Declare Lab（新加坡科技设计大学）
NORA
3.76B Commercial terms unverified 7/8 verified
1 of 8 required fields are unverified. They are shown as badges, not filled with defaults. Sources for verified fields are listed below.
Facts
- Released
- 2025-04 1 Source
- Parameters
- 3.76 B 1 Source
- Architecture
- Monolithic autoregressive 0 Source
- License
- 仓库与模型卡均未标注许可证 0 Source
- Commercial
- Commercial terms unverified 0 Source
- Weights
- huggingface.co ↗ 1 Source
- Code
- github.com ↗ 1 Source
- Paper
- arxiv.org ↗ 0 Source
- Input modalities
- rgb · language 0 Source
- Action space
- 7-DoF（6 + 夹爪） 0 Source
- Cross-embodiment
- Open X-Embodiment 混合预训练；WidowX / BridgeData V2 评测 1 Source
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Single arm 0 Source
Architecture · Qwen2.5-VL-3B 主干，动作 token 自回归；有 NORA-1.5 与 NORA-LONG 变体
Sources · 2 sources
arch_notes,cross_embodiment,code_url https://github.com/declare-lab/nora Official page · Fetched 2026-09-04 · No snapshot stored yet README：built on Qwen2.5 VL；OXE mixture；WidowX / BridgeData V2；7-DoF
params_b,weights_url,release_date https://huggingface.co/api/models/declare-lab/nora Model hub page · Fetched 2026-09-04 · No snapshot stored yet safetensors 3,758,262,272；模型卡无 license 字段；createdAt 2025-04-28
Tutorials
No tutorial yet. First one planned: running this model on a rented RTX 4090 with a measured latency report.
Record history
2026-09-04
Sources fetched
arch_notes,cross_embodiment,code_url · params_b,weights_url,release_date
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 | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| NORA |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 1 / 12 cells with a definite status
Clear direction, grounded judgement.