NVIDIA Isaac GR00T N1.7 - A Foundation Model for Generalist Robots.
This report summarizes scanner evidence for NVIDIA/Isaac-GR00T, a Python project with 8,190 GitHub stars. SynthScan examined 61,699 lines of code across 269 source files, recording 1332 pattern matches distributed across 20 syntactic categories. The legacy adjusted pattern signal is 35.9 (High pattern signal); it is not an authorship estimate.
Use the findings to ask whether maintainers can explain intent, verify dependencies, simplify unnecessary scaffolding, and focus review effort. Risk Payload v1 adds ownership, supply-chain, over-engineering, and review-effort vectors when available. These are prompts for human verification, not probabilities, security findings, or measured maintenance costs.
Use each vector to guide manual verification of the underlying findings.
Can maintainers explain intent, assumptions, and trade-offs? 937 finding(s).
Are imports declared and package/API names verified? 96 finding(s).
Are wrappers, guards, and repeated structures necessary? 854 finding(s).
Which changes need focused human review? 1332 finding(s).
This chart tracks the legacy adjusted pattern score across scan runs. Changes can reflect source changes, scan coverage, or detector/scoring versions; they do not measure AI adoption or prove that a team refactored code. Compare runs only when their scoring versions are compatible. The dashed line tracks the raw pattern-hit count.
Groups findings by configured severity weight. Severity is not a confidence estimate, security rating, or proof that a package is missing. Verify imports against the project's manifests and inspect each finding in its local design context.
This horizontal bar chart shows where configured pattern scores accumulate across directories. Treat the bars as locations to inspect, not as evidence of authorship or code quality. Use the file-level findings to decide whether a directory needs a focused ownership, dependency, complexity, or review check.
The scanner identified 1332 distinct pattern matches across 20 syntactic categories. Each entry below represents a discrete location in the source code where the engine recorded a detector match to inspect in context. Expand any category row to inspect the individual file paths, line numbers, code snippets, and the lexical context (CODE, COMMENT, or STRING) in which each match was detected.
Reading the findings table: The Severity column indicates the configured finding weight (CRITICAL / HIGH / MEDIUM / LOW). The Context column identifies whether the match occurred inside executable code, an inline comment, or a string literal — legacy comment-context matches receive a ×1.5 score weight. The ⚡ bolt icon marks clustered matches: three or more patterns within a 10-line window, each receiving an additional ×1.5 density multiplier under the legacy scoring model.
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | tools/check_manifest_alignment.py | 90 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tools/check_manifest_alignment.py | 92 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tools/check_manifest_alignment.py | 184 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tools/check_manifest_alignment.py | 186 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tools/check_manifest_alignment.py | 263 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tools/check_manifest_alignment.py | 265 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/tools/test_manifest_alignment.py | 52 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/tools/test_manifest_alignment.py | 54 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/tools/test_manifest_alignment.py | 123 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/tools/test_manifest_alignment.py | 125 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/utils/test_initial_actions_safety.py | 92 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/utils/test_initial_actions_safety.py | 94 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/gr00t/utils/test_run_or_wait_on_rank0.py | 164 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/gr00t/utils/test_run_or_wait_on_rank0.py | 166 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/gr00t/utils/test_run_or_wait_on_rank0.py | 282 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/gr00t/utils/test_run_or_wait_on_rank0.py | 284 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/configs/test_base_config_safe_yaml.py | 37 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/configs/test_base_config_safe_yaml.py | 39 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/configs/test_base_config_safe_yaml.py | 109 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/configs/test_base_config_safe_yaml.py | 111 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/configs/test_base_config_safe_yaml.py | 174 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/configs/test_base_config_safe_yaml.py | 176 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …sts/gr00t/experiment/test_best_metric_callback_save.py | 118 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …sts/gr00t/experiment/test_best_metric_callback_save.py | 120 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …sts/gr00t/experiment/test_best_metric_callback_save.py | 222 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …sts/gr00t/experiment/test_best_metric_callback_save.py | 224 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …sts/gr00t/experiment/test_best_metric_callback_save.py | 52 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …sts/gr00t/experiment/test_best_metric_callback_save.py | 55 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …sts/gr00t/experiment/test_best_metric_callback_save.py | 357 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …sts/gr00t/experiment/test_best_metric_callback_save.py | 359 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …sts/gr00t/experiment/test_best_metric_callback_save.py | 374 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …sts/gr00t/experiment/test_best_metric_callback_save.py | 376 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …sts/gr00t/eval/sim/wrapper/test_multistep_aggregate.py | 40 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …sts/gr00t/eval/sim/wrapper/test_multistep_aggregate.py | 42 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …sts/gr00t/eval/sim/wrapper/test_multistep_aggregate.py | 89 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …sts/gr00t/eval/sim/wrapper/test_multistep_aggregate.py | 91 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …sts/gr00t/eval/sim/wrapper/test_multistep_aggregate.py | 152 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …sts/gr00t/eval/sim/wrapper/test_multistep_aggregate.py | 154 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …ts/gr00t/data/test_generate_stats_cache_fingerprint.py | 139 