← Sinan Lab › Models
Models
Every row links to a detail page where each field shows its source. Fields we could not verify carry an “Unverified” badge; we never fill them with defaults.
Tick up to 4 models, then compare
| Model | Parameters | Architecture | License | Commercial | Target forms | Cross-embodiment | Verified fields | |
|---|---|---|---|---|---|---|---|---|
| Isaac GR00T N1.7 NVIDIA · 2026-04 | 3B | Dual system | NVIDIA Open Model License (weights); Apache-2.0 (Isaac-GR00T code) | Commercial use OK | Humanoid | Unverified | 8/8 | |
| GR00T N1.6 3B NVIDIA | 3.29B | Dual system | Model card tagged NVIDIA License (links to LICENSE file, terms pending verbatim verification) | Commercial terms unverified | Humanoid | Unverified | 5/8 | |
| LingBot-VLA 2.0 Robbyant (Ant Group) · 2026-07 | 6B | Unverified | Apache-2.0 | Commercial use OK | Humanoid · Dual arm · Single arm · Wheeled | Yes | 8/8 | |
| GO-1 (Genie Operator-1) AgiBot · 2025-09 | 2.82B | ViLLA | CC BY-NC-SA 4.0 | Non-commercial | Humanoid · Dual arm | Yes | 8/8 | |
| π0 (pi-zero) Physical Intelligence · 2025-02 | 3.3B | VLM + action expert | Apache-2.0 (openpi code); no separate licence statement for weights, repository includes Gemma Terms of Use | Commercial terms unverified | Single arm · Dual arm · Mobile manipulator | Unverified | 7/8 | |
| π0.5 Physical Intelligence · 2025-09 | Unverified | VLM + action expert | Apache-2.0 (openpi code); no separate licence statement for weights, repository includes Gemma Terms of Use | Commercial terms unverified | Single arm · Dual arm · Mobile manipulator | Unverified | 6/8 | |
| SmolVLA Hugging Face (LeRobot) · 2025-06 | 450M | VLM + action expert | Weights model card has no licence tag (LeRobot code repository Apache-2.0) | Commercial terms unverified | Single arm | No | 7/8 | |
| OpenVLA Stanford / UC Berkeley / TRI et al. (OpenVLA team) · 2024-06 | 7.54B | Monolithic autoregressive | MIT (tagged on code and weights repositories); weights derived from Llama-2, subject to the Llama 2 Community License | Commercial terms unverified | Single arm | Yes | 7/8 | |
| X-VLA Tsinghua University AIR (2toINF) · 2025-10 | 880M | Soft-prompted transformer | Apache-2.0 (code and model card) | Commercial use OK | Single arm · Dual arm | Yes | 8/8 | |
| Octo UC Berkeley RAIL et al. · 2024-05 | 93M | Transformer policy | MIT (tagged on code and weights repositories) | Commercial use OK | Single arm | Yes | 8/8 | |
| RDT-1B Tsinghua University TSAIL (thu-ml) · 2024-10 | 1B | Transformer policy | MIT (code, weights and data all MIT, per README) | Commercial use OK | Single arm · Dual arm · Mobile manipulator | Yes | 8/8 | |
| CogACT Microsoft Research · 2024-12 | Unverified | VLM + action expert | MIT (code, weights and data all MIT, per README) | Commercial use OK | Single arm | Yes | 7/8 | |
| SpatialVLA Shanghai AI Laboratory et al. · 2025-01 | 4.03B | Monolithic autoregressive | MIT (both code README and model card tagged MIT) | Commercial use OK | Single arm | Yes | 8/8 | |
| UniVLA OpenDriveLab (HKU et al.) · 2025-05 | 7.54B | VLM + action expert | Apache-2.0 (tagged on both code repository and model card) | Commercial use OK | Single arm · Dual arm · Wheeled | Yes | 8/8 | |
| MolmoAct Allen Institute for AI（Ai2） · 2025-08 | 8.12B | Monolithic autoregressive | Apache-2.0 (code and weights) | Commercial use OK | Single arm | Yes | 8/8 | |
| RynnVLA-001 Alibaba DAMO Academy · 2025-08 | 7.01B | ViLLA | Apache-2.0 (code and model card); README also states research preview intended for non-commercial use ONLY | Commercial terms unverified | Single arm | Yes | 7/8 | |
| WALL-OSS X Square Robot · 2025-09 | 4.22B | VLM + action expert | Apache-2.0 (code repository); weights model card has no licence tag | Commercial terms unverified | Dual arm | Yes | 7/8 | |
| InternVLA-M1 Shanghai AI Laboratory InternRobotics · 2025-09 | 3.75B | VLM + action expert | Code MIT; weights model card tagged CC BY-NC-SA 4.0 | Non-commercial | Single arm | Yes | 8/8 | |
| GraspVLA Peking University EPIC Lab / Galbot · 2025-07 | Unverified | VLM + action expert | CC BY-NC 4.0 (code badge and model card agree) | Non-commercial | Single arm | Yes | 7/8 | |
