groot1.7_tool_insert

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

Base model	nvidia/GR00T-N1.7-3B
Dataset	villekuosmanen/armnetbench_tool_insert
Task	tool_insert
Training	Isambard-AI GH200, batch 64, action horizon 16
W&B project	groot1.7_tool_insert
W&B run	5sqmj40n

Checkpoints

Step	Loss	Path
8,000	0.0270	checkpoints/8000/pretrained_model/
6,000	0.0327	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_tool_insert/checkpoints/8000/pretrained_model"