groot1.7_insert_candle

Fine-tuned GR00T N1.7-3B on SO101 data (insert_candle).

Base model	nvidia/GR00T-N1.7-3B
Dataset	villekuosmanen/armnetbench_insert_candle
Task	insert_candle
Training	Isambard-AI GH200, batch 64, action horizon 16
W&B project	groot1.7_insert_candle
W&B run	roagmz69

Checkpoints

Step	Loss	Path
8,000	0.0216	checkpoints/8000/pretrained_model/
6,000	0.0264	checkpoints/6000/pretrained_model/

Usage

Load from a specific step:

from pathlib import Path
# Use checkpoints/<step>/pretrained_model/ with the GR00T inference stack
ckpt = "pravsels/groot1.7_insert_candle/checkpoints/8000/pretrained_model"