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 were in that band at each second. On a task of one step, an episode is in the band of the furthest stage it reached. On a task of several steps, an episode is in the band its credit has reached, and each band starts at its stage's credit for one step. The dashed line shows the mean Reliability.

Episodes

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

319 episodes
Task Task difficulty How far it got % of task done Time to success, s
Switch off the extension cord Very hard Reaching 0 -
Turn on the extension cable Medium Contact 10 -
Press on the lid Easy Success 100 205.0
Spread the cloth Easy Success 100 47.7
Scrunch up the towel on the table Hard Failed 0 -
Use the wooden spoon to stir in the pan Easy Failed 0 -
Use the spatula to stir in the bowl Hard Contact 10 -
Use the wooden spoon to mix in the bowl Medium Control 30 -
Unstack the green blocks Hard Failed 0 -
Unstack the cups Hard Success 100 165.0
Use the towel to wipe the tray Hard Safety stop 0 -
Use the sponge to wipe the surface Medium Control 30 -
Use the cloth to wipe the plate Medium Contact 10 -
Use the cloth to wipe the pan Very hard Failed 0 -
Use the towel to wipe the pan Easy Success 100 43.9
Fold the shirt Very hard Failed 0 -
Unfold the cloth Hard Contact 10 -
Unfold the towel Very hard Safety stop 0 -
Open the drawer, put the blue cup inside it, and then close it Very hard Failed (1/3) 0 -
Close the book Medium Contact 10 -
Open the book Hard Floating 0 -
Close the bottom drawer Hard Reaching 0 -
Close the middle drawer Very hard Floating 0 -
Close the top drawer Hard Failed 0 -
Open the bottom drawer Very hard Failed 0 -
Open the middle drawer Very hard Safety stop 0 -
Open the top drawer Very hard Safety stop 0 -
Open the drawer Hard Safety stop 0 -
Move the cup to the right then place the marker in it Very hard Failed (1/2) 0 -
Move the pan to the left Easy Success 100 19.6
Move the book to the right Hard Failed 0 -
Move the bag to the right Easy Success 100 16.9
Move the can backwards Medium Control 30 -
Move the toy to the left Hard Failed 0 -
Move the plate to the right Easy Contact 10 -
Move the fork to the left Easy Failed 0 -
Move the toy to the right Hard Failed 0 -
Move the spoon to the left Easy Success 100 14.2
Move the glass to the right Easy Success 100 32.2
Move the plush to the right Easy Success 100 13.7
Move the bag to the left Easy Success 100 158.1
Move the pen to the left Easy Success 100 97.8
Move the plush to the left Easy Failed 0 -
Move the towel forward Hard Success 100 62.0
Move the bowl forward Hard Success 100 42.4
Move the basket to the right Easy Safety stop 0 -
Move the basket to the left Easy Control 30 -
Move the box to the left Very hard Floating 0 -
Move the marker forward Medium At target 40 -
Move the yellow block forward Medium Control 30 -
Move the can to the left Hard Contact 10 -
Move the can to the right Medium Contact 10 -
Move the cloth to the left Easy Success 100 152.0
Move the ball to the right Hard Safety stop 0 -
Move the bottle forward Very hard Safety stop 0 -
Move the yellow block to the right Hard Failed 0 -
Move the marker to the right Easy Failed 0 -
Move the mug forward Hard Reaching 0 -
Move the bowl to the left Easy Success 100 26.0
Move the bottle to the left Hard Failed 0 -
Move the blue cup forward Medium Control 30 -
Move the towel to the left Hard Failed 0 -
Move the bottle to the right Easy Success 100 52.9
Move the mug to the right Hard Failed 0 -
Put the bottle on the plate Medium Control 30 -
Place the cup on the notebook Medium Control 30 -
Put the marker in the cloth and wrap it Easy Failed (1/2) 0 -
Pick up the cup and put in the drawer, then close the drawer Hard At target (1/2) 20 -
Put the marker inside the drawer Medium Floating 0 -
Put the spoon on the towel Hard Failed 0 -
Remove the sponge from the drawer Hard Failed 0 -
Take a cloth from the bag and put it on the table Hard Contact 10 -
Take the banana and put it on the table Medium Success 100 65.6
