This guide shows how to fine-tune GR00T on datasets collected from the SO-100 robot and deploy the model on real hardware.
Dataset
Data collection
To collect datasets via teleoperation, refer to the official LeRobot documentation:
SO-100 teleoperation guide
Example dataset
Dataset: izuluaga/finish_sandwich
Visualize the dataset: Dataset viewer
Preparation
Convert dataset format
Convert from LeRobot v3 to v2 format:uv run python scripts/lerobot_conversion/convert_v3_to_v2.py \
--repo-id izuluaga/finish_sandwich \
--root examples/SO100/finish_sandwich_lerobot
Copy modality configuration
cp modality.json examples/SO100/finish_sandwich_lerobot/meta/modality.json
Fine-tuning
Run the fine-tuning script using absolute joint positions:
uv run bash examples/SO100/finetune_so100.sh
Feel free to experiment with relative joint positions by modifying the action modality configuration in modality.json.
Evaluation
Open-loop evaluation
Evaluate the fine-tuned model against ground truth trajectories:
uv run python gr00t/eval/open_loop_eval.py \
--dataset-path examples/SO100/finish_sandwich_lerobot \
--embodiment-tag NEW_EMBODIMENT \
--model-path /tmp/so100_finetune/checkpoint-10000 \
--traj-ids 0 \
--action-horizon 16 \
--steps 400
Closed-loop evaluation (real robot)
For deploying on real SO-100 hardware, see eval_so100.py for Policy API usage.
Setup client dependencies
cd gr00t/eval/real_robot/SO100
uv venv
source .venv/bin/activate
uv pip install -e . --verbose
uv pip install --no-deps -e ../../../../
Start policy server
In Terminal 1:uv run python gr00t/eval/run_gr00t_server.py \
--model-path /tmp/so100_finetune/checkpoint-10000 \
--embodiment-tag NEW_EMBODIMENT
Run evaluation client
In Terminal 2:uv run python gr00t/eval/real_robot/SO100/eval_so100.py \
--robot.type=so101_follower \
--robot.port=/dev/ttyACM2 \
--robot.id=orange_follower \
--robot.cameras="{ wrist: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30}, front: {type: opencv, index_or_path: 6, width: 640, height: 480, fps: 30}}" \
--policy_host=localhost \
--policy_port=5555 \
--lang_instruction="cube into green bowl"
Hardware configuration
When deploying on real hardware, ensure:
- Correct USB port for robot connection (
/dev/ttyACM*)
- Camera indices match your hardware setup
- Camera resolution and FPS are compatible with your cameras
- Robot ID matches your configured follower arm
Always test in a safe environment with emergency stop capabilities before running autonomous manipulation tasks.
Additional resources