Source run: groot-n17-so101-cleanup-vials-relact-bs128-lr1e4-preset-20k-save5k-retry1-20260630-1442
Checkpoint step: 020000
Base model: nvidia/GR00T-N1.7-3B
Dataset: sreetz-nv/so101-clean-up-vials-into-rack-50_20260628_131121
Embodiment tag: new_embodiment
Batch size: 128
Optimizer: AdamW, learning rate 1e-4, weight decay 1e-5
Scheduler: cosine decay with warmup, 500 warmup steps
Relative actions: enabled, excluding gripper
GR00T preprocessor use_albumentations: false

Usage

Load this policy with LeRobot using the uploaded Hub repo ID:

uv run lerobot-eval --policy.path=<hf_user>/<repo_id>

awrenn53/groot-n17-so101-cleanup-vials-noalbu-bs128-lr1e4-20k