What am I doing wrong while shifting?

When riding my motorcycle (Honda CBR 1000 RR) while shifting from 3rd to 4th I hear some grinding sound, and if I keep the throttle held down after the grinding stops the bike lurches forward and then rides like usual. Am I shifting up to early, too late, or what?

Added (1). This only happens sometimes.

Sounds like it may be clutch related, possibly a sorta loose clutch basket.
Suggest an oil/filter change, inspect the old oil/filter for a bit of aluminum flakes and go from there. (grinding is only good with your Girlfriend).

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