gr00t-n1.7_task1_10ksteps

GR00T N1.7-3B fine-tuned on Franka FR3 teleoperation data (SO-101 leader) — task: 스크류드라이버를 전달해라 (screwdriver handover)

• 10,000 steps, global batch 32, lr 1e-4, warmup 0.05, A100-80GB x1
• observation: bird_eye + gripper cameras (1280x720), state [x, y, z, roll, gripper]
• action: eef_pose = [x, y, z, roll] absolute (base frame) + gripper absolute (1=open/0=closed), 16-step horizon
• tuned: projector + diffusion action head (backbone frozen)
• dataset: nullPointerExcept1on/2026-09-04_task1_tool_handover (50 episodes) | final train_loss 0.087

Use with embodiment_tag NEW_EMBODIMENT and the included franka_config/franka_config.py (Isaac-GR00T launch_finetune.py / open_loop_eval.py / policy server).