groot1.7_insert_candle_20k

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

Base model	nvidia/GR00T-N1.7-3B
Dataset	villekuosmanen/armnetbench_insert_candle
Task	insert_candle
Embodiment	bimanual SO-101
Training	20k steps, batch 32 (8/GPU × 4 DDP), 4× RTX 5090 on Vast.ai, load_bf16=True
Prior HF repo	pravsels/groot1.7_insert_candle
W&B project	groot1.7_insert_candle
W&B run	a2yr5czu

Checkpoints

Final checkpoint (step 20000) lives at the repository root for direct loading.

Usage

Load with the GR00T inference stack from this repo root (weights + processor configs).