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …ts/gr00t/data/test_generate_stats_cache_fingerprint.py | 141 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …ts/gr00t/data/test_generate_stats_cache_fingerprint.py | 190 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …ts/gr00t/data/test_generate_stats_cache_fingerprint.py | 192 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …ts/gr00t/data/test_generate_stats_cache_fingerprint.py | 249 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …ts/gr00t/data/test_generate_stats_cache_fingerprint.py | 251 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …ts/gr00t/data/test_generate_stats_cache_fingerprint.py | 108 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …ts/gr00t/data/test_generate_stats_cache_fingerprint.py | 110 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/gr00t/data/test_stats_cache_fingerprint.py | 80 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/gr00t/data/test_stats_cache_fingerprint.py | 82 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/data/test_stats_cache_fingerprint.py | 143 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/data/test_stats_cache_fingerprint.py | 145 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/data/test_stats_cache_fingerprint.py | 238 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/data/test_stats_cache_fingerprint.py | 240 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/data/test_sharded_datasets.py | 87 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | tests/gr00t/data/test_sharded_datasets.py | 89 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/gr00t/data/test_sharded_datasets.py | 37 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/gr00t/data/test_sharded_datasets.py | 39 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/gr00t/data/test_sharded_datasets.py | 213 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/gr00t/data/test_sharded_datasets.py | 215 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/gr00t/data/test_sharded_datasets.py | 268 | # ----------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/gr00t/data/test_sharded_datasets.py | 270 | # ----------------------------------------------------------------------- | COMMENT |
| 143 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | tests/conftest.py | 105 | def serialize_subprocess_spawns(): | CODE |
| LOW⚡ | tests/tools/test_manifest_alignment.py | 57 | def test_live_manifests_have_no_unannotated_drift(check_module): | CODE |
| LOW⚡ | tests/tools/test_manifest_alignment.py | 128 | def test_canonical_lowercases_and_collapses_separators(check_module): | CODE |
| LOW | tests/tools/test_manifest_alignment.py | 160 | def test_hw_tied_pattern_classification(check_module, name, expected): | CODE |
| LOW | tests/tools/test_manifest_alignment.py | 169 | def test_parse_dep_extracts_name_extras_spec_and_marker(check_module): | CODE |
| LOW | tests/tools/test_manifest_alignment.py | 190 | def test_detect_drifts_flags_presence_and_version_drift(check_module): | CODE |
| LOW | tests/tools/test_manifest_alignment.py | 226 | def test_load_allowlist_round_trips_reason(check_module, tmp_path): | CODE |
| LOW | tests/tools/test_manifest_alignment.py | 239 | def test_load_allowlist_missing_file_returns_empty(check_module, tmp_path): | CODE |
| LOW | tests/examples/test_libero.py | 64 | def _libero_submodule_initialized() -> bool: | CODE |
| LOW | tests/examples/test_libero.py | 246 | def _point_repo_dataset_to_shared() -> None: | CODE |
| LOW⚡ | tests/examples/test_libero.py | 289 | def test_libero_readme_workflow_executes_via_subprocess() -> None: | CODE |
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 64 | def _robocasa_submodule_commit() -> str: | CODE |
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 102 | def _assert_required_assets_present() -> None: | CODE |
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 108 | def _point_repo_assets_to_shared() -> None: | CODE |
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 122 | def _move_repo_assets_to_shared() -> None: | CODE |
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 144 | def _remove_dangling_repo_asset_symlinks() -> None: | CODE |
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 153 | def _robocasa_submodule_initialized() -> bool: | CODE |
| LOW | tests/examples/test_robocasa.py | 63 | def _robocasa_submodule_commit() -> str: | CODE |
| LOW | tests/examples/test_robocasa.py | 111 | def _assert_required_assets_present() -> None: | CODE |
| LOW | tests/examples/test_robocasa.py | 117 | def _point_repo_assets_to_shared() -> None: | CODE |
| LOW | tests/examples/test_robocasa.py | 131 | def _move_repo_assets_to_shared() -> None: | CODE |
| LOW | tests/examples/test_robocasa.py | 158 | def _remove_dangling_repo_asset_symlinks() -> None: | CODE |
| LOW | tests/examples/test_robocasa.py | 167 | def _robocasa_submodule_initialized() -> bool: | CODE |
| LOW | tests/examples/test_robocasa.py | 227 | def _resolve_robocasa_dataset() -> pathlib.Path: | CODE |
| LOW | tests/examples/test_robocasa.py | 247 | def _resolve_robocasa_checkpoint(blocks, env: dict[str, str]) -> str: | CODE |
| LOW | tests/examples/test_robocasa.py | 321 | def test_robocasa_readme_eval_flow() -> None: | CODE |
| LOW | tests/examples/test_simplerenv.py | 142 | def test_simplerenv_fractal_readme_eval_flow() -> None: | CODE |
| LOW | tests/examples/test_simplerenv.py | 158 | def test_simplerenv_bridge_readme_eval_flow() -> None: | CODE |
| LOW | tests/examples/test_droid.py | 67 | def test_droid_eef_rotation_correct_mirror_in_sync() -> None: | CODE |
| LOW | tests/examples/test_droid.py | 82 | def test_droid_readme_server_starts(occurrence: int) -> None: | CODE |
| LOW | tests/examples/test_droid.py | 120 | def test_droid_finetune_and_finetuned_server() -> None: | CODE |
| LOW | tests/gr00t/test_hf_local_first.py | 90 | def test_calls_orig_once_with_unchanged_kwargs(self, tmp_path): | CODE |
| LOW | tests/gr00t/test_hf_local_first.py | 104 | def test_passes_through_on_success(self): | CODE |
| LOW | tests/gr00t/test_hf_local_first.py | 113 | def test_propagates_failure_without_retry(self): | CODE |
| LOW | tests/gr00t/test_hf_local_first.py | 128 | def test_returns_architecture_only_model_and_loading_info(self, monkeypatch, tmp_path, capsys): | CODE |
| LOW | tests/gr00t/test_hf_local_first.py | 157 | def test_uses_regular_local_first_when_env_disabled(self, monkeypatch): | CODE |
| LOW | tests/gr00t/test_hf_local_first.py | 171 | def test_fixture_temporarily_enables_weight_loading(self, load_hf_model_weights): | CODE |
| LOW | tests/gr00t/test_hf_local_first.py | 190 | def test_calls_orig_once_with_local_files_only_true(self, capsys): | CODE |
| LOW | tests/gr00t/test_hf_local_first.py | 200 | def test_preserves_other_kwargs_on_probe(self): | CODE |
| LOW | tests/gr00t/test_hf_local_first.py | 213 | def test_falls_through_to_normal_call_on_probe_failure(self, capsys): | CODE |
