GR00T

Scope: Unitree G1 data/configuration support for GR00T N1.7; this source does not establish a physical test or customer deployment.

Conditions: REAL_G1 uses relative end-effector and joint-state modalities. Input data must match the pretrained embodiment; inference hardware is not established by this configuration table.

Written statement

Pretrain tags — baked into the base model (`nvidia/GR00T-N1.7-3B`), ready for zero-shot inference: | `REAL_G1` | Real-world Unitree G1 (relative EEF + joint) | `real_g1_relative_eef_relative_joints` |

Verified on: 2026-10-23

Scope: Simulation/software configuration only; this source does not establish real-robot validation or factory-installed software.

Conditions: Simulation/software configuration only; this source does not establish real-robot validation or factory-installed software.

Simulation / software configuration

The official G1 simulation workflow specifies GR00T-N1.7-3B as the base model for post-training on static apple-to-plate demonstrations.

Verified on: 2026-10-27