# Licence notice — `changh95/GR00T-N1.5-3B-p150`

This repository packages NVIDIA's GR00T N1.5-3B policy for a Tenstorrent Blackhole p150a. It mixes material under
two licences; nothing here grants more than its source does.

| what | where in this repo | licence | source |
|---|---|---|---|
| Model weights `nvidia/GR00T-N1.5-3B` @ `869830fc749c35f34771aa5209f923ac57e4564e` | **not included** — `tt-model serve` / `code/scripts/download_weights.sh` fetch the pinned snapshot into your HF cache | **NVIDIA License** (copy in [`LICENSE`](LICENSE); original: [`LICENSE` in the weights repo](https://huggingface.co/nvidia/GR00T-N1.5-3B/blob/main/LICENSE)) — use limited to research or evaluation (§3.3), redistribution only under the same licence with a copy included (§3.1), derivative works carry the same use limitation (§3.2) | NVIDIA |
| Qwen2 tokenizer files (`vocab.json`, `merges.txt`, `tokenizer_config.json`, `special_tokens_map.json`, `added_tokens.json`) | `code/gr00t_p150/assets/tokenizer/n15/` | Apache-2.0 (copied from `gr00t/model/backbone/eagle2_hg_model/` of [NVIDIA/Isaac-GR00T](https://github.com/NVIDIA/Isaac-GR00T) at tag `n1.5-release`, an Apache-2.0 repository) | NVIDIA / Alibaba Qwen |
| Demo frame and joint state (`media/demo_ego_view.png`, `media/demo_observation.json`, `code/gr00t_p150/demo/n15/`) | `media/`, `code/gr00t_p150/demo/n15/` | one step of the GR1 `robot_sim.PickNPlace` demo data shipped with Isaac-GR00T (`demo_data/`, Apache-2.0 repository); the reference actions in `expected.json` were computed from those inputs with the weights above | NVIDIA |
| The tt-nn port (`code/models/experimental/gr00t/`), the policy server (`code/gr00t_p150/`), the scripts (`code/scripts/`) and the tt-metal files copied into `code/models/{common,tt_dit,demos}/` | `code/` | **Apache-2.0** (SPDX headers; © 2026 Tenstorrent). Because the port's device-layout weights and the served outputs are derivative works of the NVIDIA weights, running this package is bound by the NVIDIA License's non-commercial use limitation (§3.2/§3.3) | Tenstorrent |
| The container image (`image/`) | `image/` | tt-metal / tt-nn (Apache-2.0), Ubuntu 22.04 base and the Python packages listed in `requirements.lock` under their own licences; **contains no weights** | Tenstorrent, upstream projects |

Model card front matter therefore declares `license: other`, `license_name: nvidia-license`,
`license_link: https://huggingface.co/nvidia/GR00T-N1.5-3B/blob/main/LICENSE` (HF has no identifier for this licence;
it is *not* the "NVIDIA Open Model License" and *not* Apache-2.0).

The GR00T N1 report is [arXiv:2503.14734](https://arxiv.org/abs/2503.14734); the N1.5 checkpoint is described on its
[model card](https://huggingface.co/nvidia/GR00T-N1.5-3B).