NVIDIA Isaac GR00T: Open-loop demonstration evaluation

Compare predicted actions against recorded demonstration trajectories through a local model or remote policy server.

isaac-groot-gr00t-eval-open-loop-eval-py | Record version: source-e15706fac4cd8caff3229a1538eb0288b487919b28c0e26ecf30c32d0f61245f

Record JSON | Markdown | Pinned upstream source

Access

Fetch the pinned repository, verify this source checksum, and use upstream installation and invocation. This record does not install or execute code.

Hub preparation adapter: false. Follow the upstream setup and invocation contract.

Source and license

Repository: https://github.com/NVIDIA/Isaac-GR00T
Revision: dac54b313160c201c450f97df0fd74ebd379c892
Path: gr00t/eval/open_loop_eval.py
Source SHA256: e15706fac4cd8caff3229a1538eb0288b487919b28c0e26ecf30c32d0f61245f
Original authors: NVIDIA CORPORATION & AFFILIATES
License: Apache-2.0
License scope: Only the 12 selected Python source files, each with explicit matching Apache-2.0 header. Preserve copyright and attribution, including source adaptation notices. Third-party code, datasets, simulators, robot firmware, services, model architecture components and weights retain separate terms.
License SHA256: 93363510f62ce25ad1a47605b0b06ab335edd82f1a444531c58dd30b6e5a5a0c
Hub commit: 1d6d9eb134e397d910265a8d6e7d8f257f9e8d7f

Artifact

{
  "kind": "workflow",
  "format": "python",
  "workflow_role": "policy-evaluation"
}

Requirements

{
  "python": "Root environment declares >=3.12,<3.13; per-workflow or robot-client environments may differ and must follow their pinned setup documents.",
  "packages": [
    "Pinned gr00t source checkout",
    "Upstream PyTorch/CUDA or TensorRT stack as selected",
    "Matching simulator or robot connector only for selected workflow"
  ],
  "display": "No environment has been installed. Training, inference, platform architecture and robot-client environments differ; setup text is a declaration.",
  "execution_domain": "computation",
  "source_imports": [
    "copy",
    "dataclasses",
    "gr00t.data.dataset.lerobot_episode_loader",
    "gr00t.data.dataset.sharded_single_step_dataset",
    "gr00t.data.embodiment_tags",
    "gr00t.data.utils",
    "gr00t.eval._horizon_contract",
    "gr00t.policy",
    "gr00t.policy.gr00t_policy",
    "gr00t.policy.server_client",
    "logging",
    "matplotlib",
    "numpy",
    "pandas",
    "pathlib",
    "re",
    "torch",
    "typing",
    "tyro",
    "warnings"
  ],
  "notes": "These are upstream source/document declarations, not verified installed dependencies or operating capabilities.",
  "declared_requirements": {
    "gpu_notes": "Local model selection chooses CUDA when available and CPU otherwise in source; a successful CPU run or performance is not verified. Remote-server mode delegates model compute.",
    "checkpoint_or_model_access": "External checkpoint/model-server requirement; code license does not establish checkpoint license. No weights fetched.",
    "python": "Root environment declares >=3.12,<3.13; per-workflow or robot-client environments may differ and must follow their pinned setup documents.",
    "external_service_or_network": "Upstream model/data retrieval, configured policy server and optional logging/robot connectivity depend on selection. No network service was invoked by this entrypoint during review.",
    "interpretation": "These are upstream source/document declarations, not verified installed dependencies or operating capabilities.",
    "model_license_scope": {
      "upstream_readme_license_section": "Code: Apache-2.0; model weights: NVIDIA Open Model License",
      "evidence_path": "README.md",
      "checkpoint_license_applicability": "not_reviewed",
      "weights_acquired": false,
      "scope": "Source declarations only; no checkpoint access or downstream licensing clearance is inferred."
    }
  }
}

Invocation

{
  "entrypoint": "python gr00t/eval/open_loop_eval.py",
  "notes": "Read the pinned source and workflow setup. Local model selection chooses CUDA when available and CPU otherwise in source; a successful CPU run or performance is not verified. Remote-server mode delegates model compute. External checkpoint/model-server requirement; code license does not establish checkpoint license. No weights fetched. No environment was resolved and no source was executed."
}

Explicit compatibility

[]

Missing environment fields remain unknown. Discovery labels do not establish robot compatibility.

Evidence

Level: source_reviewed; runtime verification: not_run.

Verified exact source, applicable license and author/setup document bytes at a full Git commit; parsed the Python AST and reviewed this guarded operational entrypoint and its explicit license notices. No upstream code, installation, robot command, dataset, mesh or checkpoint was executed or loaded.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.