GR00T-N1.6-G1-PnPAppleToPlate

This is a finetuned model on the GR00T WholeBodyControl example dataset for the PnPAppleToPlate task, based on the GR00T-N1.6-3B model.

Refer to the GR00T-WholeBodyControl and Isaac-GR00T for more details.

Usage

.venv/bin/python gr00t/eval/run_gr00t_server.py \
    --model-path nvidia/GR00T-N1.6-G1-PnPAppleToPlate \
    --embodiment_tag UNITREE_G1 \
    --use_sim_policy_wrapper

Citation

@misc{nvidia2025gr00tn1openfoundation,
      title={GR00T N1: An Open Foundation Model for Generalist Humanoid Robots}, 
      author={NVIDIA and Johan Bjorck and Fernando Castañeda and Nikita Cherniadev and Xingye Da and Runyu Ding and Linxi "Jim" Fan and Yu Fang and Dieter Fox and Fengyuan Hu and Spencer Huang and Joel Jang and Zhenyu Jiang and Jan Kautz and Kaushil Kundalia and Lawrence Lao and Zhiqi Li and Zongyu Lin and Kevin Lin and Guilin Liu and Edith Llontop and Loic Magne and Ajay Mandlekar and Avnish Narayan and Soroush Nasiriany and Scott Reed and You Liang Tan and Guanzhi Wang and Zu Wang and Jing Wang and Qi Wang and Jiannan Xiang and Yuqi Xie and Yinzhen Xu and Zhenjia Xu and Seonghyeon Ye and Zhiding Yu and Ao Zhang and Hao Zhang and Yizhou Zhao and Ruijie Zheng and Yuke Zhu},
      year={2025},
      eprint={2503.14734},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
}