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-100 robot arm dataset with single camera setup.
Model Details
- Base Model: nvidia/GR00T-N1.5-3B
- Fine-tuned on: SO-100 table cleanup dataset
- 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")
# Use for inference on SO-100 robot
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-101 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.
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Model tree for HelloCephalopod/gr00t-n1.5-so100-finetuned
Base model
nvidia/GR00T-N1.5-3B