Remove the fork from the box and put it on the table Easy Contact 10 -
Use the spoon to mix in the mug and then put it on the table Very hard Failed (1/2) 0 -
Pick the stuffed toy on the table and put it in the bag Easy Failed 0 -
Pick up the cloth and put it on the glass Medium Control 30 -
Pick up the keys and put them in the bowl Easy Failed 0 -
Put the wooden spoon on the pan Easy Success 100 27.4
Place the green block onto the tray Easy Control 30 -
Put the plush in the drawer Medium Failed 0 -
Put the plush in the drawer Medium Success 100 19.5
Put the marker on the box Hard Failed 0 -
Put the marker in the cup on the box Very hard Failed 0 -
Pick the box and put it in the basket Very hard Failed 0 -
Remove the cube from the basket Hard Contact 10 -
Put the green block in the pan Easy Success 100 19.3
Take the bottle on the box and put it on the table Easy Success 100 15.5
Put the knife in the cup Very hard Failed 0 -
Remove the toy from the bowl and put it on the table Easy Success 100 66.0
Put the scissors in the storage box Hard Failed 0 -
Remove the bottle from the bin Medium Success 100 49.7
Remove the shirts from the bin and put them on the table Medium At target (1/2) 20 -
Put the blue cup on the tray Easy Success 100 15.4
Pick a block from the box and place it on the table Easy Failed 0 -
Move the plushie on the plate to the table Easy Success 100 15.5
Pick the bottle and put it in the drawer Easy Success 100 99.9
Put the banana in the basket Easy Floating 0 -
Move the cup from the plate to the table Easy Success 100 62.3
Put the bottle on top of the book Hard Failed 0 -
Take the Rubik's cube out of the bowl and put it on the table Easy Success 100 11.7
Put the pen on the tray Easy Failed 0 -
Pick up the keys and put them on the tray Medium Failed 0 -
Pick up the toy and put it on the plate Very hard Failed 0 -
Put the shirt inside the basket Medium Failed 0 -
Take the pen from the table and put it in the tote bag Medium Success 100 23.2
Put the spoon in the cup, then put the spoon on the table Very hard Failed (2/2) 0 -
Remove the marker from the tray and put it on the table Easy Success 100 11.0
Put the cloth in the basket Medium Failed 0 -
Put the marker in the shirt, fold the shirt then put it in the box Very hard Failed (1/3) 0 -
Pick up the towel and put it in the carrier bag Very hard Floating 0 -
Put the fork in the bowl Medium Contact 10 -
Put the knife on the table Medium Contact 10 -
Put the pen in the bag Hard Success 100 28.0
Put the plush on the plate Easy Success 100 10.5
Take the bag out of the box Easy Failed 0 -
Remove the cup from the top drawer Hard Reaching 0 -
Pick up the marker and put it on the right side of the table Easy Success 100 15.5
Put the plush in the box Easy Success 100 22.0
Put the marker on the tray Easy Floating 0 -
Put the spatula on the table Hard Failed 0 -
Pick the red cup and put it in the box Easy Success 100 16.6
Put the pen in the glass Easy At target 40 -
Remove the bottle from the bag Easy Contact 10 -
Put the Lego in the open drawer and then close the drawer Very hard Failed (1/2) 0 -
Put the marker on the book Medium Control 30 -
Remove the lemon from the bowl and put it on the table Easy Success 100 13.2
Put the toy in the drawer Hard Contact 10 -
Put the can in the bin Hard Contact 10 -
Remove the pen from the cup and put the pen on the book Very hard Success 100 18.8
Put the pen in the bowl then take it out Very hard Failed (2/2) 0 -
Remove the fruits from the bowl Medium Contact (2/2) 55 -
Put the Rubik's cube on the yellow block Medium Failed 0 -
Take the pen out of the glass and put it on the table Easy Contact 10 -
Pick up the book from the box and put it on the table Hard Reaching 0 -
Pick a Rubik's cube from the storage box and put it on the table Easy Success 100 29.6
Put the bottle in the bin Easy Success 100 22.4
Pick up the screwdriver from the table and put it in the box Hard Failed 0 -
Remove the cup from the bowl and put it on the table Easy Success 100 18.5
Put the plush in the bowl Medium Failed 0 -
