NVIDIA Isaac GR00T N1.7 is an open foundation model for generalized humanoid robot reasoning and skills. This cross-embodiment model takes multimodal input, including language and images, to perform manipulation tasks in diverse environments. Developers and researchers can post-train GR00T N1.7 with real or synthetic data for their specific humanoid robot or task. Isaac GR00T N1.7 is the medium-sized version of our model built using pre-trained vision and language encoders, and uses a flow matching action transformer to model a chunk of actions conditioned on vision, language and proprioception. A detailed description of the Isaac GR00T N1.X architecture is provided in the GROOT N1 White…
Open weights
3.1B parameters
Independent further-training of the new sim-only 20,000-step policy on 10 real10 episodes for 5,000 additional steps. Both real10 and Cosmos10 branches initialize from the same sim-only parent; neither continues from the other branch. - Native parent processors and statistics retained, with stock clipping; no unclipping ablation. - Visual tuning enabled, language tuning disabled, BF16 autocast with FP32 parameters; image augmentation enabled. - Checkpoints at 2,500 and 5,000 additional steps. This repository contains the final 5,000-step continuation. The native policy and processor files must remain together. See training-provenance.json for parent weight hash and exact provenance.…
Open weights
apache-2.0
3.1B parameters
lerobot
This repository contains the model-only checkpoint saved at 30,000 training steps. The files at the repository root are the original contents of checkpoint-30000. Full model and processor settings are in config.json, processorconfig.json, and experimentcfg/. The training run did not include an evaluation. Source checkpoint: outputs/moeobs2h10fourtasks20260926191812/pair67/usb/moe/checkpoint-30000.
Open weights
3.2B parameters
This repository contains the model-only checkpoint saved at 30,000 training steps. The files at the repository root are the original contents of checkpoint-30000. Full model and processor settings are in config.json, processorconfig.json, and experimentcfg/. The training run did not include an evaluation. Source checkpoint: outputs/moeobs2h10fourtasks20260926191812/pair67/vasev6/moe/checkpoint-30000.
Open weights
3.2B parameters
This repository contains the model-only checkpoint saved at 30,000 training steps. The files at the repository root are the original contents of checkpoint-30000. Full model and processor settings are in config.json, processorconfig.json, and experimentcfg/. The training run did not include an evaluation. Source checkpoint: outputs/moeobs2h10fourtasks20260926191812/pair45/whiteboardv9/moe/checkpoint-30000.
Open weights
3.2B parameters
This repository contains the model-only checkpoint saved at 30,000 training steps. The files at the repository root are the original contents of checkpoint-30000. Full model and processor settings are in config.json, processorconfig.json, and experimentcfg/. The training run did not include an evaluation. Source checkpoint: outputs/moeobs2h10fourtasks20260926191812/pair45/weightsorting/moe/checkpoint-30000.
Open weights
3.2B parameters
