# 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](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/02-post-training-with-gr00t.md)
  * [Setup GR00T](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/02-post-training-with-gr00t.md#setup-gr00t)
  * [Launch GR00T N1 Finetuning](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/02-post-training-with-gr00t.md#launch-gr00t-n1-finetuning)
  * [Code Instructions](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/02-post-training-with-gr00t.md#code-instructions)
    * [Finetuning GR00T](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/02-post-training-with-gr00t.md#finetuning-gr00t)
* [Rollout a VLA Model in Simulation](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/03-deploy.md)
  * [Rollout: Policy-Based Control With GR00T N1](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/03-deploy.md#rollout-policy-based-control-with-gr00t-n1)
    * [Run the Rollout Command](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/03-deploy.md#run-the-rollout-command)
    * [Process Termination](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/03-deploy.md#process-termination)
    * [Videos](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/03-deploy.md#videos)
      * [Model Rollout](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/03-deploy.md#model-rollout)
      * [Code Deep Dive Model Training and Rollout](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/03-deploy.md#code-deep-dive-model-training-and-rollout)
* [Review](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/04-model-flywheel/04-review.md)