PhAIL
PhAIL Physical AI Leaderboard by Positronic Robotics
Leaderboard › Model
Generalist VLA Finetuning

Model card

Made by
NVIDIA
Size
3B parameters
Published
18 Mar 2025 (GR00T N1)
More about the model
Publication
arXiv 2503.14734 (GR00T N1)
Code
github.com/NVIDIA/Isaac-GR00T
Weights licence
N1.6: NVIDIA License, research and evaluation only source; N1.7: NVIDIA Open Model License source
Actions per chunk
16 in N1.6, and 40 in N1.7 source
Smallest GPU
Jetson Orin, the smallest device in NVIDIA's timing table source
Inference time
N1.6: 44 ms on an RTX 4090 (torch.compile, 4 denoising steps, one camera) source; N1.7: 48.6 ms on an H100 (torch.compile, 4 denoising steps, one camera) source
Architecture
Vision-language model and a flow-matching diffusion transformer. N1.6 uses Eagle-Block2A-2B-v2, and N1.7 uses Cosmos-Reason2-2B (Qwen3-VL) source
Training data
N1.6: base model, pre-trained on 10k+ hours of robot data source; N1.7 DROID: post-trained on DROID, about 76,000 trajectories (350 hours) source

Run with Positronic

GR00T N1.7 DROID

Start the server source

docker run --gpus all -p 8000:8000 positro/gr00t-n17-droid

Drive a DROID robot from a positronic checkout guide

uv run --extra hardware positronic-inference real \
  --policy=.remote \
  --policy.address.host=localhost --policy.address.port=8000 \
  --next_task.instruction="Put the marker on the plate"

Progress through an episode

Each band shows how many episodes of GR00T had got as far as that stage at each second. The dashed line shows the mean Reliability.

Episodes

Each episode of GR00T on DROID: Everyday tasks, the newest first.

