Model Flywheel

In our final module for this course, let’s explore the process of adapting and evaluating a large pretrained model to a new medical robotics task, then deploying and testing it in simulation.

Learning Objectives

By the end of this chapter, you will be able to:

• Launch a fine-tuning process for imitation learning on your dataset

• Roll out a model in simulation

• Post-training With GR00T
  • Setup GR00T
  • Launch GR00T N1 Finetuning
  • Code Instructions
    • Finetuning GR00T
• Rollout a VLA Model in Simulation
  • Rollout: Policy-Based Control With GR00T N1
    • Run the Rollout Command
    • Process Termination
    • Videos
      • Model Rollout
      • Code Deep Dive Model Training and Rollout
• Review