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Models

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ModelParametersArchitectureLicenseCommercialTarget formsCross-embodimentVerified fields
Isaac GR00T N1.7
NVIDIA · 2026-04
 3B Dual system NVIDIA Open Model License（权重）；Apache-2.0（Isaac-GR00T 代码） Commercial use OK Humanoid Unverified 8/8
GR00T N1.6 3B
NVIDIA
 3B Dual system Unverified Commercial terms unverified Humanoid Unverified 4/8
LingBot-VLA 2.0
蚂蚁灵波科技 (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)
智元机器人 (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 代码）；权重无独立许可证声明，仓库附 Gemma 使用条款 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 代码）；权重无独立许可证声明，仓库附 Gemma 使用条款 Commercial terms unverified Single arm · Dual arm · Mobile manipulator Unverified 6/8
SmolVLA
Hugging Face (LeRobot) · 2025-06
 450M VLM + action expert Unverified Commercial terms unverified Single arm No 6/8
OpenVLA
Stanford 等
 7B Monolithic autoregressive MIT Unverified Commercial terms unverified Single arm Yes 3/8
X-VLA
学术团队 (ICLR 2026) · 2026 (ICLR)
 Unverified Soft-prompted transformer Unverified Commercial terms unverified Single arm · Dual arm · Humanoid Yes 4/8
Octo
UC Berkeley 等
 93M Transformer policy MIT Unverified Commercial terms unverified Single arm Yes 3/8
星海图具身基础模型(WRC 开源,名称待定)
星海图 (Galaxea) · 2026-08 (WRC 宣布开源;9 月 CoRL 开放数据集)
 Unverified Unverified Unverified Commercial terms unverified Unverified Unverified 2/8