177 episodes
Task Task difficulty How far it got % of task done Time to success, s
Remove the yellow block from the bowl Easy Success 100 35.7
Put the book in the box Hard Failed 0 -
Pick up the screwdriver from the cup and put it on the table Easy Failed 0 -
Remove the marker from the cup and put it on the book Very hard Failed 0 -
Put the cloth in the bag Very hard Failed 0 -
Pick up the spoon and put it on the plate Easy Success 100 16.5
Put the knife in the drawer Very hard Failed 0 -
Put the towel in the basket Medium Failed 0 -
Put the plush on the table Easy Success 100 20.5
Put the bottle on the box Medium Failed 0 -
Pick up the pen from the cup and put it on the table, then move the cup Hard Failed 0 -
Remove the marker from the glass and put it on the table Hard Reaching 0 -
Put the marker in the glass Hard Failed 0 -
Put the marker beside the mug Hard Success 100 154.4
Put the wrench in the bowl Hard Failed 0 -
Put the screwdriver on the tray Very hard Floating 0 -
Put the lid on the pan Easy Success 100 189.7
Pick up the toy and put it in the bowl Hard Contact 10 -
Put the marker on the cloth, then fold the cloth and put it in the box Very hard Failed 0 -
Pick up the bottle and put it on the right side of the table Hard Failed 0 -
Put the bottle in the bag Very hard Failed 0 -
Remove the bottle from the tray and put it on the table Very hard Failed 0 -
Put the marker inside the container Hard Failed 0 -
Remove the bottle from the bowl and put it on the table Easy Contact 10 -
Put the bottle on the tray Hard Failed 0 -
Pick up the cup and put it on the left side of the table Medium Success 100 23.7
Remove the lid from the bottle and put it on the table Very hard Failed 0 -
Put the blocks in the cup Very hard Failed 0 -
Pick up the bottle from the box and put it on the table Hard Failed 0 -
Put the bottle in the bowl Medium Failed 0 -
Put the lid on the bottle Very hard Contact 10 -
Put the bottle on the table Easy Safety stop 0 -
Put the orange cup in the yellow cup then put the yellow cup in the blue cup Very hard Failed 0 -
Pick up the spoon and put it in the cup Very hard Failed 0 -
Put the blue cup on the table Easy Success 100 13.8
Put the yellow block on the table Very hard Failed 0 -
Put the blocks in the bowl Very hard Failed 0 -
Pick up the bottle and put it in the box Very hard Failed 0 -
Put the pen in the mug Hard Failed 0 -
Put the pen in the bowl Easy Success 100 10.4
Put the green block in the bowl Easy Success 100 21.4
Pick the marker from the bowl and put it on the table Easy Failed 0 -
Take the marker out of the mug and put it on the table Easy Success 100 17.6
Close the box Very hard Contact 10 -
Put the marker on the table Medium Failed 0 -
Put the yellow block in the cup Easy Success 100 15.3
Put the cup in the bowl Easy Failed 0 -
Put the spoon in the bowl Very hard Safety stop 0 -
Put the marker in the bowl Medium Success 100 19.7
Put the marker in the cup Hard Control 30 -
Move the wooden block to the left Very hard Failed 0 -
Flip over the plate Hard Contact 10 -
Put the sponge in the bowl Easy Success 100 17.6
Put the marker in the mug Hard Failed 0 -
Put the banana on the plate on the left Easy Success 100 10.3
Put the orange block on top of the green block Hard Control 30 -
Put the yellow block in the blue cup Medium Success 100 82.5
Put the fork on the plate Medium Success 100 55.0
Put the cube in the bowl Medium Success 100 11.7
Put the spoon in the mug Hard Failed 0 -
Put the pen in the cup Very hard Failed 0 -
Use the towel to wipe the table Hard Failed 0 -
Fold the towel Hard Failed 0 -
Move the cup to the right Easy Success 100 13.9
Move the cup to the left Easy Failed 0 -
Close the box Very hard Failed 0 -
Put the marker on the table Medium Failed 0 -
Put the yellow block in the cup Easy Failed 0 -
Put the cup in the bowl Easy Contact 10 -
Put the spoon in the bowl Very hard Failed 0 -
Put the marker in the bowl Medium Success 100 16.3
Put the marker in the cup Hard Failed 0 -
Move the wooden block to the left Very hard Failed 0 -
Flip over the plate Hard Contact 10 -
Put the sponge in the bowl Easy Success 100 11.6
Put the marker in the mug Hard Safety stop 0 -
Put the banana on the plate on the left Easy Success 100 10.7
Turn the box right side up Very hard Safety stop 0 -
Turn the spoon Hard Control 30 -
Turn the lid upside down Very hard Failed 0 -
Rotate the mug Easy Success 100 73.5
Turn the marker to the right Hard Control 30 -
Unstack the boxes on the table Medium Contact 10 -
Stack the cups inside the bowl Hard Failed 0 -
Stack the wooden blocks on the table Very hard Failed 0 -
Use the towel to wipe the plate Medium Success 100 17.9
Wipe the table with the cloth Medium Failed 0 -
Move the banana to the left Easy Success 100 12.6
Move the plate to the left Hard Failed 0 -
Move the fork to the right Easy Failed 0 -