| LOW | tests/gr00t/test_hf_local_first.py | 232 | def test_propagates_failure_from_download_call(self): | CODE |
| LOW⚡ | tests/gr00t/test_no_weight_load.py | 45 | def test_zeros_params_and_persistent_buffers(): | CODE |
| LOW⚡ | tests/gr00t/test_no_weight_load.py | 52 | def test_preserves_non_persistent_buffers(): | CODE |
| LOW⚡ | tests/gr00t/test_no_weight_load.py | 60 | def test_preserves_non_persistent_in_nested_modules(): | CODE |
| LOW | tests/gr00t/utils/test_determinism.py | 37 | def _restore_deterministic_algorithms(monkeypatch): | CODE |
| LOW⚡ | tests/gr00t/utils/test_determinism.py | 62 | def test_seed_is_reproducible(): | CODE |
| LOW⚡ | tests/gr00t/utils/test_determinism.py | 69 | def test_env_var_fallback_matches_explicit_arg(monkeypatch): | CODE |
| LOW⚡ | tests/gr00t/utils/test_determinism.py | 77 | def test_invalid_env_var_raises(monkeypatch): | CODE |
| LOW⚡ | tests/gr00t/utils/test_determinism.py | 83 | def test_cudnn_flags_flipped_when_seeded(): | CODE |
| LOW | tests/gr00t/utils/test_initial_actions_safety.py | 55 | def test_roundtrip_preserves_structure_and_values(tmp_path): | CODE |
| LOW | tests/gr00t/utils/test_initial_actions_safety.py | 72 | def test_roundtrip_handles_empty_dataset_list(tmp_path): | CODE |
| LOW | tests/gr00t/utils/test_initial_actions_safety.py | 80 | def test_roundtrip_handles_dataset_with_no_trajectories(tmp_path): | CODE |
| LOW⚡ | tests/gr00t/utils/test_initial_actions_safety.py | 97 | def test_save_rejects_separator_in_trajectory_name(tmp_path): | CODE |
| LOW⚡ | tests/gr00t/utils/test_initial_actions_safety.py | 106 | def test_save_rejects_separator_in_action_key(tmp_path): | CODE |
| LOW⚡ | tests/gr00t/utils/test_initial_actions_safety.py | 113 | def test_load_rejects_legacy_pickle_format(tmp_path): | CODE |
| LOW | tests/gr00t/utils/test_initial_actions_safety.py | 133 | def test_load_rejects_npz_missing_schema_marker(tmp_path): | CODE |
| LOW | tests/gr00t/utils/test_initial_actions_safety.py | 144 | def test_load_rejects_unrecognised_format_marker(tmp_path): | CODE |
| LOW | tests/gr00t/utils/test_torchcodec_import.py | 21 | def test_torchcodec_importable() -> None: | CODE |
| LOW | tests/gr00t/utils/test_video_backend.py | 45 | def test_torchcodec_not_imported_at_module_level(self, serialize_subprocess_spawns): | CODE |
| LOW | tests/gr00t/utils/test_video_backend.py | 94 | def test_get_frames_by_timestamps_returns_distinct_frames(self, sample_video_path: Path): | CODE |
| 488 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | README.md | 601 | - **Code:** Apache 2.0 — see [LICENSE](LICENSE) | COMMENT |
| LOW | tools/check_manifest_alignment.py | 1 | #!/usr/bin/env python3 | COMMENT |
| LOW | tools/manifest_alignment.toml | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/conftest.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/__init__.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/tools/test_manifest_alignment.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/examples/test_libero.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/examples/test_robocasa.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/examples/test_simplerenv.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/examples/__init__.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/examples/test_droid.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/examples/test_so100.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/test_hf_local_first.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/test_no_weight_load.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/utils/test_determinism.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/utils/test_initial_actions_safety.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/utils/test_torchcodec_import.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/utils/test_video_backend.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/utils/test_dataset_video_backend.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/utils/test_video_decoder_error.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/utils/test_run_or_wait_on_rank0.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/configs/test_batch_size_invariant.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/configs/test_base_config_safe_yaml.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/model/test_model_forward.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/model/test_variable_image_size.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/model/test_action_horizon_validation.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/model/test_qwen3_rope.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/model/test_vlm_image_input_parity.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/model/test_gr00t_processor.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/model/test_action_head.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/model/test_gated_backbone_error.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | …sts/gr00t/experiment/test_trainer_resume_strictness.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/experiment/test_warn_configs.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | …sts/gr00t/experiment/test_best_metric_callback_save.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/experiment/_run_best_metric_fsdp_save.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/experiment/_run_distributed_experiment.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/experiment/test_distributed_init.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/experiment/test_resume_compatibility.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/experiment/test_experiment_run.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/eval/test_so100_action_steps.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/eval/test_rollout_max_episode_steps.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/eval/test_horizon_contract.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/eval/test_robocasa365_rollout_policy.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/eval/test_rollout_episode_length.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/eval/test_server_modality_json.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/eval/sim/test_simpler_env_success.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/eval/sim/test_video_recording_wrapper.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/eval/sim/test_env_utils.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | …sts/gr00t/eval/sim/test_robocasa365_gymnasium_groot.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | …/gr00t/eval/sim/wrapper/test_video_recorder_cleanup.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | …sts/gr00t/eval/sim/wrapper/test_multistep_aggregate.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/data/test_data_preparation.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/data/test_dataset_factory.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/data/test_embodiment_tags.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/data/test_demo_dataset_stats.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | …ts/gr00t/data/test_generate_stats_cache_fingerprint.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/data/test_stats_embodiment_guard.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/data/test_stats_corrupt_cache.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/data/test_stats_cache_fingerprint.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| 145 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | tests/examples/test_robocasa_gr1_tabletop.py | 97 | except OSError: | CODE |
