# RACE_main_gr00t — GR00T N1.6 LIBERO checkpoints

| folder | what | action chunk | notes |
|---|---|---|---|
| `teacher_h8/` | GR00T N1.6-3B fine-tuned on merged LIBERO (4 suites), 30k steps, batch 64 | 8 | starting point for the runs below (original, unmodified) |
| `ft_h16_20k/` | teacher_h8 → fine-tuned with chunk 16, 20k steps | 16 | |
| `ft_h24_20k/` | teacher_h8 → fine-tuned with chunk 24, 20k steps | 24 | |
| `ft_h32_20k/` | teacher_h8 → fine-tuned with chunk 32, 20k steps | 32 | |

Fine-tuning recipe (identical across H): stock Isaac-GR00T `n1.6-release`, embodiment `libero_panda`
with `action.delta_indices = range(H)`, VLM frozen (`tune_llm=False, tune_visual=False,
tune_top_llm_layers=0`), action head trained (`tune_projector/tune_diffusion_model/tune_vlln=True`),
global batch 64 on 2 GPUs, lr 1e-4 cosine with 5% warmup, weight decay 1e-5, DeepSpeed ZeRO-2, bf16,
data = `IPEC-COMMUNITY/libero_{spatial,object,goal,10}_no_noops_1.0.0_lerobot` merged.
Checkpoints hold model weights + config + processor (optimizer state removed).

Original LIBERO (50 episodes/task, executing the whole chunk), 20k step:

| H | Spatial | Object | Goal | Long | Avg |
|---|---|---|---|---|---|
| 16 | 100.0 | 100.0 | 98.6 | 94.9 | 98.4 |
| 24 | 100.0 | 100.0 | 98.4 | 89.6 | 97.0 |
| 32 | 98.6 | 98.8 | 95.7 | 90.2 | 95.8 |

Serving: `gr00t/eval/run_gr00t_server.py --model-path <folder> --embodiment-tag LIBERO_PANDA --use-sim-policy-wrapper`;
the chunk length is read from the checkpoint's processor config. Note `teacher_h8/processor_config.json`
carries a `letter_box_transform` key from a fork; delete it to load with stock n1.6.