Datasets:

ICRA-Competitions
/

isaac-gr00t-ikea-training-report

global_step int64 0 31.8k	flow_matching_loss float64 0.05 1.24	subtask_loss float64 0.03 3.64	loss float64 0.1 1.47 ⌀	grad_norm float64 0.34 5.95 ⌀	learning_rate float64 0 0 ⌀	loss_smoothed_100 float64 0.12 1.26 ⌀	flow_matching_loss_smoothed_100 float64 0.09 1.15 ⌀	subtask_loss_smoothed_100 float64 0.31 1.15 ⌀	grad_norm_smoothed_100 float64 0.67 2.73 ⌀
0	1.244118	2.212359	null	null	null	null	null	null	null
10	1.225091	2.567847	1.4667	5.019914	0.000001	null	null	null	null
20	1.236821	1.922295	1.4508	3.889109	0.000002	null	null	null	null
30	1.233047	1.12293	1.4043	2.983741	0.000003	null	null	null	null
40	1.185797	1.045395	1.3546	2.898857	0.000004	null	null	null	null
50	1.165738	0.771978	1.3137	2.361127	0.000005	null	null	null	null
60	1.131919	0.393365	1.2602	2.656928	0.000006	null	null	null	null
70	1.206105	0.960579	1.2591	2.952401	0.000007	null	null	null	null
80	1.127348	0.912269	1.2516	1.978387	0.000008	null	null	null	null
90	1.153885	1.059008	1.242	5.951225	0.000009	null	null	null	null
100	1.146503	1.407124	1.2484	2.677374	0.00001	null	null	null	null
110	1.141507	0.901587	1.2394	2.141822	0.000011	null	null	null	null
120	1.1154	0.358096	1.2343	1.1452	0.000012	null	null	null	null
130	1.178421	0.504419	1.2063	3.836263	0.000013	null	null	null	null
140	1.121875	1.229326	1.2288	3.689831	0.000014	null	null	null	null
150	1.151325	0.77974	1.1947	0.941887	0.000015	null	null	null	null
160	1.095532	2.912327	1.2075	1.670983	0.000016	null	null	null	null
170	1.06729	0.314046	1.1922	1.758575	0.000017	null	null	null	null
180	1.04102	1.011685	1.1507	2.479911	0.000018	null	null	null	null
190	1.014267	0.547029	1.1416	1.170018	0.000019	null	1.14915	1.14667	null
200	1.035584	1.319102	1.0802	2.375893	0.00002	1.256355	1.143743	1.154881	2.728972
210	0.962858	0.37536	1.0812	1.912024	0.000021	1.248014	1.13552	1.119448	2.69007
220	0.969828	0.976327	1.0436	0.982044	0.000022	1.238723	1.128316	1.113226	2.612432
230	0.9669	0.698836	1.0416	2.617211	0.000023	1.230152	1.121591	1.095959	2.61264
240	0.930631	0.327199	0.9853	0.994074	0.000024	1.21995	1.113952	1.065209	2.5452
250	0.868146	0.439941	0.9322	0.861885	0.000025	1.20844	1.104498	1.04116	2.477867
260	0.901312	2.007181	0.9329	1.189525	0.000026	1.197842	1.096973	1.076939	2.428316
270	0.856053	0.45705	0.949	1.433126	0.000027	1.188626	1.088369	1.0548	2.391457
280	0.786553	0.495462	0.9221	1.922162	0.000028	1.179107	1.077961	1.035512	2.374696
290	0.791849	0.17148	0.8853	2.857969	0.000029	1.168976	1.068424	1.006711	2.391361
300	0.845253	0.567601	0.8647	1.748171	0.00003	1.158833	1.061225	0.992546	2.369921
310	0.785962	0.567536	0.844	1.573723	0.000031	1.148677	1.052623	0.979265	2.344237
320	0.799481	0.226026	0.8248	1.790448	0.000032	1.138556	1.044952	0.956439	2.326932
330	0.708286	0.354613	0.8204	1.381288	0.000033	1.128915	1.03505	0.938739	2.298276
340	0.734152	0.114476	0.8003	1.074818	0.000034	1.11925	1.026453	0.915188	2.262292
350	0.752971	1.716731	0.8045	2.039614	0.000035	1.110257	1.018856	0.937453	2.255929
360	0.737734	0.806265	0.8082	1.496904	0.000036	1.101867	1.011258	0.933908	2.234845