Put the mug on the plate Easy Success 100 15.5
Remove the lid from the pan Easy Contact 10 -
Remove the yellow block from the bowl Easy Success 100 33.8
Put the book in the box Medium Failed 0 -
Pick up the screwdriver from the cup and put it on the table Medium Failed 0 -
Remove the marker from the cup and put it on the book Hard Contact 10 -
Put the cloth in the bag Medium Control 30 -
Pick up the spoon and put it on the plate Easy Success 100 10.5
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 17.0
Put the bottle on the box Easy Failed 0 -
Pick up the pen from the cup and put it on the table, then move the cup Medium Contact (1/2) 5 -
Remove the marker from the glass and put it on the table Easy Contact 10 -
Put the marker in the glass Hard Safety stop 0 -
Put the marker beside the mug Easy Success 100 19.7
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 Medium Contact 10 -
Put the marker on the cloth, then fold the cloth and put it in the box Very hard Failed (1/3) 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 Easy 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 (2/3) 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 (1/2) 0 -
Pick up the spoon and put it in the cup Hard Failed 0 -
Put the blue cup on the table Easy Success 100 13.8
Put the yellow block on the table Hard Failed 0 -
Put the blocks in the bowl Very hard Failed (1/3) 0 -
Pick up the bottle and put it in the box 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 Easy Success 100 19.7
Put the marker in the cup Hard Control 30 -
Move the wooden block to the left Hard Failed 0 -
Flip over the plate Medium 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 Easy Success 100 11.7
Put the spoon in the mug Medium Failed 0 -
Put the pen in the cup Very hard Failed 0 -
Use the towel to wipe the table Medium 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 Easy Success 100 16.3
Put the marker in the cup Hard Failed 0 -
Move the wooden block to the left Hard Failed 0 -
Flip over the plate Medium 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 Medium Control 30 -
Unstack the boxes on the table Medium Contact 10 -
Stack the cups inside the bowl Very hard Failed (2/3) 0 -
Stack the wooden blocks on the table Very hard Failed (1/3) 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 Medium 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 Hard 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 Hard 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 Reaching (2/2) 50 -
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 Medium Control 30 -
Put the cube in the cup Hard Failed 0 -
Put the marker on the towel Medium 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 Medium Floating 0 -
Put the blue block inside the open drawer then close the drawer Very hard Floating (2/2) 50 -
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 Medium 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 Contact (3/3) 70 -
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 Easy 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 Medium 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 Medium Reaching 0 -
Put the marker on the towel, fold the towel, and then put the folded towel in the box Very hard Failed (1/3) 0 -
Put the screwdriver in the drawer and close it Very hard Contact (1/2) 5 -
Unfold the shirt Hard Contact 10 -
Fold the cloth Hard Failed 0 -
Flip the cup over Medium Failed 0 -
Close the drawer Medium 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 Very hard Reaching (2/3) 33 -
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 Easy Failed 0 -
Put the spoon in the mug Medium Success 100 94.9
Put the pen in the cup Very hard Failed 0 -
Use the towel to wipe the table Medium 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 Easy Success 100 13.7
Put the marker in the cup Hard Success 100 18.2
Move the wooden block to the left Hard Contact 10 -
Flip over the plate Medium 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