gr00t_n1d6-finish_sandwich

nvkartik/gr00t_n1d6-finish_sandwich

gr00t_n1d6-finish_sandwich is a robotics model from nvkartik. 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.

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.safetensors9.2 GB · 100%

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Datasets

izuluaga/finish_sandwich

Model card

From the Hugging Face model README

Model Card for gr00t_n1d6

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This policy has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs.

How to Get Started with the Model

For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval:

Train from scratch

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.type=act \
  --output_dir=outputs/train/<desired_policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
  --wandb.enable=true

Writes checkpoints to outputs/train/<desired_policy_repo_id>/checkpoints/.

Evaluate the policy/run inference

lerobot-record \
  --robot.type=so100_follower \
  --dataset.repo_id=<hf_user>/eval_<dataset> \
  --policy.path=<hf_user>/<desired_policy_repo_id> \
  --episodes=10

Prefix the dataset repo with eval_ and supply --policy.path pointing to a local or hub checkpoint.

Model Details

License: apache-2.0

Task: Robotics
Library: lerobot
License: apache-2.0
Created: Dec 29, 2025
Updated: Dec 30, 2025