| HIGH | tests/examples/test_robocasa.py | 106 | except OSError: | CODE |
| HIGH | tests/test_support/runtime.py | 223 | except (subprocess.CalledProcessError, FileNotFoundError, subprocess.TimeoutExpired): | CODE |
| HIGH | tests/test_support/runtime.py | 434 | except (subprocess.CalledProcessError, FileNotFoundError, subprocess.TimeoutExpired): | CODE |
| HIGH | tests/test_support/runtime.py | 558 | except Exception: | CODE |
| HIGH | examples/DROID/server_client.py | 370 | except Exception: | CODE |
| HIGH | examples/DROID/server_client.py | 352 | except Exception: | CODE |
| HIGH | examples/DROID/server_client.py | 358 | except Exception: | CODE |
| HIGH | examples/rebot-arm-dm/eval_rebot_arm_dm.py | 50 | except ImportError: | CODE |
| HIGH | gr00t/__init__.py | 328 | except Exception: | CODE |
| HIGH | gr00t/__init__.py | 380 | except Exception: | CODE |
| HIGH | gr00t/__init__.py | 92 | except Exception: | CODE |
| HIGH | gr00t/eval/sim/wrapper/video_recording_wrapper.py | 101 | except Exception: | CODE |
| HIGH | gr00t/data/stats.py | 132 | except OSError: | CODE |
| HIGH | gr00t/policy/server_client.py | 384 | except Exception: | CODE |
| HIGH | gr00t/policy/server_client.py | 198 | except Exception: | CODE |
| HIGH | gr00t/policy/server_client.py | 204 | except Exception: | CODE |
| HIGH | gr00t/policy/server_client.py | 363 | except Exception: | CODE |
| HIGH | gr00t/policy/server_client.py | 369 | except Exception: | CODE |
| HIGH | scripts/repair_lerobot_metadata.py | 78 | except OSError: | CODE |
| HIGH | scripts/deployment/benchmark_inference.py | 585 | except NameError: | CODE |
| HIGH | scripts/deployment/benchmark_inference.py | 589 | except NameError: | CODE |
| HIGH | scripts/deployment/trt_torch.py | 98 | except Exception: | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | examples/DROID/server_client.py | 238 | Compute and return the next action based on current observation with validation. This is the main public interf | STRING |
| HIGH | gr00t/model/gr00t_n1d7/image_augmentations.py | 503 | Pad image to square dimensions by adding black bars to the smaller dimension. Args: img: I | STRING |
| HIGH | gr00t/data/utils.py | 73 | Normalize values using min-max normalization to [-1, 1] range. Args: values: Input values to normalize | STRING |
| HIGH | gr00t/data/utils.py | 117 | Min-max unnormalization from [-1, 1] range back to original range. Args: normalized_values: Normalized | STRING |
| HIGH | gr00t/data/utils.py | 156 | Normalize values using mean-std (z-score) normalization. Args: values: Input values to normalize | STRING |
| HIGH | gr00t/data/utils.py | 203 | Mean-std unnormalization (reverse z-score normalization). Args: normalized_values: Normalized input va | STRING |
| HIGH | gr00t/data/dataset/sharded_single_step_dataset.py | 243 | Extract and process a single timestep from episode data. Converts raw episode data into a VLAStepData | STRING |
| HIGH | gr00t/data/dataset/lerobot_episode_loader.py | 224 | Parse and validate modality configurations, filling in defaults where needed. For missing modality con | STRING |
| HIGH | gr00t/data/dataset/lerobot_episode_loader.py | 566 | Load complete episode data as a processed DataFrame. Combines parquet data loading and video decoding | STRING |
| HIGH | gr00t/data/state_action/action_chunking.py | 144 | Convert a relative action chunking to an absolute action chunking by applying the relative poses on top | STRING |
| HIGH | gr00t/data/state_action/action_chunking.py | 181 | Convert action chunking to the specified action format. Must be implemented by subclasses. Arg | STRING |
| HIGH | gr00t/data/state_action/action_chunking.py | 272 | Interpolate the joint action chunking to generate intermediate configurations. Uses linear interpolati | STRING |
| HIGH | gr00t/data/state_action/action_chunking.py | 356 | Convert a relative joint action chunking to an absolute action chunking by adding the relative joint po | STRING |
| HIGH | gr00t/data/state_action/action_chunking.py | 393 | Convert trajectory to the desired format. Args: action_format: The desired output format | STRING |
| HIGH | gr00t/data/state_action/action_chunking.py | 499 | Interpolate the action chunking to generate intermediate poses. Uses linear interpolation for translat | STRING |
| HIGH | gr00t/data/state_action/action_chunking.py | 661 | Convert trajectory to the desired format. Args: action_format: The desired output format | STRING |
| HIGH | gr00t/data/state_action/pose.py | 115 | Compute relative transformation between two poses. For EndEffectorPose: Computes the relative transfor | STRING |
| HIGH | gr00t/data/state_action/pose.py | 258 | Compute relative joint displacement. Args: other: Reference joint pose Returns: | STRING |
| HIGH | gr00t/data/state_action/state_action_processor.py | 275 | Reverse state processing (denormalization). Args: state: Dict mapping joint_group -> proce | STRING |
| HIGH | gr00t/data/state_action/state_action_processor.py | 339 | Apply action processing (absolute->relative conversion, normalization). Processing order: 1. C | STRING |
| HIGH | gr00t/data/state_action/state_action_processor.py | 427 | Reverse action processing (denormalization, relative->absolute conversion). Processing order: | STRING |
| HIGH | gr00t/policy/policy.py | 83 | Compute and return the next action based on current observation with validation. This is the main public interf | STRING |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | tools/check_manifest_alignment.py | 46 | CODE | |
| LOW | tests/conftest.py | 18 | CODE | |
| LOW | tests/tools/test_manifest_alignment.py | 26 | CODE | |
| LOW | tests/examples/test_libero.py | 16 | CODE | |
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 16 | CODE | |
| LOW | tests/examples/test_robocasa.py | 16 | CODE | |
| LOW | tests/examples/test_simplerenv.py | 16 | CODE | |
| LOW | tests/examples/test_droid.py | 16 | CODE | |
| LOW | tests/examples/test_so100.py | 16 | CODE | |
| LOW | tests/gr00t/test_hf_local_first.py | 27 | CODE | |
| LOW | tests/gr00t/utils/test_determinism.py | 26 | CODE | |
| LOW | tests/gr00t/utils/test_initial_actions_safety.py | 23 | CODE | |
