_task2_10ksteps
gr00t-n1.7_task2_10ksteps is a robotics model from nullPointerExcept1on. 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.
GR00T N1.7-3B fine-tuned on Franka FR3 teleoperation data (SO-101 leader) — task: 캔을 박스 안으로 옮겨라 (can into box, conveyor pick-and-place)
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- other
- Model type
- Gr00tN1d7
- Access
- Public
- Created
- Sep 4, 2026
- Updated
- Sep 4, 2026
- SHA
- efdf43e0
Base models
Model card
From the Hugging Face model README
gr00t-n1.7_task2_10ksteps
GR00T N1.7-3B fine-tuned on Franka FR3 teleoperation data (SO-101 leader) — task: 캔을 박스 안으로 옮겨라 (can into box, conveyor pick-and-place)
- 10,000 steps, global batch 32, lr 1e-4, warmup 0.05, A100-80GB x1
- observation:
bird_eye+grippercameras (1280x720), state[x, y, z, roll, gripper] - action:
eef_pose= [x, y, z, roll] absolute (base frame) +gripperabsolute (1=open/0=closed), 16-step horizon - tuned: projector + diffusion action head (backbone frozen)
- dataset:
nullPointerExcept1on/2026-09-04_task2_conveyor_pnp(50 episodes) | final train_loss 0.098
Use with embodiment_tag NEW_EMBODIMENT and the included franka_config/franka_config.py (Isaac-GR00T launch_finetune.py / open_loop_eval.py / policy server).
- Task
- Robotics
- Library
- lerobot
- Type
- Gr00tN1d7
- License
- other
- Created
- Sep 4, 2026
- Updated
- Sep 4, 2026