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Gom-sy/stretch-icra-run-b090-clean

sourceHugging Faceotherupdated 1mo agoView on Hugging Face

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Stretch ICRA Run B090 clean

Private research checkpoint for the Hello Robot Stretch cup-serving policy experiments.

—Experiment arm: Run B090 clean
—Base architecture: NVIDIA GR00T N1.6-3B
—Training data: GT60 + pseudo56; global corr >= 0.90 and global NMAE <= 5% (116 episodes)
—Final training step: 87,125
—Cameras: head + gripper
—Action horizon: 16

Clean retraining from the base model with consistent preprocessing.

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.