gr00t-n17-g1-ikea-rel-60k

GR00T-N1.7-3B fine-tune for the 2026 Humanoid IKEA Assembly Challenge (Unitree G1 + Dex1, "building children table").

• Base model: nvidia/GR00T-N1.7-3B (Cosmos-Reason2-2B backbone, frozen)
• Data: BitRobot/G1_WBT_Dex1_Building-Children-Table (LeRobot v3 -> GR00T v2.1)
• Action space: EE-space RELATIVE (delta) 14d = ee_left[6] + ee_right[6] + hand[2] (xyz + euler'xyz' deltas in the pelvis frame; hand 5.5=open..0.0=closed), 16-step chunk @10fps — accumulate deltas onto the current EE pose at deploy time
• Training: 60k steps, effective batch 256, NEW_EMBODIMENT tag
• Sibling checkpoint (absolute action space): CK-Sung/gr00t-n17-g1-ikea-abs-30k
• Note: config.json references the gated backbone nvidia/Cosmos-Reason2-2B by hub id; request access there before loading.