NVIDIA Isaac GR00T

Open foundation model for generalist humanoid robots — VLA with real-time whole-body control.

GitHub Open repository

7.2K stars 1.2K forks Apache-2.0 license 2026-06-04 verified

bash

$git clone https://github.com/NVIDIA/Isaac-GR00T && cd Isaac-GR00T && pip install -e .

Open source

Overview

What is NVIDIA Isaac GR00T?

NVIDIA Isaac GR00T is an open vision-language-action (VLA) foundation model family for generalized humanoid and manipulation robot skills. It takes multimodal input — language and images — and outputs joint-level action sequences for diverse robot embodiments. GR00T N1.7 supports zero-shot inference, fine-tuning on custom robot data, and real-time deployment with TensorRT acceleration. Built on the LeRobot dataset format and fully commercially licensable under Apache 2.0.

Whole-body humanoid control from a single VLA policy

GR00T predicts latent action tokens that a learned whole-body controller (GEAR-SONIC) decodes into coordinated leg, arm, and hand commands.

Prior VLA models focused on arms only. GR00T extends to full humanoid control, enabling locomotion + manipulation from one model.

Cross-embodiment zero-shot and fine-tuning

Pre-trained on diverse robot data including bimanual arms, semi-humanoids, and humanoids. Fine-tune on new embodiments with as few as 5 episodes.

You can evaluate zero-shot on supported robots or adapt to a custom robot with minimal data collection.

Commercial-friendly open license

Fully Apache 2.0 licensed with model weights, fine-tuning code, and evaluation benchmarks all publicly available.

Open VLA models are rare. Apache 2.0 means startups and researchers can build commercial products without legal uncertainty.

LeRobot dataset format compatibility

GR00T uses the LeRobot v2 dataset format, making it easy to use existing LeRobot datasets and tools for data preparation.

Direct compatibility with the Hugging Face robotics ecosystem lowers the barrier to getting started.

Install

One command to start

$ git clone https://github.com/NVIDIA/Isaac-GR00T && cd Isaac-GR00T && pip install -e .

Use cases

What teams use it for

Fine-tuning on custom robot hardware

Collect 5-50 demonstration episodes from your robot, convert to LeRobot format, and fine-tune GR00T for your specific embodiment and task.

Whole-body humanoid deployment

Use GR00T with the SONIC controller on Unitree G1 or similar humanoids for tasks that require coordinated locomotion and manipulation.

Benchmarking VLA models on LIBERO and SimplerEnv

Evaluate GR00T against standard benchmarks with provided fine-tuned checkpoints for Franka Panda and WidowX arms.

Ecosystem

Tags & capabilities

botopen sourceroboticsopen source

Comparison

How it stacks up

Choose GR00T for whole-body humanoid VLA

vs arm-only VLA models

Most open VLA models (Pi0, Xiaomi Robotics-0) focus on manipulation only. GR00T uniquely supports whole-body control including locomotion.

FAQ

Questions

What hardware do I need to run GR00T?

GR00T requires a GPU with sufficient VRAM for the 3B parameter model. A single A100 or RTX 6000 Ada is recommended for training. For inference, TensorRT-optimized deployment runs on consumer GPUs.

Can I use GR00T commercially?

Yes, GR00T is fully licensed under Apache 2.0, including model weights, fine-tuning code, and evaluation tools.

Does GR00T work with my robot?

GR00T supports multiple embodiments through its embodiment tag system. Supported tags include LIBERO PANDA, DROID, SO100, SimplerEnv, and UNITREE G1 SONIC. New embodiments can be added via fine-tuning.