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README.md
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---
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library_name: gr00t
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tags:
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- gr00t
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- gr00t-n1.7
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- robotics
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- vla
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base_model: nvidia/GR00T-N1.7-3B
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---
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# groot1.7_block_stack_20k
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Fine-tuned [GR00T N1.7-3B](https://huggingface.co/nvidia/GR00T-N1.7-3B) for `block_stack` on SO101 data.
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|---|---|
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| **Base model** | [nvidia/GR00T-N1.7-3B](https://huggingface.co/nvidia/GR00T-N1.7-3B) |
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| **Dataset** | [villekuosmanen/armnetbench_block_stack](https://huggingface.co/datasets/villekuosmanen/armnetbench_block_stack) |
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| **Task** | `block_stack` |
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| **Embodiment** | single-arm SO-101 |
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| **Training** | 20k steps, batch 32 (8/GPU × 4 DDP), 4× RTX 5090 on Vast.ai, load_bf16=True |
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| **Prior HF repo** | [pravsels/groot1.7_block_stack](https://huggingface.co/pravsels/groot1.7_block_stack) |
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| **W&B project** | [groot1.7_block_stack](https://wandb.ai/pravsels/groot1.7_block_stack) |
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| **W&B run** | [pwazfb2z](https://wandb.ai/pravsels/groot1.7_block_stack/runs/pwazfb2z) |
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## Checkpoints
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Final checkpoint (step `20000`) lives at the **repository root** for direct loading.
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## Usage
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Load with the GR00T inference stack from this repo root (weights + processor configs).
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