NVIDIA
GR00T N1.5 3B
2.72B Non-commercial 8/8 verified
Facts
- Released
- 2025-05 1 Source
- Parameters
- 2.72 B 1 Source
- Architecture
- Dual system 0 Source
- License
- 模型卡标 Nvidia License（页面注明仅限非商用） 1 Source
- Commercial
- Non-commercial 0 Source
- Weights
- huggingface.co ↗ 1 Source
- Code
- github.com ↗ 1 Source
- Paper
- arxiv.org ↗ 0 Source
- Input modalities
- rgb · language · state 0 Source
- Action space
- 关节（flow matching 动作块） 0 Source
- Cross-embodiment
- 跨本体模型，人形 / 双臂 / 单臂（模型卡未列具体机型） 0 Source
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Humanoid · Dual arm · Single arm 0 Source
Architecture · SigLIP2 视觉 + T5 语言编码 + flow matching 动作 Transformer（adaptive layernorm）；按本体 ID 索引可变维本体感知；已被 N1.6 / N1.7 接替
Sources · 3 sources
params_b,release_date,weights_url https://huggingface.co/api/models/nvidia/GR00T-N1.5-3B Model hub page · Fetched 2026-09-05 · No snapshot stored yet safetensors 2,724,163,520；createdAt 2025-05-28
license,arch_notes https://huggingface.co/nvidia/GR00T-N1.5-3B Model hub page · Fetched 2026-09-05 · No snapshot stored yet 模型卡：Nvidia License（Non-commercial use only）；SigLip2 + T5 + flow matching transformer；cross-embodiment
code_url https://github.com/NVIDIA/Isaac-GR00T Official page · Fetched 2026-09-05 · No snapshot stored yet Isaac-GR00T 代码仓库（Apache-2.0）
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
params_b,release_date,weights_url · license,arch_notes · 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 | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GR00T N1.5 3B |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 1 / 12 cells with a definite status
Clear direction, grounded judgement.