| LOW | tests/gr00t/utils/test_dataset_video_backend.py | 28 | CODE | |
| LOW | tests/gr00t/utils/test_run_or_wait_on_rank0.py | 35 | CODE | |
| LOW | tests/gr00t/configs/test_batch_size_invariant.py | 19 | CODE | |
| LOW | tests/gr00t/configs/test_base_config_safe_yaml.py | 22 | CODE | |
| LOW | tests/gr00t/model/test_action_horizon_validation.py | 21 | CODE | |
| LOW | tests/gr00t/model/test_vlm_image_input_parity.py | 109 | CODE | |
| LOW | tests/gr00t/experiment/test_warn_configs.py | 24 | CODE | |
| LOW | …sts/gr00t/experiment/test_best_metric_callback_save.py | 33 | CODE | |
| LOW | tests/gr00t/experiment/_run_best_metric_fsdp_save.py | 48 | CODE | |
| LOW | tests/gr00t/experiment/_run_distributed_experiment.py | 18 | CODE | |
| LOW | tests/gr00t/experiment/test_distributed_init.py | 31 | CODE | |
| LOW | tests/gr00t/eval/test_so100_action_steps.py | 21 | CODE | |
| LOW | tests/gr00t/eval/test_rollout_max_episode_steps.py | 26 | CODE | |
| LOW | tests/gr00t/eval/test_robocasa365_rollout_policy.py | 16 | CODE | |
| LOW | tests/gr00t/eval/sim/test_simpler_env_success.py | 27 | CODE | |
| LOW | tests/gr00t/eval/sim/test_env_utils.py | 22 | CODE | |
| LOW | …sts/gr00t/eval/sim/test_robocasa365_gymnasium_groot.py | 16 | CODE | |
| LOW | …/gr00t/eval/sim/wrapper/test_video_recorder_cleanup.py | 27 | CODE | |
| LOW | …sts/gr00t/eval/sim/wrapper/test_multistep_aggregate.py | 23 | CODE | |
| LOW | tests/gr00t/data/test_data_preparation.py | 28 | CODE | |
| LOW | tests/gr00t/policy/conftest.py | 18 | CODE | |
| LOW | tests/test_support/sync.py | 18 | CODE | |
| LOW | tests/test_support/readme.py | 18 | CODE | |
| LOW | tests/test_support/runtime.py | 18 | CODE | |
| LOW | tests/test_support/test_fast_copy_tree.py | 25 | CODE | |
| LOW | tests/test_support/compass.py | 18 | CODE | |
| LOW | tests/scripts/test_repair_lerobot_metadata.py | 16 | CODE | |
| LOW | …/scripts/deployment/test_pipeline_modes_consistency.py | 24 | CODE | |
| LOW | …/scripts/deployment/test_trt_torch_engine_lifecycle.py | 24 | CODE | |
| LOW | tests/scripts/deployment/test_standalone_inference.py | 35 | CODE | |
| LOW | …sts/scripts/deployment/test_resolve_vit_engine_path.py | 24 | CODE | |
| LOW | …s/scripts/deployment/test_video_backend_consistency.py | 23 | CODE | |
| LOW | …/scripts/deployment/test_dit_only_forward_signature.py | 27 | CODE | |
| LOW | …scripts/deployment/test_export_onnx_legacy_exporter.py | 18 | CODE | |
| LOW | …s/scripts/deployment/test_install_deps_cleanup_trap.py | 31 | CODE | |
| LOW | tests/scripts/deployment/test_export_vit_rotary.py | 32 | CODE | |
| LOW | tests/scripts/deployment/test_trt_pipeline.py | 35 | CODE | |
| LOW | tests/scripts/deployment/test_build_tensorrt_engine.py | 30 | CODE | |
| LOW | tests/scripts/deployment/test_trt_pipeline_modes.py | 36 | CODE | |
| LOW | tests/scripts/deployment/test_trt_contract.py | 22 | CODE | |
| LOW | tests/getting_started/test_real_world_deployment_md.py | 16 | CODE | |
| LOW | …sts/getting_started/test_finetune_new_embodiment_md.py | 16 | CODE | |
| LOW | tests/getting_started/test_policy_md.py | 16 | CODE | |
| LOW | tests/getting_started/test_data_config_md.py | 16 | CODE | |
| LOW | examples/DROID/server_client.py | 16 | CODE | |
| LOW | examples/DROID/main_gr00t.py | 20 | CODE | |
| LOW | examples/rebot-arm-dm/eval_rebot_arm_dm.py | 32 | CODE | |
| LOW | examples/rebot-arm-dm/eval_rebot_arm_dm.py | 33 | CODE | |
| 32 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW⚡ | tests/examples/test_libero.py | 297 | # Step 1: Download + copy modality once, preferring the shared mounted dataset cache. | COMMENT |
| LOW⚡ | tests/examples/test_libero.py | 307 | # Step 2: Finetune — inline README values are replaced to keep the run short. | COMMENT |
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 345 | # Step 4: Server — N1.7 RoboCasa GR1 evaluation requires a finetuned checkpoint. | COMMENT |
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 357 | # Step 5: Rollout — substitute test-safe values | COMMENT |
| LOW | tests/examples/test_robocasa.py | 343 | # Step 2: Setup sim | COMMENT |
| LOW | tests/examples/test_robocasa.py | 363 | # Step 4: Server — N1.7 RoboCasa evaluation requires a finetuned checkpoint. | COMMENT |
| LOW | tests/examples/test_robocasa.py | 375 | # Step 5: Rollout — substitute test-safe values | COMMENT |
| LOW | tests/examples/test_simplerenv.py | 60 | # Step 1: Setup sim (shared across both benchmarks) | COMMENT |
| LOW⚡ | tests/examples/test_simplerenv.py | 71 | # Step 2: Server — inject test-specific flags | COMMENT |
| LOW⚡ | tests/examples/test_simplerenv.py | 75 | # Step 3: Rollout — substitute test-safe values | COMMENT |
| LOW | tests/examples/test_so100.py | 112 | # Step 1: Convert dataset (README: Handling the dataset) | COMMENT |
| LOW⚡ | tests/examples/test_so100.py | 123 | # Step 2: Copy modality.json (README cp command) | COMMENT |
| LOW⚡ | tests/examples/test_so100.py | 133 | # Step 3: Finetune (README: Finetuning) — env overrides keep the run short | COMMENT |
| LOW | tests/examples/test_so100.py | 162 | # Step 4: Open-loop eval — replace README defaults with test-specific values | COMMENT |
| LOW⚡ | …sts/getting_started/test_finetune_new_embodiment_md.py | 34 | # Step 2: modality configuration + registration | COMMENT |
| LOW⚡ | …sts/getting_started/test_finetune_new_embodiment_md.py | 65 | # Step 3: finetune with minimal steps to produce a NEW_EMBODIMENT checkpoint. | COMMENT |
| LOW | …sts/getting_started/test_finetune_new_embodiment_md.py | 99 | # Step 4: open-loop eval against the freshly produced checkpoint. | COMMENT |
| LOW | gr00t/data/state_action/state_action_processor.py | 363 | # Step 1: Convert absolute actions to relative (if needed) | COMMENT |
| LOW | gr00t/data/state_action/state_action_processor.py | 396 | # Step 2: Normalize actions | COMMENT |
| LOW | gr00t/data/state_action/state_action_processor.py | 449 | # Step 1: Unnormalize actions | COMMENT |
| LOW | gr00t/data/state_action/state_action_processor.py | 473 | # Step 2: Convert relative actions to absolute (if needed) | COMMENT |
| LOW⚡ | gr00t/policy/gr00t_policy.py | 399 | # Step 1: Split batched observation into individual observations | COMMENT |
| LOW⚡ | gr00t/policy/gr00t_policy.py | 403 | # Step 2: Process each observation through the VLA processor | COMMENT |
| LOW⚡ | gr00t/policy/gr00t_policy.py | 411 | # Step 3: Collate processed inputs into a single batch for model | COMMENT |
| LOW⚡ | gr00t/policy/gr00t_policy.py | 415 | # Step 4: Run model inference to predict actions | COMMENT |
| LOW⚡ | gr00t/policy/gr00t_policy.py | 420 | # Step 5: Decode actions from normalized space back to physical units | COMMENT |
| LOW | scripts/deployment/verify_n1d7_trt.py | 93 | # Step 1: Load policy and get PyTorch reference output | COMMENT |
| LOW⚡ | scripts/deployment/verify_n1d7_trt.py | 158 | # Step 2: Setup TRT engines and run | COMMENT |
