VigneshBhavan/so101-newton-actuator-ab-paired-checkpoints

SO-101 Newton Workshop + AnchorBench Checkpoints

This repository contains the matched GR00T N1.6 checkpoints used for the SO-101 Newton sim-to-real actuator-model comparison.

These names match the accompanying PDF:

PDF label	Checkpoint folder	Simulated actuator profile
AnchorBench	so101_anchorbench_profile_checkpoint-5000	AnchorBench actuator profile
Workshop	so101_workshop_baseline_checkpoint-5000	Workshop profile / Workshop baseline

Task instruction:

Pick up the vial and place it in the yellow rack

Demonstrations

The exact training demonstrations are now published at:

https://huggingface.co/datasets/VigneshBhavan/so101-newton-actuator-ab-paired-demos

Each profile has 118 matched episodes and 39,421 frames at 30 FPS, including both external (front) and wrist (wrist) camera streams plus state and action data. In the published LeRobot folders, those streams retain their recording keys: external_D455 and ego, respectively.

Training Lineage

Both branches start from the same task-specialized workshop checkpoint:

aravindhs-NV/grootn16-finetune_sreetz-so101_teleop_vials_rack_left/checkpoint-10000

They then receive:

1. 25K steps on the corresponding 85-pair dataset at global batch 32 and learning rate 5e-6.
2. 5K continuation steps on the corresponding 118-pair dataset at global batch 32 and learning rate 2e-6.

The optimizer is Adafactor with a cosine schedule on both branches. All exact GR00T configs, acceptance manifests, and lineage metadata are under reproduction/training/.

Newton Asset and Parameters

The exact collision asset, composable AnchorBench USD layer, and complete actuator profiles are under reproduction/assets/:

• SO-ARM101-USD-Newton-CH.usd
• SO-ARM101-USD-Newton-CH-AnchorBench.usda
• anchorbench_sysid_actuator_profile.json
• workshop_baseline_actuator_profile.json

Use the JSON profile for exact Isaac Lab behavior. The USD layer directly authors correctly unit-converted drive gains, max force, armature, and Newton Coulomb friction, while Isaac Lab applies dynamic and viscous friction at runtime.

See reproduction/README.md for the complete reproduction contract and download commands.

Result Video

The real-robot 50-pair comparison is under:

media/so101_working_scene_anchorbench_vs_workshop_50pair_timed_12x.mp4