nvidia/gr00t17-lerobot-libero_goal-640

Model Card for groot

GR00T 1.7 is an open, cross-embodiment foundation model from NVIDIA for generalized humanoid robot reasoning and skills. It takes language and images as input and uses a flow-matching action transformer to predict actions conditioned on vision, language, and proprioception.

This policy has been trained and pushed to the Hub using LeRobot.

Learn how to train and run it in the LeRobot groot guide, or browse the full documentation.

---

Model Details

• License: apache-2.0

Inputs & Outputs

The policy consumes these observation features and produces these action features.

Inputs

| Feature | Type | Shape | | --- | --- | --- | | observation.images.wrist_image | VISUAL | (256, 256, 3) | | observation.images.image | VISUAL | (256, 256, 3) | | observation.state | STATE | (8,) |

Outputs

| Feature | Type | Shape | | --- | --- | --- | | action | ACTION | (7,) |

Training Configuration

| Setting | Value | | --- | --- | | Training steps | 20000 | | Batch size | 320 | | Optimizer | adamw | | Learning rate | 0.0001 | | Seed | 1000 | | LeRobot version | 0.5.2 |

---

How to Get Started with the Model

New to LeRobot? These guides cover the full workflow:

• [Install LeRobot](https://huggingface.co/docs/lerobot/main/en/installation) — set up the lerobot package.
• [Hardware setup](https://huggingface.co/docs/lerobot/main/en/hardware_guide) — assemble, wire, and calibrate your robot and cameras.
• [Record data & train a policy](https://huggingface.co/docs/lerobot/en/il_robots) — the end-to-end imitation-learning walkthrough.
• [CLI cheat-sheet](https://huggingface.co/docs/lerobot/main/en/cheat-sheet) — quick reference for the lerobot-* commands.

The short version to run and train this policy:

Run the policy on your robot

lerobot-rollout \
--strategy.type=base \
--robot.type= \
--robot.port= \
--robot.cameras="{ : {type: opencv, index_or_path: , width: 640, height: 480, fps: 30}, : {type: opencv, index_or_path: , width: 640, height: 480, fps: 30}}" \
--policy.path=nvidia/gr00t17-lerobot-libero_goal-640 \
--task="" \
--duration=60

Replace the remaining ` placeholders with your own values: --robot.port` and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.

When --strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at rollout documentation.

Train your own policy

lerobot-train \
--dataset.repo_id=${HF_USER}/ \
--policy.type=groot \
--output_dir=outputs/train/ \
--job_name=lerobot_training \
--policy.device=cuda \
--policy.repo_id=${HF_USER}/ \
--wandb.enable=true

_Writes checkpoints to outputs/train//checkpoints/._

---

Evaluation

_No evaluation results have been provided for this policy yet._

---

Citation

If you use this policy, please cite the method linked in the description above, along with LeRobot:

@misc{cadene2024lerobot,
author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
howpublished = "\url{https://github.com/huggingface/lerobot}",
year = {2024}
}