humanoidversus
Compare

Robot AI model

Isaac GR00T N1

GR00T N1 is a humanoid VLA with an Eagle-2 vision-language backbone and a flow-matching action transformer; its paper reports 2.2B total parameters for GR00T-N1-2B. The weights use NVIDIA OneWay Noncommercial License terms, while repository code uses Apache-2.0.

Records last verified Oct 13, 2026 · Send a correction

Also known as GR00T N1

Organization
NVIDIA
Type
VLA
Released / introduced
Mar 17, 2025
Public weights
Public weights
Licence / scope
NVIDIA OneWay Noncommercial License
Parameters
2.2B
Base model
NVIDIA Eagle-2 (SmolLM2 and SigLIP-2)
Humanoid association
Humanoid-native
Inputs
vision, language, proprioception
Outputs
continuous 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.

Paper ↗Code ↗Weights ↗

Documented embodiments

Source-associated hardware; this list does not establish plug-and-play compatibility or commercial robot capability.

  • Fourier GR-1 →

    Real-robot manipulation experiments in the GR00T N1 paper.

  • Unitree G1 →

    GR00T N1 post-trained on G1 and evaluated in NVIDIA's N1.5 research comparison.

Disclosed training data

More robot AI models

Gemini Robotics →π0.5 →

Evidence

Sources

  1. [s1] GR00T-N1-2B model card ↗

    NVIDIA · official · accessed Oct 13, 2026

  2. [s2] GR00T N1: An Open Foundation Model for Generalist Humanoid Robots ↗

    NVIDIA · paper · published Mar 18, 2025 · accessed Oct 13, 2026

  3. [s3] GR00T N1.5 research: N1/N1.5 evaluations on GR-1 and G1 ↗

    NVIDIA · official · published Jun 11, 2025 · accessed Oct 13, 2026

  4. [s4] Isaac GR00T official repository: model versions and code licensing ↗

    NVIDIA · official · accessed Oct 13, 2026

  5. [s5] NVIDIA OneWay Noncommercial License (22 March 2022) ↗

    NVIDIA · official · published Mar 22, 2022 · accessed Oct 13, 2026