2 posts tagged with "VLA"

For the GR00T N1.7 fine-tune I borrowed someone else's dataset, prateeks-iu/rebot_b601_rs_sugar: 103 episodes of a robot arm picking up a sugar cube. All of them were recorded in the same room, on the same white table, under the same light.

A model trained on that learns the table as much as it learns the task.

The usual fix is to record more data somewhere else. The other fix is to repaint the data you already have — keep the arm's motion exactly as it was, and change everything behind it. That is what Cosmos3 Transfer does.

I had a Jetson AGX Thor on my desk and wanted to know whether it could run Cosmos3 Transfer on that dataset. Six days later: 309 episodes.

I always assumed any form of model tuning meant a big hardware investment, or renting a huge compute instance in the cloud.

Then, in a separate project with nothing to do with this arm, I used supervised fine-tuning and distillation on Amazon Bedrock to build custom Amazon Nova models. It cost far less than I expected. First assumption gone.

The second one lasted longer: I was sure my Jetson AGX Thor couldn't train GR00T. Not enough hardware.

So I wanted one question answered: can this hardware train the model at all?

That's why I borrowed someone else's dataset rather than recording my own — it keeps my arm, my calibration and my teleoperation out of the experiment, so the only thing being tested is the Thor.

It worked.