Upload fine-tuned checkpoint (groot-n1.7-molmoact-yam)

README.md

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+---
+library_name: lerobot
+license: apache-2.0
+tags:
+- robotics
+- lerobot
+- groot
+- bimanual
+- yam
+- molmoact
+pipeline_tag: robotics
+base_model: nvidia/GR00T-N1.7-3B
+datasets:
+- allenai/MolmoAct2-BimanualYAM-Dataset
+---
+
+# GR00T N1.7 MolmoAct2 BimanualYAM
+
+Partial fine-tune of [GR00T N1.7](https://huggingface.co/nvidia/GR00T-N1.7-3B) on the [MolmoAct2-BimanualYAM-Dataset](https://huggingface.co/datasets/allenai/MolmoAct2-BimanualYAM-Dataset) (3 cameras: top → left → right). Projector + diffusion trainable; LLM/vision frozen.
+
+## Checkpoint details
+
+| Setting | Value |
+|---------|-------|
+| Training step | 30000 |
+| Cameras | top, left, right |
+| Action dim | 14 (absolute joints + grippers) |
+| Chunk size | 16 |
+| Embodiment | new_embodiment |
+| Base model | nvidia/GR00T-N1.7-3B |
+| Gripper range | [0, 1] (continuous) |
+
+## Usage (LeRobot)
+
+```python
+from lerobot.policies.groot.modeling_groot import GrootPolicy
+from lerobot.policies.factory import make_pre_post_processors
+
+ckpt = "helen9975/groot-n1.7-molmoact-yam"
+policy = GrootPolicy.from_pretrained(ckpt)
+preprocessor, postprocessor = make_pre_post_processors(policy.config, pretrained_path=ckpt)
+```
+
+## Open-loop smoke (2 held-out episodes, stride 30, reset-each-step)
+
+- **MSE:** 0.00160
+- **MAE:** 0.0244

config.json

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+{
+    "type": "groot",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                360,
+                640
+            ]
+        },
+        "observation.images.left": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                360,
+                640
+            ]
+        },
+        "observation.images.right": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                360,
+                640
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                14
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                14
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "pretrained_revision": null,
+    "chunk_size": 16,
+    "n_action_steps": 16,
+    "max_state_dim": 132,
+    "max_action_dim": 132,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "IDENTITY",
+        "ACTION": "IDENTITY"
+    },
+    "base_model_path": "nvidia/GR00T-N1.7-3B",
+    "action_decode_transform": null,
+    "embodiment_tag": "new_embodiment",
+    "tune_llm": false,
+    "tune_visual": false,
+    "tune_projector": true,
+    "tune_diffusion_model": true,
+    "tune_vlln": true,
+    "tune_top_llm_layers": 0,
+    "num_inference_timesteps": null,
+    "rtc_ramp_rate": null,
+    "use_flash_attention": false,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [
+        "gripper"
+    ],
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-05,
+    "warmup_ratio": 0.05,
+    "use_bf16": true,
+    "model_params_fp32": true,
+    "image_size": [
+        256,
+        256
+    ],
+    "tokenizer_assets_repo": null,
+    "lora_rank": 0,
+    "lora_alpha": 16,
+    "lora_dropout": 0.1,
+    "lora_full_model": false,
+    "video_backend": "decord",
+    "balance_dataset_weights": true,
+    "balance_trajectory_weights": true,
+    "dataset_paths": null,
+    "output_dir": "./tmp/gr00t",
+    "save_steps": 1000,
+    "max_steps": 10000,
+    "batch_size": 32,
+    "dataloader_num_workers": 8,
+    "report_to": "wandb",
+    "resume": false
+}

model.safetensors

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policy_postprocessor.json

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+{
+  "name": "policy_postprocessor",
+  "steps": [
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+      "config": {
+        "env_action_dim": 14,
+        "normalize_min_max": true,
+        "clip_normalized_action": true,
+        "libero_gripper_action": false,
+        "libero_gripper_binarize": true
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+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors

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policy_preprocessor.json

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+        "language_key": "task",
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+          "real_r1_pro_sharpa_relative_eef_human": 26,
+          "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
+          "real_r1_pro_sharpa_relative_eef_mecka": 26,
+          "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
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+      "config": {
+        "model_name": "Qwen/Qwen3-VL-2B-Instruct",
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+        "use_albumentations": false,
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+        "device": "cuda"
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+}

policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors

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train_config.json

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+{
+    "dataset": {
+        "repo_id": "allenai/MolmoAct2-BimanualYAM-Dataset",
+        "root": "/weka/oe-training-default/molmoact/lerobot/allenai/MolmoAct2-BimanualYAM-Dataset",
+        "episodes": null,
+        "image_transforms": {
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+            "random_order": false,
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+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
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+                            1.5
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+                            5.0
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+                        "translate": [
+                            0.05,
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+        "revision": "local",
+        "use_imagenet_stats": true,
+        "video_backend": "pyav",
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+        "depth_output_unit": "mm",
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+}