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README.md

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+---
+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
+  - humanoid
+  - vla
+  - gr00t
+  - asimov
+  - mujoco
+pipeline_tag: robotics
+---
+
+# GR00T N1.7 for the Asimov 1 humanoid (simulation)
+
+A fine-tune of [NVIDIA GR00T N1.7-3B](https://huggingface.co/nvidia/GR00T-N1.7-3B) for
+[Menlo Research's Asimov 1](https://github.com/menloresearch/asimov-1), an open-source humanoid, in the
+configuration that actually ships: 25 DOF, passive printed "dummy hands" (no grippers), one monocular head
+camera. As far as we know this is the first GR00T policy for Asimov.
+
+**Simulation only.** It has not been run on a real robot.
+
+## Tasks and results
+
+Three language-conditioned tabletop tasks in MuJoCo. Evaluation is closed loop on 50 held-out layouts per
+task, with seeds disjoint from every training seed. The policy runs at 20 Hz, predicts 16-step chunks and
+executes 8 of them per call. Success must hold for 0.5 s.
+
+| Task | Instruction example | ckpt 6000 | **ckpt 10000** | 95% CI (10000) |
+|---|---|---|---|---|
+| Push (one fist) | "push the purple block onto the orange pad" | 46% | **84%** | 0.71–0.92 |
+| Button | "press the red button" | 36% | **64%** | 0.50–0.76 |
+| Box (bimanual squeeze, carry, place) | "lift the box and put it on the shelf" | 2% | **56%** | 0.42–0.69 |
+
+- **Main failures at step 10000:**
+  - push: block short of the pad (5), block never moved (3)
+  - button: no press (10), partial press (6), wrong button (2)
+  - box: dropped or not placed (16)
+- **Not converged:** success was still rising steeply between steps 6000 and 10000, so longer training should help.
+- **Open-loop** on training episodes: action MAE 0.027 rad.
+- **Inference:** 95 ms per call on an L40 (PyTorch eager).
+
+Example rollouts (one success and one failure per task) are in `results/closedloop_checkpoint-10000/videos/`.
+
+## Training
+
+- **Data:** 900 scripted-expert demonstrations, 300 per task. That is 155k frames at 20 Hz, 43 instructions,
+  randomized object poses, colors, distractors, lighting and camera jitter.
+- **Observation:**
+  - head camera, 256×256
+  - joint positions: left and right arm (5 each), waist yaw, neck yaw and pitch
+  - the instruction
+- **Action:** absolute joint targets for the same 13 DOF, learned as RELATIVE (delta from current state),
+  16-step horizon.
+- **Fine-tune:** `NEW_EMBODIMENT`, default GR00T recipe (projector and action head trained, backbone frozen).
+  10,000 steps at batch 64, learning rate 1e-4, color jitter. One L40 for 2 h 43 m. Loss went from 0.095 to 0.010.
+- **Checkpoints:** `checkpoints/checkpoint-{2000..10000}`, with weights and processor but no optimizer state.
+
+## Simplifications and assumptions
+
+These are deliberate scope cuts for v1:
+
+- **Pelvis welded:** legs held at the standing pose. Balance is the locomotion controller's job on hardware.
+- **Hand collision shapes:** convex hulls of Menlo's printed dummy-hand files. Mass (0.18 kg) and mounting are
+  assumptions.
+- **Head camera:** mounted pitched 45° down inside the head with a 75° vertical FOV. The neck's 19.5° downward
+  limit cannot see the table on its own. This needs checking against the real camera mount.
+- **Box task:** the carton is held by friction only (μ 0.5, no welds). It uses a 0.30–0.34 m carton because
+  Asimov's fists only face each other in a narrow band, set by one-sided shoulder roll and a 5-DOF arm.
+
+## Code
+
+Simulation tasks, scripted experts, dataset export, GR00T modality config, closed-loop evaluation and the
+one-shot training script: `asimov-groot` (to be published).
+
+## License
+
+Licensed by NVIDIA Corporation under the
+[NVIDIA Open Model License](https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-open-model-license/).
+This is a derivative of nvidia/GR00T-N1.7-3B, which uses nvidia/Cosmos-Reason2-2B, under the same license.
+The Asimov robot model is from menloresearch/asimov-1 (GPL-2.0 software / CERN-OHL-S-2.0 hardware).