| LOW | scripts/deployment/verify_n1d7_trt.py | 242 | # Step 4: Compare final action outputs | COMMENT |
| LOW⚡ | scripts/deployment/export_onnx_n1d7.py | 1302 | # Step 1: Load the policy | COMMENT |
| LOW⚡ | scripts/deployment/export_onnx_n1d7.py | 1311 | # Step 2: Load dataset | COMMENT |
| LOW⚡ | scripts/deployment/export_onnx_n1d7.py | 1319 | # Step 3: Capture inputs via hooks | COMMENT |
| LOW | scripts/deployment/export_onnx_n1d7.py | 1423 | # Step 4: Export | COMMENT |
| LOW | getting_started/finetune_new_embodiment.md | 5 | ## Step 1: Prepare Your Data | COMMENT |
| LOW | getting_started/finetune_new_embodiment.md | 9 | ## Step 2: Prepare Your Modality Configuration | COMMENT |
| LOW | getting_started/finetune_new_embodiment.md | 75 | ## Step 3: Run Fine-tuning | COMMENT |
| LOW | getting_started/finetune_new_embodiment.md | 129 | ## Step 4: Open Loop Evaluation | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW⚡ | tests/examples/test_libero.py | 297 | # Step 1: Download + copy modality once, preferring the shared mounted dataset cache. | COMMENT |
| LOW⚡ | tests/examples/test_libero.py | 307 | # Step 2: Finetune — inline README values are replaced to keep the run short. | COMMENT |
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 345 | # Step 4: Server — N1.7 RoboCasa GR1 evaluation requires a finetuned checkpoint. | COMMENT |
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 357 | # Step 5: Rollout — substitute test-safe values | COMMENT |
| LOW | tests/examples/test_robocasa.py | 343 | # Step 2: Setup sim | COMMENT |
| LOW | tests/examples/test_robocasa.py | 363 | # Step 4: Server — N1.7 RoboCasa evaluation requires a finetuned checkpoint. | COMMENT |
| LOW | tests/examples/test_robocasa.py | 375 | # Step 5: Rollout — substitute test-safe values | COMMENT |
| LOW | tests/examples/test_simplerenv.py | 60 | # Step 1: Setup sim (shared across both benchmarks) | COMMENT |
| LOW⚡ | tests/examples/test_simplerenv.py | 71 | # Step 2: Server — inject test-specific flags | COMMENT |
| LOW⚡ | tests/examples/test_simplerenv.py | 75 | # Step 3: Rollout — substitute test-safe values | COMMENT |
| LOW | tests/examples/test_so100.py | 112 | # Step 1: Convert dataset (README: Handling the dataset) | COMMENT |
| LOW⚡ | tests/examples/test_so100.py | 123 | # Step 2: Copy modality.json (README cp command) | COMMENT |
| LOW⚡ | tests/examples/test_so100.py | 133 | # Step 3: Finetune (README: Finetuning) — env overrides keep the run short | COMMENT |
| LOW | tests/examples/test_so100.py | 162 | # Step 4: Open-loop eval — replace README defaults with test-specific values | COMMENT |
| LOW⚡ | …sts/getting_started/test_finetune_new_embodiment_md.py | 34 | # Step 2: modality configuration + registration | COMMENT |
| LOW⚡ | …sts/getting_started/test_finetune_new_embodiment_md.py | 65 | # Step 3: finetune with minimal steps to produce a NEW_EMBODIMENT checkpoint. | COMMENT |
| LOW | …sts/getting_started/test_finetune_new_embodiment_md.py | 99 | # Step 4: open-loop eval against the freshly produced checkpoint. | COMMENT |
| LOW | gr00t/data/state_action/state_action_processor.py | 363 | # Step 1: Convert absolute actions to relative (if needed) | COMMENT |
| LOW | gr00t/data/state_action/state_action_processor.py | 396 | # Step 2: Normalize actions | COMMENT |
| LOW | gr00t/data/state_action/state_action_processor.py | 449 | # Step 1: Unnormalize actions | COMMENT |
| LOW | gr00t/data/state_action/state_action_processor.py | 473 | # Step 2: Convert relative actions to absolute (if needed) | COMMENT |
| LOW⚡ | gr00t/policy/gr00t_policy.py | 399 | # Step 1: Split batched observation into individual observations | COMMENT |
| LOW⚡ | gr00t/policy/gr00t_policy.py | 403 | # Step 2: Process each observation through the VLA processor | COMMENT |
| LOW⚡ | gr00t/policy/gr00t_policy.py | 411 | # Step 3: Collate processed inputs into a single batch for model | COMMENT |
| LOW⚡ | gr00t/policy/gr00t_policy.py | 415 | # Step 4: Run model inference to predict actions | COMMENT |
| LOW⚡ | gr00t/policy/gr00t_policy.py | 420 | # Step 5: Decode actions from normalized space back to physical units | COMMENT |
| LOW | scripts/deployment/verify_n1d7_trt.py | 93 | # Step 1: Load policy and get PyTorch reference output | COMMENT |
| LOW⚡ | scripts/deployment/verify_n1d7_trt.py | 158 | # Step 2: Setup TRT engines and run | COMMENT |
| LOW | scripts/deployment/verify_n1d7_trt.py | 242 | # Step 4: Compare final action outputs | COMMENT |
| LOW⚡ | scripts/deployment/export_onnx_n1d7.py | 1302 | # Step 1: Load the policy | COMMENT |
| LOW⚡ | scripts/deployment/export_onnx_n1d7.py | 1311 | # Step 2: Load dataset | COMMENT |
| LOW⚡ | scripts/deployment/export_onnx_n1d7.py | 1319 | # Step 3: Capture inputs via hooks | COMMENT |
| LOW | scripts/deployment/export_onnx_n1d7.py | 1423 | # Step 4: Export | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | tests/examples/test_robocasa_gr1_tabletop.py | 76 | except Exception: | CODE |
| LOW | tests/examples/test_robocasa.py | 80 | except Exception: | CODE |
| LOW | tests/gr00t/utils/test_run_or_wait_on_rank0.py | 101 | except Exception as exc: | CODE |
| LOW | tests/gr00t/utils/test_run_or_wait_on_rank0.py | 136 | except Exception as exc: | CODE |
| LOW⚡ | tests/gr00t/configs/test_base_config_safe_yaml.py | 32 | except Exception as e: # pragma: no cover - skip path | CODE |
| LOW | tests/gr00t/model/test_vlm_image_input_parity.py | 49 | except Exception as exc: # pragma: no cover - environment dependent | CODE |
| LOW | tests/gr00t/experiment/_run_best_metric_fsdp_save.py | 232 | except Exception as exc: # surface the diagnostic through the non-zero exit | CODE |
| LOW⚡ | …sts/gr00t/eval/sim/wrapper/test_multistep_aggregate.py | 165 | except Exception as e: | CODE |
| LOW | tests/gr00t/data/test_stats_pipeline.py | 56 | except Exception: | CODE |
| LOW | tests/gr00t/policy/test_policy_service.py | 95 | except Exception: | CODE |
| LOW | tests/test_support/runtime.py | 558 | except Exception: | CODE |
| LOW | examples/DROID/server_client.py | 352 | except Exception: | CODE |
| LOW | examples/DROID/server_client.py | 358 | except Exception: | CODE |
| LOW | examples/DROID/server_client.py | 370 | except Exception: | CODE |
| MEDIUM | examples/DROID/server_client.py | 298 | def ping(self) -> bool: | CODE |
| LOW | gr00t/__init__.py | 40 | except Exception: | CODE |
| LOW | gr00t/__init__.py | 62 | except Exception: | CODE |
| LOW | gr00t/__init__.py | 92 | except Exception: | CODE |
| LOW | gr00t/__init__.py | 268 | except Exception: | CODE |
| LOW | gr00t/__init__.py | 328 | except Exception: | CODE |
| LOW | gr00t/__init__.py | 375 | except Exception: | CODE |
| LOW | gr00t/__init__.py | 380 | except Exception: | CODE |
| LOW⚡ | gr00t/configs/model/__init__.py | 37 | except Exception as e: | CODE |
| MEDIUM⚡ | gr00t/configs/model/__init__.py | 38 | print(f"Error importing module gr00t.configs.model.{file.stem}: {e}") | CODE |
