fei-yang-wu/ec-g1-gr00t-eval-kit

G1 GR00T and FSQ64 Embodied-Control evaluation kit

This private release binds one language-conditioned GR00T planner to the matching 10B-frame FSQ64 low-level policy for G1 evaluation.

The release is an evaluation artifact. An Embodied-Control result is a MuJoCo deployment-rehearsal measurement. It is not interchangeable with a synchronized Isaac evaluation result.

Contents

• planner/gr00t_head.pt: GR00T N1.7 action-head checkpoint, update 12,000.
• planner/goal_features.pt: 30-goal Cosmos feature table used by the head.
• controller/fsq64_10b/: verified ec.bundle/v1 runtime bundle.
• training/low_level_checkpoint.pt: raw low-level tracker checkpoint.
• training/skill_encoder_checkpoint.pt: raw matching FSQ64 encoder checkpoint.
• audit/encoder_binding.json: tensor-level tracker-to-encoder binding record.
• eval/ec.yaml: Embodied-Control evaluation configuration for the selected 28-goal set.
• release.json: artifact hashes, source revisions, and validation records.

The runtime uses controller/fsq64_10b/. The files under training/ are included so the controller can be audited or exported again.

Validation

• The binding gate passed for all 21 encoder tensors.
• RLOpt-native policy parity had maximum absolute error 0.
• TorchScript policy and encoder parity had maximum absolute error 0.
• ONNX policy parity had maximum absolute error 7.62939453125e-06.
• ONNX encoder parity had maximum absolute error 0.
• The GR00T service loaded the released head and goal table and reported the expected contract: history 10 x 93, horizon 3, action width 64.

The original goal-feature file was no longer present. This release regenerated it from the frozen 30-goal language sidecar, GR00T revision 2fc962b973bccdd5d8ce4f67cc63b264d6886495, and Cosmos revision 9ce19a195e423419c349abfc86fd07178b230561. The feature provenance is in planner/goal_features_provenance.json.

Download

Pin an immutable Hugging Face revision. Do not use a moving main branch for an evaluation:

hf download fei-yang-wu/ec-g1-gr00t-eval-kit \
  --revision <commit-sha> \
  --local-dir ec-g1-gr00t-eval-kit

Embodied-Control evaluation

Use a compatible IsaacLab-Imitation checkout. The release records the exact source revisions, but the working tree used for export was dirty. Set the two paths and run the supplied configuration from the repository root:

export EC_EVAL_KIT=/absolute/path/to/ec-g1-gr00t-eval-kit
export ISAACLAB_IMITATION_ROOT=/absolute/path/to/IsaacLab-Imitation

cd "$ISAACLAB_IMITATION_ROOT"
pixi run python -m imitation_experiments.evaluation.eval_gr00t_ec \
  --config-dir "$EC_EVAL_KIT/eval" --config-name ec

The evaluation needs the repository's G1 MJCF and the bones_seed_language30_compositionality_v1 reference arrays. They are not duplicated in this model repository.

Licenses and attribution

The GR00T-derived planner is distributed under the NVIDIA license copied to licenses/nvidia-gr00t/LICENSE. Isaac-GR00T software is Apache-2.0; its license is copied to licenses/software/Isaac-GR00T-Apache-2.0.txt. See NOTICE for the NVIDIA and Cosmos attribution.