# Licence notice — `changh95/GR00T-N1.6-3B-p150`

This repository is a **tt-model container package**: a Docker image (`image/`), the code inside it (`code/`), a manifest
and a card. It contains **no model weights**. Four licences apply to what is here and to what the package fetches.

| component | where | licence |
|---|---|---|
| Model weights `nvidia/GR00T-N1.6-3B` @ `d0814e7ecb19202e7c8468b46098b0b7ef3a6d61` | **not in this repo** — `tt-model serve` / `scripts/download_weights.sh` fetch exactly the files listed in `tt-model.yaml` (`weights.allow_patterns`) into your Hugging Face cache | **NVIDIA License** (the `LICENSE` file of the weights repository; a verbatim copy is [`LICENSE`](LICENSE) in this repo). §3.3: use is limited to **non-commercial purposes** — research or evaluation only. §3.1: redistribution must carry the same licence and a complete copy of it. §3.2: derivative works must carry the same use limitation. This is **not** the NVIDIA Open Model License and **not** Apache-2.0. |
| Vendored tokenizer files `code/gr00t_p150/assets/tokenizer/n16/{vocab.json, merges.txt, tokenizer_config.json, special_tokens_map.json, added_tokens.json}` | in this repo and in the image (`/opt/tt-metal/gr00t_p150/assets/tokenizer/n16`) | copied from [NVIDIA/Isaac-GR00T](https://github.com/NVIDIA/Isaac-GR00T) tag `n1.6.1-release`, path `gr00t/model/modules/nvidia/Eagle-Block2A-2B-v2/`; that repository's `LICENSE` is the same **NVIDIA License** as the weights. The files are the Qwen2 BPE vocabulary + merges plus the Eagle special tokens (`<IMG_CONTEXT>` = 151669, `<img>` = 151670, `</img>` = 151671); they are not part of the weights repo, which is why they ship here. |
| Demo observation `media/demo_ego_view.png`, `media/demo_observation.json`, `code/gr00t_p150/demo/n16/` (frame, raw state, instruction, the reference initial noise and the fp32 / bf16 reference actions) | in this repo and in the image | one GR1 PickNPlace step from the Isaac-GR00T demo data (`demo_data`, distributed with the Isaac-GR00T repository); the reference actions were computed with NVIDIA's unmodified code on the pinned weights and are therefore derivative of the weights (NVIDIA License §3.2 applies to their use). |
| Port and serving code: `code/models/experimental/gr00t/` (the tt-nn port of GR00T N1.5 / N1.6 / N1.7: `common/`, `reference/`, `tt/` incl. `tt/megakernel/`, `tests/`, `benchmarks/`), `code/gr00t_p150/` (FastAPI server, schemas, smoke test, demo builder), `code/scripts/` | in this repo and in the image (`/opt/tt-metal/...`) | **Apache-2.0** (`SPDX-License-Identifier: Apache-2.0`, © 2026 Tenstorrent USA, Inc. in every source file). Because the port only runs the NVIDIA-licensed weights and is distributed together with the NVIDIA-licensed tokenizer files and reference actions, the package as a whole is offered under the NVIDIA License's non-commercial use limitation; the Apache-2.0 grant on the code itself is unaffected. |
| tt-metal / tt-nn: `code/models/common/utility_functions.py`, `code/models/tt_dit/**`, `code/models/demos/deepseek_v3_b1/unified_kernel_descriptor.py`, `code/models/demos/deepseek_v3_b1/unified_kernels/{kernel_op_api,kernel_utils,dataflow_utils,mcast}.hpp` (device-code headers the megakernel includes) and the whole tt-metal build inside the image (`/opt/tt-metal`, commit `668c290757550588d0ce46b180c344a462a2aaf5`) | in this repo (the tree-staged files under `code/models/{common,tt_dit,demos}`) and in the image | **Apache-2.0** ([tenstorrent/tt-metal](https://github.com/tenstorrent/tt-metal/blob/main/LICENSE)). |
| Third-party Python packages inside the image (`requirements.lock`: torch 2.11.0+cpu, transformers 5.12.1, opencv-python-headless 4.8.1.78, numpy 1.26.4, fastapi, uvicorn, pydantic, pillow, safetensors, huggingface_hub, loguru, ...) and the Ubuntu 22.04 base | in the image | their respective licences (BSD-3 / Apache-2.0 / MIT / HPND; Ubuntu package licences). |

## Practical reading

- **You may** download the weights and run this package for research or evaluation. **You may not** use the weights, the
  vendored tokenizer files, the reference actions, or the actions this server produces for a commercial purpose (NVIDIA
  License §3.3), and you must keep the NVIDIA License with any copy you redistribute (§3.1).
- The Apache-2.0 code (`code/models/experimental/gr00t`, `code/gr00t_p150`, `code/scripts`) can be reused under Apache-2.0
  on its own; running it against GR00T weights puts you back under the NVIDIA License.
- The upstream paper is the GR00T N1 report ([arXiv:2503.14734](https://arxiv.org/abs/2503.14734)); GR00T N1.6's own
  page is https://research.nvidia.com/labs/gear/gr00t-n1_6/. The `arxiv:2504.15271` tag on the upstream model card is the
  Eagle 2.5 backbone paper, not a GR00T paper.
- Hugging Face metadata of this repo: `license: other`, `license_name: nvidia-license`,
  `license_link: https://huggingface.co/nvidia/GR00T-N1.6-3B/blob/main/LICENSE`, `base_model: nvidia/GR00T-N1.6-3B`.