HelloCephalopod/gr00t-n1.5-so100-finetuned_20k

GR00T N1.5 Fine-tuned on SO-100 Dataset

This model is a fine-tuned version of nvidia/GR00T-N1.5-3B on a SO-101 robot arm dataset with single camera setup.

Model Details

• Base Model: nvidia/GR00T-N1.5-3B
• Fine-tuned on: SO-100 pick and place
• Camera Setup: Single camera (webcam)
• Embodiment: SO-100 robot arm
• Training Steps: 1000 (demo configuration)

Usage

from gr00t.model.gr00t_n1 import GR00T_N1_5

# Load the fine-tuned model
model = GR00T_N1_5.from_pretrained("HelloCephalopod/gr00t-n1.5-so100-finetuned_20k")

# Use for inference on SO-100 robot
# ... your inference code here

Training Details

• Training Data: SO-100 pick and place block task
• Training Steps: 1000
• Batch Size: 8
• Learning Rate: 1e-4
• Hardware: Google Colab GPU

Intended Use

This model is intended for research and educational purposes with SO-100 robot arms performing table cleanup tasks.

Limitations

• Trained on a small dataset (demo purposes)
• Single camera setup only
• Specific to SO-100 embodiment

Citation

If you use this model, please cite the original GR00T paper and acknowledge the fine-tuning work.