PhAIL – NVIDIA GR00T

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.

Task How far it got 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

Progress through a run

Each band shows how many runs of GR00T have placed that number of items at each second. The dashed line shows the mean share of placed items per run.

Loading runs...

Episodes

Each episode of GR00T on Pick and Place, the newest first.

Task Items placed 164 episodes

Task	Items placed	Speed, items/min
Wooden spoons	7/8	1.8
Wooden spoons	5/8	1.4
Wooden spoons	3/8	3.3
Towels	6/8	1.6
Towels	6/8	1.5
Towels	8/8	2.3
Towels	6/8	2.1
Towels	1/8	3.8
Towels	3/8	4.9
Towels	4/8	2.8
Towels	2/8	3.6
Towels	1/8	1.0
Towels	8/8	2.1
Scissors	0/8	-
Scissors	1/8	1.2
Scissors	1/8	-
Scissors	0/8	-
Scissors	0/8	-
Batteries	2/8	1.3
Batteries	0/8	-
Batteries	0/8	-
Batteries	0/8	-
Batteries	2/8	3.7
Batteries	5/8	1.4
Batteries	1/8	5.6
Batteries	3/8	3.0
Batteries	4/8	3.6
Batteries	1/8	0.5
Wooden spoons	1/8	0.6
Wooden spoons	8/8	2.4
Wooden spoons	8/8	2.1
Wooden spoons	8/8	3.2
Wooden spoons	2/8	4.5
Wooden spoons	0/8	-
Wooden spoons	3/8	1.6
Wooden spoons	4/8	1.7
Wooden spoons	2/8	3.9
Wooden spoons	0/8	-
Scissors	1/8	1.2
Scissors	1/8	-
Batteries	3/8	2.2
Batteries	3/8	2.3
Batteries	0/8	-
Towels	3/8	2.3
Towels	3/8	3.3
Towels	6/8	1.5
Towels	4/8	1.9
Towels	7/8	1.7
Towels	9/8	2.7
Scissors	5/8	1.2
Scissors	1/8	-
Scissors	0/8	-
Scissors	0/8	-
Scissors	4/8	1.1
Scissors	4/8	1.1
Batteries	0/8	-
Batteries	6/8	1.4
Batteries	7/8	2.6
Batteries	5/8	2.0
Batteries	3/8	1.9
Batteries	6/8	1.5
Batteries	7/8	1.9
Batteries	7/8	1.7
Batteries	6/8	3.8
Batteries	5/8	2.1
Batteries	0/8	-
Batteries	1/8	-
Batteries	3/8	2.4
Towels	7/8	3.0
Towels	2/8	0.9
Towels	7/8	2.5
Towels	5/8	2.4
Towels	6/8	1.6
Towels	6/8	2.6
Towels	6/8	1.6
Towels	2/8	1.0
Towels	5/8	3.2
Towels	6/8	2.9
Towels	6/8	2.4
Towels	6/8	2.4
Towels	6/8	3.7
Towels	6/8	1.6
Towels	6/8	2.5
Scissors	3/8	1.0
Scissors	4/8	1.1
Scissors	0/8	-
Scissors	3/8	2.2
Scissors	2/8	4.4
Wooden spoons	8/8	2.5
Wooden spoons	8/8	6.8
Wooden spoons	7/8	1.9
Wooden spoons	5/8	5.0
Wooden spoons	8/8	4.6
Scissors	2/8	3.8
Scissors	0/8	-
Scissors	0/8	-
Scissors	1/8	1.1
Scissors	3/8	1.3
Batteries	1/8	2.6
Batteries	0/8	-
Batteries	0/8	-
Wooden spoons	0/8	-
Wooden spoons	6/8	3.4
Wooden spoons	7/8	1.9
Wooden spoons	5/8	1.3
Wooden spoons	2/8	1.0
Wooden spoons	5/8	4.3
Wooden spoons	5/8	1.9
Wooden spoons	2/8	5.7
Wooden spoons	0/8	-
Wooden spoons	8/8	3.1
Wooden spoons	4/8	1.1
Wooden spoons	8/8	2.5
Batteries	4/8	4.0
Batteries	1/8	-
Batteries	2/8	1.2
Batteries	3/8	0.8
Batteries	0/8	-
Batteries	4/8	3.8
Batteries	1/8	-
Wooden spoons	0/8	-
Wooden spoons	6/8	3.0
Wooden spoons	4/8	2.5
Wooden spoons	0/8	-
Wooden spoons	0/8	-
Wooden spoons	6/8	3.2
Wooden spoons	5/8	1.9
Wooden spoons	8/8	5.4
Wooden spoons	6/8	3.9
Wooden spoons	6/8	4.5
Wooden spoons	8/8	2.7
Scissors	1/8	0.7
Scissors	3/8	5.7
Scissors	3/8	2.3
Scissors	1/8	1.0
Scissors	2/8	3.1
Batteries	5/8	2.9
Batteries	7/8	2.8
Batteries	5/8	1.5
Batteries	4/8	1.2
Batteries	3/8	0.8
Batteries	6/8	2.2
Batteries	5/8	2.2
Batteries	7/8	2.6
Batteries	3/8	3.5
Wooden spoons	8/8	2.5
Scissors	0/4	-
Scissors	0/4	-
Scissors	3/4	1.6
Scissors	2/4	1.0
Scissors	2/4	2.7
Scissors	0/4	-
Towels	2/4	3.5
Towels	0/4	-
Towels	2/4	2.3
Towels	2/4	2.7
Towels	3/4	3.7
Towels	1/4	1.2
Towels	0/4	-
Towels	3/4	1.6
Towels	1/4	6.0
Towels	4/4	2.8
Towels	1/4	3.4
Towels	2/4	1.4

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