概要
Isaac GR00T N1.7 combines a vision-language backbone with a network that predicts continuous actions. Inputs include language, camera observations and robot state. The repository provides checkpoints, data-format guidance, inference examples, fine-tuning and deployment tooling. Adapting it to a robot requires mapping the expected observations and actions to the actual sensors and controller.
主な機能
- Uses multimodal inputs including vision, language and state.
- Provides N1.7 base and task-adapted checkpoints.
- Uses a LeRobot-style dataset with additional modality metadata.
- Includes open-loop inference on demonstration data.
- Supports post-training for specific embodiments and tasks.
- Includes server-client inference and export tooling.
要件、インストール、クイックスタート
2. Run git clone --recurse-submodules https://github.com/NVIDIA/Isaac-GR00T.
3. Install platform dependencies and run uv sync --python 3.12.
4. Obtain Hugging Face access to the gated Cosmos-Reason2-2B backbone and authenticate.
5. Follow the standalone_inference_script.py example using nvidia/GR00T-N1.7-3B, demo_data/droid_sample and the matching embodiment tag.
6. Inspect predicted sample trajectories before converting your own data and fine-tuning.
使用方法
Implementation notes
Good open-loop predictions do not establish closed-loop task success. Sensor latency, control frequency and action units affect execution, so record offline, simulation and physical evaluations separately.
モデルの互換性とユースケース
Upstream lists 16GB+ VRAM for inference and recommends 40GB+ for fine-tuning. Platforms have different CUDA and dependency combinations. The default dGPU video stack requires a supported FFmpeg version, and the gated backbone needs separate access approval.
ライセンスとリスクに関する注意事項
The N1.7 main project is released under Apache-2.0. Check the access conditions and terms for downloaded backbones, datasets and dependencies.