Stretch ICRA GT40 baseline
Private research checkpoint for the Hello Robot Stretch cup-serving policy experiments.
- Experiment arm: GT40
- Base architecture: NVIDIA GR00T N1.6-3B
- Training data: GT teleoperation only (40 episodes)
- Final training step: 30,363
- Cameras: head + gripper
- Action horizon: 16
GT-only policy baseline.
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.
