mmallick/industrial-claw-groot-order744-cont24

Industrial Claw Order744-cont24

This repository publishes the shared GR00T N1.7 DROID checkpoint used by the Industrial Claw Isaac Sim demonstration. One checkpoint handles the red cube, blue cylinder, and green brick for both Franka arms.

The checkpoint is loaded by two policy processes, one for each arm. These are two serving instances of the same model, not separate arm or object experts.

Training data

Order744 was trained from vanilla nvidia/GR00T-N1.7-DROID with 744 Industrial Claw native-DROID episodes. The cont24 continuation adds 24 accumulated-scene episodes. The companion Hugging Face dataset contains both cohorts and can be used with the public fine-tuning recipe.

Artifact layout

config.json
embodiment_id.json
model-00001-of-00003.safetensors
model-00002-of-00003.safetensors
model-00003-of-00003.safetensors
model.safetensors.index.json
processor_config.json
statistics.json
SHA256SUMS

SHA256SUMS covers only the published model artifacts. Source code is pinned by the Industrial Claw Git revision and tested through the public runtime suite.

The NVIDIA trainer writes the final local output under checkpoint-3000. That training-directory name is not reproduced in the published model repository: the inference artifacts are stored directly at its root.

The model uses the DROID relative-action embodiment and the integrated Industrial Claw measured-home, physical-friction, mixed-color runtime.

This checkpoint is a simulation research/demo artifact. It is not a functional-safety component and must not directly control physical equipment without independent, use-case-specific validation and safety controls.

License and attribution

This model is a fine-tuned derivative of nvidia/GR00T-N1.7-DROID at base revision 05e7cc97e40dbd33b0890c35cc0214fcb0547ab5.

It is distributed under the NVIDIA Open Model License. Licensed by NVIDIA Corporation under the NVIDIA Open Model License. See NOTICE for attribution and lineage.