Dongkkka/bgf_groot_20man_second_try

BGF GR00T SH5 tactile checkpoint — 200,000 steps

Inference-only package from completed Task000650 fine-tuning at 200,000 steps. It includes all model shards, index, model configuration, saved processor, normalization statistics and embodiment mapping required by GR00T inference. Optimizer/scheduler/RNG state is intentionally excluded.

Contract

• Robot: ffw_sh5_rev1; action order: left arm (7), right arm (7), left hand (20), right hand (20).
• Tactile: two 45D hands (90 raw taxels), saved normalized processor, finger_mlp to 32D latent.
• Inputs: three RGB cameras and language; action output is an absolute 40×54 chunk.
• Load with Gr00tPolicy(model_path=..., embodiment_tag="new_embodiment", use_tactile=True).

Required files

Keep model-*.safetensors, model.safetensors.index.json, config.json, processor_config.json, statistics.json, and embodiment_id.json together. Do not rename a shard to model.pt. SHA256SUMS covers every uploaded file.

See inference_manifest.json, configs/sh5.json, CYCLO_INFERENCE.md, and QUALITY_AUDIT.md. The audit is a training-set offline replay diagnostic; this checkpoint is not approved for powered robot operation.