Incline_50epi_GR00T17

GR00T N1.7 finetuned on a bimanual OpenArm incline-manipulation dataset.

The default branch holds checkpoint 041476, the last checkpoint of the run. Earlier checkpoints are on branches named after their step, for step-to-step comparison. Only the model weights and the pre/post-processors were uploaded; optimizer state was not, so this repo serves inference, not resumption.

Load

The default branch holds the final checkpoint, 041476:

--policy.path=leapshared/Incline_50epi_GR00T17

Each earlier checkpoint lives on its own branch, with the weights at the branch root:

--policy.path=leapshared/Incline_50epi_GR00T17 --policy.pretrained_revision=020738

--policy.path accepts a repo id or a local directory only — it has no subfolder syntax, which is why the checkpoints are separate branches rather than subfolders.

Training

Base model	nvidia/GR00T-N1.7-3B
Policy type	groot_frozen_bf16 (frozen backbone held in bf16, fused AdamW)
Dataset	leapshared/Incline_20260901_221322 — 50 episodes, 62,210 frames, 30 fps, bi_openarm_follower
Cameras	follower_d455f, left_wrist, right_wrist
Action space	absolute (use_relative_actions=false), chunk_size=40, n_action_steps=40
Trained modules	projector, diffusion model, VL layernorm. LLM and vision tower frozen
Optimizer	fused AdamW, lr 1e-4, weight decay 1e-5, grad clip 1.0
Schedule	cosine, 500 warmup steps
Batch size	16
Seed	42
Image transforms	enabled

Checkpoints

The run was planned for 62,210 steps (16 epochs) and was stopped early by the operator at step 43,134 (about 11.1 epochs). Training loss had flattened near 0.010–0.011 and the cosine schedule had decayed the learning rate to 2.3e-5.

Checkpoint	Epochs	Revision to pass
010369	2.67	--policy.pretrained_revision=010369
020738	5.33	--policy.pretrained_revision=020738
031107	8.00	--policy.pretrained_revision=031107
041476	10.67	default branch, no revision needed

A power loss cut the run at step 12,658; it was resumed from checkpoint 010369, so steps 10,369–12,658 were trained twice against different data ordering. Checkpoints from 020738 onward are unaffected.