gr00t

FlashRT is a high-performance realtime inference engine for small-batch, latency-sensitive AI workloads. The flagship integration is production VLA control for Pi0, Pi0.5, GROOT N1.6, and Pi0-FAST. Also support llm e.g, qwen3.6-27B

Code for "ACG: Action Coherence Guidance for Flow-based Vision-Language-Action Models" (ICRA 2026)

Inspired by Tony Stark's robotic assistant Dum-E, the mission of this project is to create an intelligent, voice & vision enabled AI agent with robotic arm(s) capable of real-time human interaction, physical operations, and orchestration of a wide range of tools and services.

Experimental: Robot Control for Strands Agents.

LoRA fine-tuning wrapper for NVIDIA GR00T N1.7 on a single 24 GB GPU

Monitoring & profiling toolkit for NVIDIA Jetson running Isaac-GR00T N1.5 TensorRT inference - Prometheus metrics, Grafana dashboards, per-engine latency profiling

NVIDIA Isaac GR00T N1.6 - A Foundation Model for Generalist Robots.

Track B SONIC SIM curriculum research fork: bounded eval, variant checkpoint provenance, and SIM-M2 gates for GR00T-WholeBodyControl

Research design: agentic RL + curriculum learning for GR00T humanoid whole-body control, bridging NVIDIA TAO's Cosmos/LoRA/agentic post-training stack. Fork of tao-skills-bank + GR00T submodules.

An NVIDIA Isaac GR00T N1.7 policy driving a simulated Franka Panda in MuJoCo: a closed perception-to-action loop from a language instruction and two camera views. Zero-shot, simulation only, with measured success rate and failure modes documented.

Closed-loop benchmark of 9 VLA policies (GR00T N1.7, pi0/openpi, LoRA vs full fine-tuning) on BEHAVIOR-1K. Imitation learning / behavioral cloning with diffusion action heads in PyTorch, plus a reproducible eval harness, unattended training automation, and raw metrics.

TARX robotics beachhead: Unitree H2 Plus + NVIDIA Isaac GR00T integration, local OS layer, and contribution tracker.