RESEARCH PAPERSubmitted 18 Mar 2025

GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

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NVIDIA; :; Johan Bjorck; Fernando Castañeda; Nikita Cherniadev; Xingye Da; Runyu Ding; Linxi "Jim" Fan; Yu Fang; Dieter Fox; Fengyuan Hu; Spencer Huang; Joel Jang; Zhenyu Jiang; Jan Kautz; Kaushil Kundalia; Lawrence Lao; Zhiqi Li; Zongyu Lin; Kevin Lin; Guilin Liu; Edith Llontop; Loic Magne; Ajay Mandlekar; Avnish Narayan; Soroush Nasiriany; Scott Reed; You Liang Tan; Guanzhi Wang; Zu Wang; Jing Wang; Qi Wang; Jiannan Xiang; Yuqi Xie; Yinzhen Xu; Zhenjia Xu; Seonghyeon Ye; Zhiding Yu; Ao Zhang; Hao Zhang; Yizhou Zhao; Ruijie Zheng; Yuke Zhu

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Major category: VLA
Quadrant: Not applicable
Architecture: Dual-system
Prediction paradigm: Not applicable
Subcategories: Diffusion & flow-matching VLA Hierarchical & dual-system VLA
Source review status: Verified from primary sources

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BibTeX

@article{gr00tn1_2025,
      title={GR00T N1: An Open Foundation Model for Generalist Humanoid Robots}, 
      author={NVIDIA and : and Johan Bjorck and Fernando Castañeda and Nikita Cherniadev and Xingye Da and Runyu Ding and Linxi "Jim" Fan and Yu Fang and Dieter Fox and Fengyuan Hu and Spencer Huang and Joel Jang and Zhenyu Jiang and Jan Kautz and Kaushil Kundalia and Lawrence Lao and Zhiqi Li and Zongyu Lin and Kevin Lin and Guilin Liu and Edith Llontop and Loic Magne and Ajay Mandlekar and Avnish Narayan and Soroush Nasiriany and Scott Reed and You Liang Tan and Guanzhi Wang and Zu Wang and Jing Wang and Qi Wang and Jiannan Xiang and Yuqi Xie and Yinzhen Xu and Zhenjia Xu and Seonghyeon Ye and Zhiding Yu and Ao Zhang and Hao Zhang and Yizhou Zhao and Ruijie Zheng and Yuke Zhu},
      year={2025},
      journal={arXiv:2503.14734},
}

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