---
license: other
license_name: nvidia-open-model-license
license_link: https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-open-model-license/
base_model: nvidia/GR00T-N1.7-3B
tags: [robotics, gr00t, sh5, tactile]
---
# GR00T N1.7 SH5 Task000905 — 50,000 steps

Complete resumable checkpoint at repository root.

Task: Use the right hand to pick up a white sanitary pad from the box and hold it.
51 recorded episodes, 46 train / 5 held out, 30 Hz. Head camera only
(`cam_left_head`), 54 measured joint positions and 90 raw tactile values.
Outputs: 40 x 54 absolute joint positions in radians, ordered left arm7,
right arm7, left hand20, right hand20. Head/lift/base are excluded from outputs.

Batch64, accumulation1, LR2e-05, warmup1000, BF16/TF32. Frozen VLM backbone;
action/projectors and finger_mlp tactile encoder are trained. See
`artifact_manifest.json` for the source commit, normalization and contract.
This requires the compatible custom SH5 tactile GR00T implementation, not
vanilla GR00T without the tactile adapter. No robot success/safety claim is made.

When ready, model/processor/statistics/embodiment mapping and optimizer,
scheduler, RNG, trainer step are included. Raw videos, demonstrations,
credentials, server paths, private logs and TrainingArguments pickle are excluded.
Verify `SHA256SUMS` after downloading every file at the recorded commit.

Resume: download this repository completely to `checkpoint-50000` inside the
original run, retain the original local dataset and launcher, and use
`train_r2.sh --resume`. Restore the saved optimizer/scheduler/RNG and
continue the original 200000-update cosine schedule. Offline inference
uses Gr00tPolicy with embodiment `new_embodiment` and `use_tactile=True`.