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
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
GR00T N1.7 is an open, cross-embodiment foundation model from NVIDIA for generalized humanoid robot reasoning and skills. It uses a Cosmos-Reason2/Qwen3-VL backbone and a flow-matching action transformer to predict actions conditioned on vision, language, and proprioception. This policy has been trained and pushed to the Hub using LeRobot. Learn how to train and run it in the LeRobot groot guide, or browse the full documentation. The policy consumes these observation features and produces these action features. Inputs Outputs New to LeRobot? These guides cover the full workflow: - Install LeRobot — set up the lerobot package. - Hardware setup — assemble, wire, and calibrate your robot and…
Open weights
apache-2.0
3.1B parameters
lerobot
GR00T N1.7 is an open, cross-embodiment foundation model from NVIDIA for generalized humanoid robot reasoning and skills. It uses a Cosmos-Reason2/Qwen3-VL backbone and a flow-matching action transformer to predict actions conditioned on vision, language, and proprioception. This policy has been trained and pushed to the Hub using LeRobot. Learn how to train and run it in the LeRobot groot guide, or browse the full documentation. The policy consumes these observation features and produces these action features. Inputs Outputs New to LeRobot? These guides cover the full workflow: - Install LeRobot — set up the lerobot package. - Hardware setup — assemble, wire, and calibrate your robot and…
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