| LOW | gr00t/model/modules/qwen3_backbone.py | 188 | except Exception as exc: | CODE |
| LOW | gr00t/eval/rollout_policy.py | 394 | except Exception as reset_err: | CODE |
| LOW | gr00t/eval/rollout_policy.py | 463 | except Exception as close_err: | CODE |
| LOW | gr00t/eval/sim/wrapper/multistep_wrapper.py | 129 | except Exception as e: | CODE |
| LOW | gr00t/eval/sim/wrapper/video_recording_wrapper.py | 101 | except Exception: | CODE |
| LOW | gr00t/policy/server_client.py | 198 | except Exception: | CODE |
| LOW | gr00t/policy/server_client.py | 204 | except Exception: | CODE |
| LOW | gr00t/policy/server_client.py | 268 | except Exception as e: | CODE |
| MEDIUM | gr00t/policy/server_client.py | 269 | print(f"Error in server: {e}") | CODE |
| LOW | gr00t/policy/server_client.py | 363 | except Exception: | CODE |
| LOW | gr00t/policy/server_client.py | 369 | except Exception: | CODE |
| LOW | gr00t/policy/server_client.py | 384 | except Exception: | CODE |
| MEDIUM | gr00t/policy/server_client.py | 306 | def ping(self) -> bool: | CODE |
| LOW | scripts/verify_droid_rotation_correction.py | 84 | except Exception as e: | CODE |
| LOW | scripts/deployment/benchmark_inference.py | 452 | except Exception: | CODE |
| LOW | scripts/deployment/trt_torch.py | 98 | except Exception: | CODE |
| LOW | scripts/deployment/build_tensorrt_engine.py | 538 | except Exception as e: | CODE |
| LOW | scripts/deployment/trt_model_forward.py | 660 | except Exception as e: | CODE |
| LOW | scripts/deployment/build_trt_pipeline.py | 505 | except Exception as e: | CODE |
| LOW | scripts/eval/check_sim_eval_ready.py | 76 | except Exception: | STRING |
| LOW | scripts/eval/check_sim_eval_ready.py | 142 | except Exception as e: | STRING |
| MEDIUM | scripts/eval/check_sim_eval_ready.py | 46 | def check_uv_installation(): | CODE |
| MEDIUM | scripts/eval/check_sim_eval_ready.py | 80 | def _test_egl(): | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | tests/examples/test_libero.py | 183 | CODE | |
| LOW | tests/gr00t/utils/test_run_or_wait_on_rank0.py | 92 | CODE | |
| LOW | tests/gr00t/utils/test_run_or_wait_on_rank0.py | 110 | CODE | |
| LOW | tests/gr00t/eval/test_rollout_max_episode_steps.py | 52 | CODE | |
| LOW | tests/gr00t/eval/sim/test_env_utils.py | 176 | CODE | |
| LOW | tests/gr00t/policy/test_policy_service.py | 75 | CODE | |
| LOW | tests/test_support/runtime.py | 675 | CODE | |
| LOW | examples/DROID/server_client.py | 29 | CODE | |
| LOW | examples/DROID/main_gr00t.py | 144 | CODE | |
| LOW | examples/rebot-arm-dm/eval_rebot_arm_dm.py | 202 | CODE | |
| LOW | gr00t/__init__.py | 53 | CODE | |
| LOW | gr00t/configs/model/gr00t_n1d7.py | 125 | CODE | |
| LOW | gr00t/model/gr00t_n1d7/image_augmentations.py | 26 | CODE | |
| LOW | gr00t/model/gr00t_n1d7/processing_gr00t_n1d7.py | 808 | CODE | |
| LOW | gr00t/eval/_horizon_contract.py | 36 | CODE | |
| LOW | gr00t/eval/run_gr00t_server.py | 91 | CODE | |
| LOW | gr00t/eval/rollout_policy.py | 281 | CODE | |
| LOW | gr00t/eval/sim/robocasa365/gymnasium_groot.py | 67 | CODE | |
| LOW | gr00t/eval/sim/robocasa365/gymnasium_groot.py | 212 | CODE | |
| LOW | gr00t/eval/sim/wrapper/multistep_wrapper.py | 53 | CODE | |
| LOW | gr00t/eval/sim/wrapper/multistep_wrapper.py | 137 | CODE | |
| LOW | gr00t/eval/sim/wrapper/multistep_wrapper.py | 220 | CODE | |
| LOW | gr00t/eval/sim/wrapper/multistep_wrapper.py | 365 | CODE | |
| LOW | gr00t/eval/sim/wrapper/video_recording_wrapper.py | 240 | CODE | |
| LOW | gr00t/eval/sim/wrapper/video_recording_wrapper.py | 396 | CODE | |
| LOW | gr00t/data/utils.py | 251 | CODE | |
| LOW | gr00t/data/dataset/factory.py | 36 | CODE | |
| LOW | gr00t/data/dataset/lerobot_episode_loader.py | 537 | CODE | |
| LOW | gr00t/data/state_action/pose.py | 470 | CODE | |
| LOW | gr00t/data/state_action/pose.py | 581 | CODE | |
| LOW | gr00t/data/state_action/state_action_processor.py | 145 | CODE | |
| LOW | gr00t/data/state_action/state_action_processor.py | 206 | CODE | |
| LOW | gr00t/data/state_action/state_action_processor.py | 333 | CODE | |
| LOW | gr00t/data/state_action/state_action_processor.py | 421 | CODE | |
| LOW | gr00t/policy/gr00t_policy.py | 638 | CODE | |
| LOW | scripts/download_simplerenv_sample.py | 135 | CODE | |
| LOW | scripts/validate_hf_config_alignment.py | 421 | CODE | |
| LOW | scripts/validate_hf_config_alignment.py | 674 | CODE | |
| LOW | scripts/validate_hf_config_alignment.py | 726 | CODE | |
| LOW | scripts/lerobot_conversion/convert_v3_to_v2.py | 426 | CODE | |
| LOW | scripts/deployment/verify_n1d7_trt.py | 63 | CODE | |
| LOW | scripts/deployment/benchmark_inference.py | 145 | CODE | |
| LOW | scripts/deployment/build_tensorrt_engine.py | 121 | CODE | |
| LOW | scripts/deployment/build_tensorrt_engine.py | 169 | CODE | |
| LOW | scripts/deployment/build_tensorrt_engine.py | 225 | CODE | |
| LOW | scripts/deployment/trt_model_forward.py | 637 | CODE | |
| LOW | scripts/deployment/build_trt_pipeline.py | 388 | CODE | |
| LOW | scripts/deployment/_trt_contract.py | 124 | CODE | |
| LOW | scripts/deployment/standalone_inference_script.py | 355 | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | FAQ.md | 68 | ### Is there a zero-shot cross-embodiment VLA model? | COMMENT |
| MEDIUM | README.md | 274 | | [`nvidia/GR00T-N1.7-3B`](https://huggingface.co/nvidia/GR00T-N1.7-3B) | Base | See [pretrain tags](getting_started/pol | CODE |
| MEDIUM⚡ | tests/scripts/deployment/test_build_tensorrt_engine.py | 216 | allow_default_hints=True, # orchestration test; metadata contract covered separately | CODE |
| MEDIUM | tests/scripts/deployment/test_build_tensorrt_engine.py | 118 | allow_default_hints=True, # orchestration test; metadata contract covered separately | CODE |
| MEDIUM | tests/scripts/deployment/test_build_tensorrt_engine.py | 136 | allow_default_hints=True, # orchestration test; metadata contract covered separately | CODE |
| MEDIUM | tests/scripts/deployment/test_build_tensorrt_engine.py | 158 | allow_default_hints=True, # orchestration test; metadata contract covered separately | CODE |
| MEDIUM | tests/scripts/deployment/test_build_tensorrt_engine.py | 186 | allow_default_hints=True, # orchestration test; metadata contract covered separately | CODE |
| MEDIUM | tests/scripts/deployment/test_build_tensorrt_engine.py | 359 | allow_default_hints=True, # orchestration test; metadata contract covered separately | CODE |
| MEDIUM | tests/scripts/deployment/test_build_tensorrt_engine.py | 414 | allow_default_hints=True, # orchestration test; metadata contract covered separately | CODE |
| MEDIUM | examples/DROID/README.md | 66 | ### Using the base model (zero-shot): | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | tests/examples/test_libero.py | 41 | logger = logging.getLogger(__name__) | CODE |
| LOW | tests/examples/test_simplerenv.py | 37 | logger = logging.getLogger(__name__) | CODE |