370	0.701752	0.495788	0.7697	1.34024	0.000037	1.092889	1.003113	0.922378	2.210667
380	0.675682	1.249433	0.7446	1.947096	0.000038	1.083724	0.994718	0.930764	2.203731
390	0.654132	0.417813	0.7535	1.213297	0.000039	1.075256	0.986203	0.917941	2.178335
400	0.618206	0.498727	0.7249	1.336171	0.00004	1.066498	0.977228	0.907716	2.157281
410	0.656532	0.647871	0.71	2.269915	0.000041	1.057802	0.969592	0.901529	2.160028
420	0.630492	1.138464	0.7046	1.140491	0.000042	1.049393	0.961706	0.907039	2.135753
430	0.614008	0.718156	0.7015	1.432037	0.000043	1.041302	0.953804	0.902746	2.119388
440	0.565154	0.49042	0.7	2.215705	0.000044	1.033545	0.945167	0.893584	2.121577
450	0.592601	0.591443	0.6552	1.670678	0.000045	1.025138	0.937503	0.887015	2.111557
460	0.626591	1.462116	0.6667	2.84547	0.000046	1.017346	0.930887	0.899251	2.127512
470	0.591436	0.353556	0.6507	1.45168	0.000047	1.009545	0.923816	0.887883	2.113132
480	0.564293	0.513441	0.6336	1.687092	0.000048	1.001713	0.916478	0.880241	2.104256
490	0.502165	0.294248	0.6009	1.785315	0.000049	0.993533	0.908192	0.868521	2.097747
500	0.58793	0.828839	0.5869	2.005033	0.00005	0.9854	0.901912	0.867743	2.095893
510	0.481041	0.248842	0.5803	1.532445	0.000051	0.977457	0.893819	0.855841	2.084845
520	0.491962	0.433587	0.5507	1.826604	0.000052	0.96925	0.886237	0.847874	2.079879
530	0.499022	0.405029	0.546	1.829032	0.000053	0.961264	0.879066	0.839673	2.075146
540	0.490465	0.437375	0.532	1.230589	0.000054	0.953315	0.872	0.832359	2.059506
550	0.497477	0.310475	0.5354	1.163888	0.000055	0.945716	0.865313	0.82304	2.043222
560	0.497482	0.80595	0.5231	1.630995	0.000056	0.93817	0.858859	0.82274	2.035861
570	0.470284	0.240536	0.5214	2.232114	0.000057	0.930858	0.85216	0.812702	2.039304
580	0.475302	0.421031	0.5413	1.263283	0.000058	0.924141	0.845772	0.806063	2.025924
590	0.44647	0.37279	0.5105	1.504936	0.000059	0.917131	0.839117	0.798842	2.017094
600	0.438668	0.263907	0.5034	1.836068	0.00006	0.910235	0.832553	0.790073	2.014077
610	0.458603	1.153414	0.51	1.941235	0.000061	0.903674	0.826521	0.795933	2.012883
620	0.408016	0.577934	0.515	1.835571	0.000062	0.897405	0.819878	0.792473	2.010023
630	0.387973	0.905414	0.4483	1.333129	0.000063	0.890276	0.81313	0.794237	1.999278
640	0.376671	0.381666	0.4944	1.942399	0.000064	0.884091	0.806415	0.78789	1.99839
650	0.37966	0.459741	0.4408	1.519698	0.000065	0.877271	0.799949	0.782918	1.991025
660	0.381378	1.275808	0.4284	1.506725	0.000066	0.87047	0.793702	0.790275	1.983687
670	0.400045	0.122276	0.4681	2.252873	0.000067	0.864464	0.787913	0.780451	1.987705
680	0.399388	0.517376	0.4432	1.495765	0.000068	0.858269	0.782282	0.776638	1.980471
690	0.304921	0.624298	0.4115	1.3175	0.000069	0.851794	0.775462	0.774462	1.970862
700	0.3422	0.08568	0.4139	1.859957	0.00007	0.845539	0.76936	0.764761	1.969278
710	0.369867	0.131911	0.4282	1.721538	0.000071	0.839661	0.763812	0.755971	1.965789
720	0.386573	0.18216	0.386	2.041466	0.000072	0.83336	0.758644	0.748111	1.96684
730	0.309831	1.083271	0.4146	1.42195	0.000073	0.827623	0.752579	0.75264	1.959376
740	0.284179	0.153345	0.3839	1.554343	0.000074	0.821627	0.746333	0.74465	1.953902
