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gr00t_real_deploy_official
yqi19/gr00t_real_deploy_official
gr00t_real_deploy_official is a machine learning model from yqi19. Use it for the machine learning task on the model card, and read the license before you ship it in a product. The card lists the license as mit.
UR5 + RealSense + FLIR + Robotiq deploy / inference code for fine-tuned GR00T-N1.7 policies. No checkpoints in this repo — get them from yqi19/gr00trealcheckpoint.
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Public
Updated May 8, 2026
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At a glance
- License
- mit
- Access
- Public
- Created
- May 8, 2026
- Updated
- May 8, 2026
- SHA
- f4ce4eca
Model card
From the Hugging Face model README
gr00t_real_deploy_official
UR5 + RealSense + FLIR + Robotiq deploy / inference code for fine-tuned
GR00T-N1.7 policies. No checkpoints in this repo — get them from
yqi19/gr00t_real_checkpoint.
Branches
| Branch | What it is |
|---|---|
correct-version | Eval code with all four post-state-B fixes applied: _build_gr00t_obs passes native-res RGB, action_ts anchored at time.time() + 0.1, j_init reads j_init_deg from config, _IMG_W/_IMG_H removed. |
smooth-version | Pre-fix snapshot — all four bugs intact: extra cv2.cvtColor(BGR2RGB) channel flip, cv2.resize to 224×224 (defeats LetterBox), action_ts anchored at obs_ts[-1] (chunk all stale), hardcoded j_init. |
latency-version | correct-version + two new CLI flags for tuning policy execution latency: --action_exec_latency (default 0.1s, forward buffer) and --action_start_step (default 0, skip first N predicted steps). |
Quick reference
# correct (default behavior)
git clone -b correct-version https://huggingface.co/yqi19/gr00t_real_deploy_official deploy_correct
# latency (with tunable flags)
git clone -b latency-version https://huggingface.co/yqi19/gr00t_real_deploy_official deploy_latency
cd deploy_latency
# example: skip first 2 chunk steps, execute next 6
python eval/eval_gr00t.py \
--checkpoint /path/to/checkpoint \
--task "pick up bread" \
--action_start_step 2 \
--steps_per_inference 6 \
--action_exec_latency 0.1
See BACKUP_NOTE.md on each branch for behaviour details.
- License
- mit
- Created
- May 8, 2026
- Updated
- May 8, 2026