Robot AI model
DreamZero
DreamZero jointly predicts future video and robot actions with a video-diffusion backbone; its paper reports a 14B model. DreamZero-DROID weights use CC BY-NC 4.0, DreamZero-AgiBot weights are tagged Apache-2.0, and repository code uses Apache-2.0.
Records last verified Oct 13, 2026 · Send a correction
Also known as DreamZero-DROID, DreamZero-AgiBot
- Organization
- NVIDIA GEAR Lab
- Type
- World model
- Released / introduced
- Feb 17, 2026
- Public weights
- Public weights
- Licence / scope
- CC BY-NC 4.0
- Parameters
- 14B
- Base model
- Wan2.1-I2V-14B-480P
- Humanoid association
- Humanoid demonstrated
- Inputs
- vision, language, proprioception
- Outputs
- predicted video, robot action chunks
Release dates can mark an announcement or paper introduction. Public checkpoints, code licences and weight terms are distinct; follow the publisher’s links for the stated scope.
Documented embodiments
Source-associated hardware; this list does not establish plug-and-play compatibility or commercial robot capability.
- AgiBot G1 →
AgiBot checkpoint and real-robot experiments; separate from the DROID checkpoint.
- Franka DROID setup
DreamZero-DROID checkpoint and real-robot evaluation.
- YAM
Few-shot embodiment adaptation from the AgiBot model.
Disclosed training data
- DROID 1.0.1, filtered LeRobot conversion for DreamZero-DROID →
- Self-collected AgiBot G1 teleoperation corpus for DreamZero-AgiBot
- YAM play data and video-only human/robot demonstrations for transfer experiments
More robot AI models
Evidence
Sources
- [s1] World Action Models are Zero-shot Policies ↗
NVIDIA GEAR Lab · paper · published Feb 17, 2026 · accessed Oct 13, 2026
- [s2] DreamZero paper: model, robot experiments and separate embodiment training ↗
NVIDIA GEAR Lab · paper · published Feb 17, 2026 · accessed Oct 13, 2026
- [s3] DreamZero official README: Wan backbone, checkpoint releases and code license ↗
NVIDIA GEAR Lab · official · accessed Oct 13, 2026
- [s4] DreamZero-DROID model card: 14B model and CC BY-NC 4.0 tag ↗
NVIDIA GEAR Lab · official · accessed Oct 13, 2026
- [s5] DreamZero-AgiBot checkpoint and Apache-2.0 tag ↗
NVIDIA GEAR Lab · official · accessed Oct 13, 2026