NVIDIA Isaac GR00T N1.7 - A Foundation Model for Generalist Robots.
This report presents the forensic synthetic code analysis of NVIDIA/Isaac-GR00T, a Python project with 7,581 GitHub stars. SynthScan v2.0 examined 56,973 lines of code across 261 source files, recording 1307 pattern matches distributed across 19 syntactic categories. The overall adjusted score of 37.4 places this repository in the Strong AI signal band.
The scanner applied 160+ deterministic lexical heuristics, multi-line block detectors, abstract syntax tree depth profilers, and a cross-file Jaccard similarity matrix to construct a statistically normalised synthetic code estimate. All matches are individually weighted by severity coefficient and contextual multiplier before summation, and the resulting headline score is temporally discounted to account for the repository's development history relative to the commercial emergence of large language model coding tooling (November 2022 onward).
Longitudinal tracking requires multiple scan runs. Once this repository is re-scanned after new commits land, this chart will visualise how the synthetic code signal evolves over time — enabling you to detect whether AI authorship is growing, stabilising, or being actively corrected by human engineers.
Classifies detected patterns by their diagnostic confidence and structural impact. CRITICAL patterns (coefficient 10) represent definitive synthetic signatures — hallucinated imports, explicit LLM attribution metadata — virtually never produced by human authors. HIGH (5) indicates strong structural tells such as cross-file repetition or cross-linguistic idioms. MEDIUM (2) covers recognisable conversational padding and AI-specific vocabulary. LOW (1) captures subtle indicators like tautological comments and generic boilerplate that require density to carry independent signal.
This horizontal bar chart decomposes the repository's raw synthetic code score by top-level directory, allowing you to pinpoint precisely which modules or components carry the highest AI authorship density. Directories with disproportionately high scores relative to their size warrant targeted manual review: concentrated AI signatures often trace back to mass-generated configuration layers, auto-ported test suites, LLM-scaffolded boilerplate classes, or entire subsystems authored under heavy copilot assistance. Use this view to prioritise your human code-review effort.
The scanner identified 1307 distinct pattern matches across 19 syntactic categories. Each entry below represents a discrete location in the source code where the engine recorded a statistically significant AI authorship indicator. 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 diagnostic confidence level (CRITICAL / HIGH / MEDIUM / LOW). The Context column identifies whether the match occurred inside executable code, an inline comment, or a string literal — comment-context matches receive a ×1.5 weight because LLMs systematically over-annotate. The ⚡ bolt icon marks clustered matches: three or more patterns within a 10-line window, each receiving an additional ×1.5 density multiplier as dense clusters constitute far stronger evidence of synthetic authorship than isolated hits.
| 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 |
| 155 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 | 93 | def test_get_frames_by_timestamps_returns_distinct_frames(self, sample_video_path: Path): | CODE |
| 483 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | README.md | 601 | ## Contributions | 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_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 | …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 |
| LOW | tests/gr00t/data/test_stats_pipeline.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| LOW | tests/gr00t/data/test_sharded_datasets.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | COMMENT |
| 141 more matches not shown… | ||||
| 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/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 | …ided-background-suppression/test_extra_augmentation.py | 20 | CODE | |
| LOW | gr00t/utils/determinism.py | 30 | CODE | |
| LOW | gr00t/deployment/modes.py | 41 | CODE | |
| 29 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 | 64 | # Step 3: finetune with minimal steps to produce a NEW_EMBODIMENT checkpoint. | COMMENT |
| LOW | …sts/getting_started/test_finetune_new_embodiment_md.py | 98 | # 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 | 64 | # Step 3: finetune with minimal steps to produce a NEW_EMBODIMENT checkpoint. | COMMENT |
| LOW | …sts/getting_started/test_finetune_new_embodiment_md.py | 98 | # 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/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 | 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 | 811 | 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 | 395 | CODE | |
| LOW | scripts/validate_hf_config_alignment.py | 648 | CODE | |
| LOW | scripts/validate_hf_config_alignment.py | 700 | 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 | 280 | | [`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 | 69 | 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 | 57 | 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 |