750	0.313164	0.763126	0.3747	1.748548	0.000075	0.815668	0.740634	0.744893	1.951164
760	0.312933	0.794377	0.3702	1.996565	0.000076	0.809807	0.735079	0.745535	1.951761
770	0.305484	0.929138	0.3782	2.000269	0.000077	0.804201	0.729572	0.747889	1.952391
780	0.266666	0.438126	0.3691	1.863066	0.000078	0.798623	0.723712	0.743968	1.951246
790	0.27658	1.119081	0.3661	1.496761	0.000079	0.793148	0.718123	0.748657	1.945493
800	0.290663	1.788901	0.3537	1.259339	0.00008	0.787655	0.712846	0.7615	1.936916
810	0.233382	0.355916	0.3793	2.393481	0.000081	0.782614	0.706999	0.756553	1.942553
820	0.25524	0.46809	0.3458	1.99158	0.000082	0.777287	0.701556	0.753078	1.943151
830	0.272268	0.521051	0.3258	1.417784	0.000083	0.771847	0.696445	0.750316	1.936821
840	0.276679	0.949367	0.301	1.583757	0.000084	0.766242	0.691507	0.752658	1.932618
850	0.244747	1.016478	0.3352	1.168002	0.000085	0.761171	0.686312	0.755725	1.923622
860	0.240489	0.46083	0.3108	1.233758	0.000086	0.755934	0.681187	0.752336	1.915601
870	0.259915	0.690392	0.315	1.499312	0.000087	0.750866	0.6764	0.751632	1.910816
880	0.231492	0.531322	0.3029	1.497956	0.000088	0.745775	0.671401	0.749156	1.906124
890	0.237534	0.357055	0.292	1.450061	0.000089	0.740676	0.666581	0.7448	1.901
900	0.223348	0.341117	0.298	1.895165	0.00009	0.735758	0.66171	0.740364	1.900935
910	0.208279	0.396421	0.2901	1.916294	0.000091	0.73086	0.656781	0.736625	1.901104
920	0.225593	1.005958	0.2806	1.660668	0.000092	0.725966	0.652145	0.739521	1.89849
930	0.191955	0.717389	0.3119	2.244033	0.000093	0.721514	0.647249	0.739286	1.902206
940	0.249328	0.807176	0.2647	1.403052	0.000094	0.716654	0.643061	0.74	1.896896
950	0.206898	0.37742	0.3018	1.397769	0.000095	0.712287	0.638517	0.736223	1.891642
960	0.266394	0.349876	0.247	1.148702	0.000096	0.707441	0.634681	0.73224	1.883903
970	0.242744	0.966749	0.2932	1.50981	0.000097	0.70317	0.630681	0.734633	1.880046
980	0.193343	1.686962	0.2996	1.585731	0.000098	0.699052	0.626264	0.744253	1.877043
990	0.195891	1.359158	0.2856	1.648796	0.000099	0.694876	0.62196	0.750402	1.874738

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Isaac GR00T IKEA training report

Portable export of the W&B run unitree_g1_ikea_batch32_20260730. The run stopped after a clean host shutdown; the last W&B metric is step 31,750 and the last complete checkpoint is 31,000.

Summary

First logged training loss: 1.4667
Last logged training loss: 0.1256
Lowest 1,000-step rolling loss: 0.1249 at step 31,750
Mean GPU compute utilization: 51.8%
Mean allocated GPU memory: 29.0%
Provisional checkpoint choice: 30,000

Training loss alone cannot select the best policy. No held-out evaluation was run because of the known multi-camera Qwen3-VL evaluation incompatibility. Closed-loop robot evaluation remains necessary.

Loss curve

Component losses

Optimizer behavior

GPU utilization

Downloads

training_metrics.csv: complete optimizer-step metric export
system_metrics.csv: sampled CPU/GPU/system telemetry
training-report.pdf: portable report containing all charts
Model checkpoints

Source: W&B run

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