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stretch-icra-run-e
Gom-sy/stretch-icra-run-e
stretch-icra-run-e is a robotics model from Gom-sy. Use it for the robotics task on the model card, and read the license before you ship it in a product. The card lists the license as other.
Private research checkpoint for the Hello Robot Stretch cup-serving policy experiments.
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At a glance
- Task
- Robotics
- License
- other
- Model type
- Gr00tN1d6
- Access
- Public
- Created
- Aug 24, 2026
- Updated
- Aug 24, 2026
- SHA
- b2ea7d50
Model card
From the Hugging Face model README
Stretch ICRA Run E
Private research checkpoint for the Hello Robot Stretch cup-serving policy experiments.
- Experiment arm: Run E
- Base architecture: NVIDIA GR00T N1.6-3B
- Training data: GT60 + gate-passed pseudo45; corr >= 0.90 and 16-frame-window NMAE <= 25% (105 episodes)
- Final training step: 78,420
- Cameras: head + gripper
- Action horizon: 16
Window-gated policy arm. The archived experiment used unstamped arm q01 statistics; preserve the included statistics for reproduction.
Files
This repository contains policy inference weights and the matching processor/statistics/configuration files. DeepSpeed optimizer and RNG states are intentionally excluded.
Use the included statistics.json (or processor/statistics.json, depending on the archived checkpoint layout) and processor configuration with the weights. The exact training configuration is retained under experiment_cfg/.
Intended use
Research and reproducibility only. Validate robot limits, preprocessing, normalization, and emergency-stop behavior before physical deployment.
- Task
- Robotics
- Type
- Gr00tN1d6
- License
- other
- Created
- Aug 24, 2026
- Updated
- Aug 24, 2026