| Being-H0 BeingBeyond (Beijing) · 2025-08 | 8.11B | Monolithic autoregressive | MIT (code repository and model card) | Commercial use OK | form.dexterous_hand | Yes | 8/8 | |
| EO-1 IPEC-COMMUNITY (Shanghai AI Laboratory affiliated) · 2025-08 | 3.77B | Monolithic autoregressive | MIT (model card) | Commercial use OK | Single arm · Dual arm | Yes | 8/8 | |
| LingBot-VLA 4B Robbyant (Ant Group) · 2026-01 | 4.2B | VLM + action expert | Apache-2.0 (code repository); weights model card has no licence tag | Commercial terms unverified | Dual arm · Dual arm, wheeled | Yes | 7/8 | |
| NORA Declare Lab (SUTD) · 2025-04 | 3.76B | Monolithic autoregressive | Neither repository nor model card has a licence tag | Commercial terms unverified | Single arm | Yes | 7/8 | |
| VLA-Adapter OpenHelix team · 2025-09 | 500M | VLM + action expert | MIT (code repository); weights model card untagged | Commercial terms unverified | Single arm · Dual arm | Yes | 7/8 | |
| HPT（Heterogeneous Pre-trained Transformers） MIT (Lirui Wang, Kaiming He et al.) · 2024-09 | 227M | Transformer policy | MIT (code repository); model card has no licence tag | Commercial terms unverified | Single arm · Dual arm | Yes | 7/8 | |
| LAPA KAIST / University of Washington et al. (Latent Action Pretraining) · 2024-11 | 7B | Monolithic autoregressive | MIT (tagged on both code and model card) | Commercial use OK | Single arm | Yes | 8/8 | |
| LLaVA-VLA OpenHelix team · 2025-06 | 7B | Monolithic autoregressive | MIT (code and model card) | Commercial use OK | Single arm | Yes | 8/8 | |
| RoboVLMs（KosMos P.H.） Tsinghua University / ByteDance Research / CASIA et al. · 2024-12 | Unverified | VLM + action expert | Apache-2.0 (code and model card) | Commercial use OK | Single arm | Yes | 7/8 | |
| Magma-8B Microsoft Research · 2025-02 | 8.9B | Monolithic autoregressive | MIT (code and model card) | Commercial use OK | Single arm | Yes | 8/8 | |
| V-JEPA 2-AC Meta FAIR · 2025-06 | 1B | ViLLA | Mostly MIT, some files Apache-2.0 (per README); HF weights require access request | Commercial terms unverified | Single arm | Yes | 7/8 | |
| DexVLA Midea AI Research et al. (DexVLA team) · 2025-02 | 3B | VLM + action expert | Code MIT; ScaleDP pretrained weights model card tagged CC BY-NC 4.0 | Non-commercial | Dual arm · form.dexterous_hand | Yes | 8/8 | |
| GR-1 ByteDance Research · 2023-12 | Unverified | ViLLA | Apache-2.0 (code repository) | Commercial terms unverified | Single arm | Yes | 6/8 | |
| Spirit v1.5 Spirit AI · 2026-01 | 5.4B | VLM + action expert | Code MIT (README); model card tagged apache-2.0 | Commercial use OK | Single arm · Dual arm | Yes | 8/8 | |
| Galaxea G0.5 Galaxea · 2026-06 | 2B | Monolithic autoregressive | G0.5 Community License (non-commercial + limited patent licence; model card license: other); versions before 2026-01-04 were Apache-2.0 | Non-commercial | Dual arm, wheeled · Single arm | Yes | 8/8 | |
| RDT2-VQ Tsinghua University TSAIL (thu-ml) · 2025-09 | 8.29B | Monolithic autoregressive | Apache-2.0 (code and model card) | Commercial use OK | Dual arm | Yes | 8/8 | |
| InternVLA-A1.5 Shanghai AI Laboratory InternRobotics · 2026-07 | 2.69B | VLM + action expert | CC BY-NC-SA 4.0 (code repository and model card agree) | Non-commercial | Single arm · Dual arm | Yes | 8/8 | |
| VLA-0 NVIDIA Research · 2025-10 | 3B | Monolithic autoregressive | CC BY-NC 4.0 (code and weights); base model subject to the Qwen Research License | Non-commercial | Single arm | Yes | 8/8 | |
| MiniVLA Stanford ILIAD · 2024-12 | 500M | Monolithic autoregressive | Code MIT; README notes pretrained weights may inherit base-model (Llama Community License) restrictions | Commercial terms unverified | Single arm | Yes | 7/8 | |
| Genie Envisioner（GE-Act） AgiBot · 2025-08 | Unverified | ViLLA | Code split in two: LTX/Cosmos/pipeline/openpi_client parts Apache-2.0, remaining code and data CC BY-NC-SA 4.0; weights model card untagged | Commercial terms unverified | Dual arm, wheeled | Yes | 6/8 | |
| GR00T N1.5 3B NVIDIA · 2025-05 | 2.72B | Dual system | Model card tagged Nvidia License (page states non-commercial use only) | Non-commercial | Humanoid · Dual arm · Single arm | Yes | 8/8 |
Clear direction, grounded judgement.