# NVIDIA Isaac GR00T: Standalone checkpoint inference

Evaluate a configured GR00T checkpoint against dataset trajectories, optionally replacing configured stages with TensorRT engines.

ID: `isaac-groot-scripts-deployment-standalone-inference-script-py`

Record version: `source-9e1b3587ded4cfbc87eb51f1ae9b9bcb12174aa2a4d81f75dc78fea6db738610`

Hub commit: `703369d7a095afb46da723634a9d983d2eda3054`

## Access

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

Optional inert file retrieval: `python /PATH_TO_SKILL/scripts/rsh.py fetch-source isaac-groot-scripts-deployment-standalone-inference-script-py --project ./experiment --expected-source-revision dac54b313160c201c450f97df0fd74ebd379c892 --expected-source-sha256 9e1b3587ded4cfbc87eb51f1ae9b9bcb12174aa2a4d81f75dc78fea6db738610 --json`. This verifies one file, preserves provenance and never installs or runs it. See [source-file retrieval](https://hub.superfastrobotics.com/source-files.md).

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/NVIDIA/Isaac-GR00T/blob/dac54b313160c201c450f97df0fd74ebd379c892/README.md

## Source and license

- Repository: https://github.com/NVIDIA/Isaac-GR00T
- Pinned source: https://github.com/NVIDIA/Isaac-GR00T/blob/dac54b313160c201c450f97df0fd74ebd379c892/scripts/deployment/standalone_inference_script.py
- Revision: `dac54b313160c201c450f97df0fd74ebd379c892`
- Path: `scripts/deployment/standalone_inference_script.py`
- Source SHA256: `9e1b3587ded4cfbc87eb51f1ae9b9bcb12174aa2a4d81f75dc78fea6db738610`
- Source bytes: 32332
- Original authors: NVIDIA CORPORATION & AFFILIATES
- License: [Apache-2.0](https://github.com/NVIDIA/Isaac-GR00T/blob/dac54b313160c201c450f97df0fd74ebd379c892/LICENSE)
- 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`

## Artifact

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

## Requirements

```json
{
  "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": [
    "concurrent.futures",
    "copy",
    "dataclasses",
    "gr00t.data.dataset.lerobot_episode_loader",
    "gr00t.data.dataset.sharded_single_step_dataset",
    "gr00t.data.embodiment_tags",
    "gr00t.data.utils",
    "gr00t.deployment.modes",
    "gr00t.eval._horizon_contract",
    "gr00t.policy.gr00t_policy",
    "gr00t.policy.policy",
    "logging",
    "matplotlib",
    "numpy",
    "os",
    "pandas",
    "pathlib",
    "random",
    "re",
    "sys",
    "tensorrt",
    "time",
    "torch",
    "trt._trt_contract",
    "trt.trt_model_forward",
    "typing",
    "tyro",
    "warnings"
  ],
  "notes": "These are upstream source/document declarations, not verified installed dependencies or operating capabilities.",
  "declared_requirements": {
    "gpu_notes": "Local CUDA model/engine environment and compatible checkpoint/dataset are declared; no inference was executed.",
    "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

```json
{
  "entrypoint": "python scripts/deployment/standalone_inference_script.py",
  "notes": "Read the pinned source and workflow setup. Local CUDA model/engine environment and compatible checkpoint/dataset are declared; no inference was executed. External checkpoint/model-server requirement; code license does not establish checkpoint license. No weights fetched. No environment was resolved and no source was executed."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source 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.