Move the rubik's cube to the left Easy Success 100 21.8
Move the spoon to the right Easy Control 30 -
Move the pen to the right Medium Failed 0 -
Move the box to the right Very hard Failed 0 -
Move the cloth to the right Medium Contact 10 -
Move the towel to the right Hard Failed 0 -
Put the green block in the box Easy Success 100 12.4
Put the pen in the storage box Medium Failed 0 -
Put the Rubik's cube in the storage box Easy Success 100 64.9
Put the pen in the drawer Easy Success 100 18.8
Put the screwdriver in the bowl Very hard Failed 0 -
Put the cube in the drawer and close the drawer Very hard At target 40 -
Put the spoon in the box Medium Failed 0 -
Put the wooden spoon in the drawer Medium Failed 0 -
Put the sponge in the open drawer Hard Success 100 12.0
Put the cup in the drawer Hard Control 30 -
Put the cube in the cup Hard Failed 0 -
Put the marker on the towel Hard Failed 0 -
Put the yellow block on the plate Easy Success 100 56.9
Put the screwdriver on the table Medium Safety stop 0 -
Put the shirt on the table Very hard Failed 0 -
Put the marker on the plate Easy Success 100 84.4
Place the cube on the table Easy Failed 0 -
Place the bowl on the plate Easy Success 100 15.4
Place the mug at the center of the table Hard Failed 0 -
Put the towel inside the box Easy Success 100 12.4
Put the fork inside the open drawer Hard Floating 0 -
Put the blue block inside the open drawer then close the drawer Hard At target 40 -
Take the cloth and put it on the bowl Easy Control 30 -
Remove the towel from the middle drawer Hard Floating 0 -
Remove the banana from the bowl Easy Success 100 15.2
Remove the red cup from the box Easy Floating 0 -
Remove the fork from the bowl Easy Success 100 13.2
Take the mug off the plate and put it on the table Easy Success 100 15.6
Pick up the spoon from the bowl and put it in the box Hard Failed 0 -
Pick up the spoon from the bowl and put it in the cup Hard Control 30 -
Pick up the cup and put it on the plate Easy Success 100 9.2
Pick the fork and put it on the table Easy Success 100 11.7
Pick up the towel and place it on the table Hard Failed 0 -
Pick up the spoon and put it on the table Easy Failed 0 -
Pick up the pen and put it on the table Hard Failed 0 -
Pick up the cloth and put it on the drawer Hard Contact 10 -
Pick up the blue cup and put it in the orange cup Easy Success 100 10.6
Pick up the cloth from the table and put it in the box Medium Control 30 -
Pick up the cloth and put it on the table Hard Failed 0 -
Remove the marker from the cup and put it on the box Medium Control 30 -
Remove the lid from the storage box and put it on the table Medium Contact 10 -
Take the spoon from the plate and put it on the table Easy Success 100 41.6
Remove the blocks from the bowl and put them on the table Easy At target 40 -
Remove the mug from the box and put it on the table Easy Success 100 15.0
Take the screwdriver from the box and put it on the table Medium Success 100 11.4
Remove the marker from the box and place it on the table Medium Success 100 15.7
Remove the spoon from the bowl and put it on the table Medium Failed 0 -
Remove the spoon from the cup and put it on the table Hard Success 100 26.2
Take the pen out of the bowl and put it on the table Easy Success 100 13.9
Take the pen out of the mug and put it on the table Hard Reaching 0 -
Put the marker on the towel, fold the towel, and then put the folded towel in the box Very hard Failed 0 -
Put the screwdriver in the drawer and close it Very hard Contact 10 -
Unfold the shirt Hard Contact 10 -
Fold the cloth Hard Failed 0 -
Flip the cup over Medium Failed 0 -
Close the drawer Hard Failed 0 -
Move the bowl to the right Easy Success 100 14.4
Move the mug to the left Easy Success 100 58.3
Stack the cups Medium At target 40 -
Put the orange block on top of the green block Hard Failed 0 -
Put the yellow block in the blue cup Medium Failed 0 -
Put the fork on the plate Medium Failed 0 -
Put the cube in the bowl Medium Failed 0 -
Put the spoon in the mug Hard Success 100 94.9
Put the pen in the cup Very hard Failed 0 -
Use the towel to wipe the table Hard Failed 0 -
Fold the towel Hard Reaching 0 -
Move the cup to the right Easy Success 100 12.1
Move the cup to the left Easy Success 100 10.3
Close the box Very hard Failed 0 -
Put the marker on the table Medium Contact 10 -
Put the yellow block in the cup Easy Failed 0 -
Put the cup in the bowl Easy Success 100 12.1
Put the spoon in the bowl Very hard At target 40 -
Put the marker in the bowl Medium Success 100 13.7
Put the marker in the cup Hard Success 100 18.2
Move the wooden block to the left Very hard Contact 10 -
Flip over the plate Hard Failed 0 -
Put the sponge in the bowl Easy Success 100 11.6
Put the marker in the mug Hard Success 100 19.8
Put the banana on the plate on the left Easy Success 100 17.5