GR00T-N1.5-3B fine-tuned with LeRobot (0.4.1) on the 379 LIBERO-10 (LIBERO-Long) demonstrations, on a single RTX 4090. This is the final 60,000-step checkpoint. It is a color-jitter ablation of an RGB-vs-grayscale study. The recipe is identical to except that training-time color jitter is turned off. It reaches 66% on LIBERO-10 under default lighting. It is much less robust to lighting changes than the jittered RGB and grayscale models. zhoumiaosen/libero10rgb: the 379 LIBERO-10 episodes of openvla/modifiedliberorlds, converted to LeRobot v3.0 at 10 fps. That is 101,469 frames. observation.state (8-D: eef position, axis-angle, 2 gripper joints). Output: 7-D action (eef delta + gripper).…
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Zhoumiaosen
zhoumiaosen
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