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NVIDIA

GR00T N1.5

GR00T N1.5

Checkpoint

NVIDIA open foundation model for generalized humanoid robot reasoning and skills.

Specifications

Architecture components: Flow matching transformer
Architecture components: Vision-language encoders
Backbone: SigLIP2 + T5 + flow matching transformer
Frameworks: NVIDIA Isaac GR00T
Input modalities: Language instruction
Input modalities: RGB image frames
Input modalities: Robot proprioception
Model type: Robot policy
Output action space: Continuous action chunks
Parameter count: 3B parameters

Lineage

Unknown

Architecture & I/O

trajectory · continuous

Unknown

Flow-matching transformer predicts continuous action chunks.

Source · NVIDIA

Default checkpoint

nvidia/GR00T-N1.5-3B

openNVIDIA License

Other releases

1

published checkpoints

Supported robots

No verified robot compatibility recorded.

Benchmark results

No published benchmark results.

Deployment

NVIDIA Isaac GR00T · NVIDIA GPU

bfloat16 · unknown

Source · NVIDIA

Training data

pretrain

GR00T X-Embodiment Sim

open

Source · NVIDIA

Resources

documentation · LeRobot GR00T documentation project page · GR00T N1.5-3B model card hub · GR00T N1.5-3B model card weights · GR00T N1.5-3B model card

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