字节跳动 Research
GR-1
Commercial terms unverified 6/8 verified
2 of 8 required fields are unverified. They are shown as badges, not filled with defaults. Sources for verified fields are listed below.
Facts
- Released
- 2023-12 1 Source
- Parameters
- Unverified 0 Source
- Architecture
- ViLLA 0 Source
- License
- Apache-2.0（代码仓库） 1 Source
- Commercial
- Commercial terms unverified 0 Source
- Weights
- lf-robot-opensource.bytetos.com ↗ 1 Source
- Code
- github.com ↗ 1 Source
- Paper
- arxiv.org ↗ 0 Source
- Input modalities
- rgb · language · state 0 Source
- Action space
- 末端位姿增量 + 夹爪 0 Source
- Cross-embodiment
- CALVIN 微调（ABCD / ABC 两组权重） 0 Source
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Single arm 0 Source
Architecture · GPT 式模型：输入语言 + 观测序列 + 状态，同时预测动作与未来帧；大规模视频生成式预训练；ICLR 2024
Sources · 1 sources
release_date,license,arch_notes,weights_url,code_url https://github.com/bytedance/GR-1 Official page · Fetched 2026-09-05 · No snapshot stored yet README：ICLR 2024；Apache-2.0 License；权重 snapshot_ABCD.pt / snapshot_ABC.pt 在字节对象存储；GPT-style video generative pre-training
Tutorials
No tutorial yet. First one planned: running this model on a rented RTX 4090 with a measured latency report.
Record history
2026-09-05
Sources fetched
release_date,license,arch_notes,weights_url,code_url
Latency & cost
cost = p50 ms ÷ 1000 × rental ÷ 3600 × 1000
| Hardware | p50 ms | p95 ms | Peak VRAM | Cost per 1k inferences ¥ | samples |
|---|---|---|---|---|---|
NVIDIA RTX 4090 ¥1.68/h · 共绩算力 (2026) | — | — | — | — no latency data | No data |
NVIDIA RTX 5090 ¥2.4/h · 润云 2.4 / 共绩 2.5 / 并行智算云 2.98 (2026) | — | — | — | — no latency data | No data |
NVIDIA A100 80GB no rental price | — | — | — | — no latency data | No data |
NVIDIA Jetson AGX Thor no rental price | — | — | — | — no latency data | No data |
NVIDIA H100 80GB no rental price | — | — | — | — no latency data | No data |
No latency measurements for this model yet · Data comes from literature, maintainer runs, or crowd CLI uploads. None exist so far.
Compatibility
Colored only where we hold evidence. An amber dot means the vendor declares this form as a target; that is a claim, not a verified compatibility.
| Unitree G1 | Unitree H1 | 智元 精灵 G1 | 松灵 Piper 机械臂 | SO-101 | Franka FR3 / Panda | Fourier GR-2 | WidowX 250 S | Google Robot（Everyday Robots） | ALOHA 2 / Cobot Magic（双臂） | Galaxea R1 Pro | Franka Emika Panda | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GR-1 |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 1 / 12 cells with a definite status
Clear direction, grounded judgement.