NVIDIA
Isaac GR00T N1.7
3B Commercial use OK 8/8 verified
Facts
- Released
- 2026-04 2 Source
- Parameters
- 3 B 2 Source
- Architecture
- Dual system 0 Source
- License
- NVIDIA Open Model License（权重）；Apache-2.0（Isaac-GR00T 代码） 2 Source
- Commercial
- Commercial use OK 1 Source
- Weights
- huggingface.co ↗ 2 Source
- Code
- github.com ↗ 1 Source
- Paper
- Unverified 0 Source
- Input modalities
- rgb · language · state 0 Source
- Action space
- 关节/全身(人形为主) 0 Source
- Cross-embodiment
- 以人形为主 Unverified 0 Source 待核实其他构型支持
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Humanoid 0 Source
Architecture · Action Cascade:System 2 为 VLM(处理图像token与语言指令,输出高层action token);System 1 为 32 层 Diffusion Transformer,结合实时机器人状态生成运动指令
Sources · 6 sources
license,commercial_ok https://huggingface.co/nvidia/GR00T-N1.7-3B Model hub page · Fetched 2026-09-03 · No snapshot stored yet NVIDIA Open Model License Agreement; ready for commercial/non-commercial use
license https://raw.githubusercontent.com/NVIDIA/Isaac-GR00T/main/LICENSE Official page · Fetched 2026-09-03 · No snapshot stored yet 代码 Apache License 2.0
params_b,weights_url https://huggingface.co/api/models/nvidia/GR00T-N1.7-3B Model hub page · Fetched 2026-09-03 · No snapshot stored yet safetensors 3,144,016,000 参数
release_date https://forums.developer.nvidia.com/t/early-access-isaac-gr00t-n1-7-open-reasoning-vla-model-for-humanoid-robotics/366916 Official page · Fetched 2026-09-03 · No snapshot stored yet Early Access 公告 2026-04-17
release_date,params_b https://huggingface.co/blog/nvidia/gr00t-n1-7 Model hub page · Fetched 2026-09-03 · No snapshot stored yet April 17, 2026; 3B open reasoning VLA
code_url,weights_url https://raw.githubusercontent.com/NVIDIA/Isaac-GR00T/main/README.md Official page · Fetched 2026-09-03 · No snapshot stored yet GA 已发布；nvidia/GR00T-N1.7-3B
Tutorials
No tutorial yet. First one planned: running this model on a rented RTX 4090 with a measured latency report.
Record history
2026-09-03
Sources fetched
license,commercial_ok · license · params_b,weights_url · release_date · release_date,params_b · code_url,weights_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 |
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 | 傅立叶 GR 系列 | |
|---|---|---|---|---|---|---|---|
| Isaac GR00T N1.7 |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 0 / 7 cells with a definite status