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gr00t-n17-g1-ikea-abs-30k – AI Model by CK-Sung | AlphaNeural AI
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gr00t-n17-g1-ikea-abs-30k
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 ABSOLUTE 14d = ee_left[6] + ee_right[6] + hand[2] (xyz + euler'xyz' in the pelvis frame; hand 5.5=open..0.0=closed), 16-step chunk @10fps
Training: 30k steps, effective batch 256, NEW_EMBODIMENT tag
Note: config.json references the gated backbone
nvidia/Cosmos-Reason2-2B
by hub id; request access there before loading.
