fix(groot): N1.7 backbone loading and DiT parameter-count logging

- select_layer default tracks the N1.7-3B checkpoint value (16); real
  checkpoint loads still override it from config.json.
- get_backbone_cls recognizes Cosmos-Reason2 / Qwen3-VL backbones by name and
  warns (instead of silently assuming) when an unrecognized backbone is loaded
  only on the strength of backbone_model_type='qwen'.
- 'revision' pins the GR00T checkpoint repo only and is no longer forwarded
  into the unrelated backbone repo load; pin the backbone via
  transformers_loading_kwargs instead.
- DiT / SelfAttentionTransformer parameter counts go through logging.debug
  instead of print().

src/lerobot/policies/groot/action_head/cross_attention_dit.py

@@ -14,6 +14,7 @@
 # limitations under the License.
 
 
+import logging
 from typing import TYPE_CHECKING
 
 import torch
@@ -42,6 +43,9 @@ else:
     Timesteps = None
 
 
+logger = logging.getLogger(__name__)
+
+
 class TimestepEncoder(nn.Module):
     def __init__(self, embedding_dim, compute_dtype=torch.float32):
         require_package("diffusers", extra="groot")
@@ -265,8 +269,8 @@ class DiT(ModelMixin, ConfigMixin):
         self.norm_out = nn.LayerNorm(self.inner_dim, elementwise_affine=False, eps=1e-6)
         self.proj_out_1 = nn.Linear(self.inner_dim, 2 * self.inner_dim)
         self.proj_out_2 = nn.Linear(self.inner_dim, self.config.output_dim)
-        print(
+        logger.debug(
-            "Total number of DiT parameters: ",
+            "Total number of DiT parameters: %d",
             sum(p.numel() for p in self.parameters() if p.requires_grad),
         )
 
@@ -426,8 +430,8 @@ class SelfAttentionTransformer(ModelMixin, ConfigMixin):
                 for _ in range(self.config.num_layers)
             ]
         )
-        print(
+        logger.debug(
-            "Total number of SelfAttentionTransformer parameters: ",
+            "Total number of SelfAttentionTransformer parameters: %d",
             sum(p.numel() for p in self.parameters() if p.requires_grad),
         )
 

src/lerobot/policies/groot/groot_n1_7.py

@@ -71,7 +71,7 @@ GR00T_N1_7_DEFAULTS: dict[str, Any] = {
     "backbone_embedding_dim": 2048,
     "tune_llm": False,
     "tune_visual": False,
-    "select_layer": 12,
+    "select_layer": 16,
     "reproject_vision": False,
     "use_flash_attention": True,
     "load_bf16": False,
@@ -819,11 +819,14 @@ def _cosmos_reason2_qwen3_vl_config() -> PretrainedConfig:
 
 
 def get_backbone_cls(config: GR00TN17Config):
-    if (
+    if "nvidia/Cosmos-Reason2" in config.model_name or "Qwen/Qwen3-VL" in config.model_name:
-        config.backbone_model_type == "qwen"
+        return Qwen3Backbone
-        or "nvidia/Cosmos-Reason2" in config.model_name
+    if config.backbone_model_type == "qwen":
-        or "Qwen/Qwen3-VL" in config.model_name
+        logger.warning(
-    ):
+            "Unrecognized GR00T N1.7 backbone model name '%s'; assuming a Qwen3-VL-compatible "
+            "backbone because backbone_model_type='qwen'.",
+            config.model_name,
+        )
         return Qwen3Backbone
     raise ValueError(f"Unsupported GR00T N1.7 backbone model: {config.model_name}")
 
@@ -909,7 +912,7 @@ class GR00TN17(PreTrainedModel):
             "trust_remote_code": True
         }
         load_backbone_weights = kwargs.pop("load_backbone_weights", False)
-        for key in ("revision", "cache_dir", "local_files_only", "token"):
+        for key in ("cache_dir", "local_files_only", "token"):
             if key in kwargs:
                 transformers_loading_kwargs.setdefault(key, kwargs[key])