| LOW | tests/examples/test_droid.py | 37 | logger = logging.getLogger(__name__) | CODE |
| LOW | tests/examples/test_so100.py | 28 | logger = logging.getLogger(__name__) | CODE |
| LOW | tests/gr00t/utils/test_run_or_wait_on_rank0.py | 56 | def _setup_pg(rank: int, world_size: int, init_file: str) -> None: | CODE |
| LOW | tests/scripts/deployment/test_trt_pipeline.py | 71 | logger = logging.getLogger(__name__) | CODE |
| LOW | gr00t/utils/determinism.py | 43 | logger = logging.getLogger(__name__) | CODE |
| LOW | gr00t/model/gr00t_n1d7/gr00t_n1d7.py | 35 | logger = logging.getLogger(__name__) | CODE |
| LOW | gr00t/model/gr00t_n1d7/processing_gr00t_n1d7.py | 56 | logger = logging.getLogger(__name__) | CODE |
| LOW | gr00t/model/modules/qwen3_backbone.py | 23 | logger = logging.getLogger(__name__) | CODE |
| LOW | gr00t/experiment/utils.py | 29 | logger = logging.getLogger(__name__) | CODE |
| LOW | gr00t/data/interfaces.py | 66 | def set_statistics(self, statistics: dict[str, Any], override: bool = False) -> None: | CODE |
| LOW | gr00t/data/stats.py | 56 | logger = logging.getLogger(__name__) | CODE |
| LOW | gr00t/data/state_action/state_action_processor.py | 49 | logger = logging.getLogger(__name__) | CODE |
| LOW | gr00t/policy/__init__.py | 20 | __all__ = [ | CODE |
| LOW | scripts/verify_droid_rotation_correction.py | 41 | logger = logging.getLogger(__name__) | CODE |
| LOW | scripts/download_droid_sample.py | 58 | logger = logging.getLogger(__name__) | CODE |
| LOW | scripts/download_simplerenv_sample.py | 48 | logger = logging.getLogger(__name__) | CODE |
| LOW⚡ | scripts/deployment/export_onnx_n1d7.py | 77 | logger = logging.getLogger(__name__) | CODE |
| LOW | scripts/deployment/build_tensorrt_engine.py | 52 | logger = logging.getLogger(__name__) | CODE |
| LOW | scripts/deployment/trt_model_forward.py | 63 | logger = logging.getLogger(__name__) | CODE |
| LOW | scripts/deployment/_trt_contract.py | 51 | logger = logging.getLogger(__name__) | CODE |
| LOW | scripts/deployment/_trt_contract.py | 352 | __all__ = [ | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | gr00t/model/gr00t_n1d7/image_augmentations.py | 45 | # Check if transform supports replay (ReplayCompose) | COMMENT |
| LOW | gr00t/model/gr00t_n1d7/gr00t_n1d7.py | 143 | # Check if any parameters are still trainable. If not, log a warning. | COMMENT |
| LOW | gr00t/model/modules/qwen3_backbone.py | 266 | # Check if any parameters are still trainable. If not, log a warning. | COMMENT |
| LOW | gr00t/eval/sim/wrapper/multistep_wrapper.py | 123 | # Check if all values are dictionaries and recursion is enabled | COMMENT |
| LOW | gr00t/data/dataset/sharded_mixture_dataset.py | 461 | # Check if epoch is complete and regenerate schedule if needed | COMMENT |
| LOW | gr00t/data/state_action/action_chunking.py | 314 | # Check if we still have enough poses after cleanup | COMMENT |
| LOW | gr00t/data/state_action/action_chunking.py | 548 | # Check if we still have enough poses after cleanup | COMMENT |
| LOW | gr00t/policy/gr00t_policy.py | 110 | model.eval() # Set model to evaluation mode | CODE |
| LOW | gr00t/policy/replay_policy.py | 387 | # Check if we should switch episodes | COMMENT |
| LOW | scripts/lerobot_conversion/convert_v3_to_v2.py | 304 | # Check if we can create the parent directory structure | COMMENT |
| LOW⚡ | scripts/deployment/export_onnx_n1d7.py | 89 | # Check if there are scattered files (files without .onnx/.json extension) | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | gr00t/eval/real_robot/SO100/eval_so100.py | 67 | "`cd gr00t/eval/real_robot/SO100 && uv venv && source .venv/bin/activate && " | CODE |
| HIGH | gr00t/eval/real_robot/SO100/eval_so100.py | 68 | "uv pip install -e . --verbose && uv pip install --no-deps -e ../../../../` " | CODE |
| HIGH | scripts/lerobot_conversion/convert_v3_to_v2.py | 70 | "`cd scripts/lerobot_conversion && uv venv && source .venv/bin/activate && " | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | examples/DROID/server_client.py | 0 | reset the policy to its initial state. args: options: dictionary containing the options for the reset returns: dictionar | STRING |
| HIGH | gr00t/policy/gr00t_policy.py | 0 | reset the policy to its initial state. args: options: dictionary containing the options for the reset returns: dictionar | STRING |
| HIGH | gr00t/policy/policy.py | 0 | reset the policy to its initial state. args: options: dictionary containing the options for the reset returns: dictionar | STRING |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | gr00t/configs/model/__init__.py | 57 | # Create the Union dynamically | COMMENT |
| MEDIUM | gr00t/eval/open_loop_eval.py | 326 | # Create the dataset | COMMENT |
| MEDIUM | gr00t/data/state_action/action_chunking.py | 216 | # Create a joint action chunking | STRING |
| MEDIUM | gr00t/data/state_action/action_chunking.py | 419 | # Create an end-effector action chunking | STRING |
| MEDIUM | gr00t/data/state_action/pose.py | 186 | # Create a 6-DOF joint configuration | STRING |
| MEDIUM | scripts/deployment/export_onnx_n1d7.py | 1171 | # Create a wrapper to handle keyword arguments | COMMENT |
| MEDIUM | scripts/eval/check_sim_eval_ready.py | 113 | # Create a Pbuffer surface (headless rendering) | STRING |
| MEDIUM | scripts/eval/check_sim_eval_ready.py | 121 | # Create an OpenGL context | STRING |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | tests/gr00t/test_no_weight_load.py | 34 | # analytic, derived, not in state_dict — must survive the harness | COMMENT |
| MEDIUM | tests/gr00t/utils/test_run_or_wait_on_rank0.py | 48 | # Generous headroom so this stays robust under parallel CI (pytest-xdist -n auto): | COMMENT |
| MEDIUM | tests/test_support/readme.py | 67 | """Normalize whitespace for robust command matching.""" | STRING |
| LOW⚡ | gr00t/configs/model/__init__.py | 43 | # A Union of no types is invalid, so just return None | COMMENT |
| LOW | gr00t/eval/sim/wrapper/video_recording_wrapper.py | 328 | # Because the 6 cases are mutually exclusive, we can just use the semantic meaning of the cases | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| CRITICAL | scripts/deployment/verify_n1d7_trt.py | 132 | vit_hook = policy.model.backbone.model.model.visual.register_forward_hook( | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | gr00t/model/gr00t_n1d7/processing_gr00t_n1d7.py | 217 | CODE | |
| LOW | gr00t/model/modules/qwen3_backbone.py | 136 | CODE | |
| LOW | gr00t/model/modules/dit.py | 101 | CODE | |
| LOW | gr00t/model/modules/dit.py | 226 | CODE | |
| LOW | gr00t/model/modules/dit.py | 421 | CODE | |
| LOW | gr00t/eval/rollout_policy.py | 538 | CODE | |
| LOW | gr00t/eval/sim/wrapper/video_recording_wrapper.py | 37 | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | gr00t/data/interfaces.py | 138 | # # Example usage | COMMENT |
| LOW | scripts/patch_triton_cuda13.sh | 9 | # Usage: | COMMENT |