Licence notice — changh95/GR00T-N1.7-3B-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. Five licences apply to what is here and to what the package fetches.
| component | where | licence |
|---|---|---|
Model weights nvidia/GR00T-N1.7-3B @ 2fc962b973bccdd5d8ce4f67cc63b264d6886495 |
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, byte-identical to the N1.5 / N1.6 one; a verbatim copy is 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. The N1.7 model card's sentence about commercial use is not what the LICENSE file in the weights repository says; this package follows the LICENSE file. |
Vendored tokenizer / image-processor files code/gr00t_p150/assets/tokenizer/n17/{vocab.json, merges.txt, tokenizer_config.json, preprocessor_config.json} |
in this repo and in the image (/opt/tt-metal/gr00t_p150/assets/tokenizer/n17) |
byte-identical (sha256 in code/gr00t_p150/assets/tokenizer/n17/PROVENANCE.md) to the same-named files of Qwen/Qwen3-VL-2B-Instruct @ 89644892e4d85e24eaac8bacfd4f463576704203, Apache License 2.0. GR00T N1.7's backbone (nvidia/Cosmos-Reason2-2B) is a fine-tune of that model and ships the same tokenizer / processor files; they are not part of the weights repo, which is why they ship here. Verified: loading them reproduces the golden N1.7 input_ids, pixel_values and state bit-exactly. |
Demo observation media/{exterior_image_1_left,wrist_image_left}_{tm15,t0}.png, media/demo_frames.png, media/demo_observation.json, code/gr00t_p150/demo/n17/ (four frames, raw state, instruction, the reference initial noise and the fp32 / bf16 reference actions) |
in this repo and in the image | one step of the DROID sample episode distributed with the Isaac-GR00T repository (demo_data/droid_sample, episode 1, step 40; frames at t-15 and t of both 320×180 cameras); DROID itself is released by its authors under CC-BY-4.0. 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. the tuned Qwen3-VL tower tt/qwen3vl_vision.py and 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 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/** (incl. the verbatim Qwen3-VL tower encoders/qwen3vl/vision_qwen3vl.py, the oracle the tuned tower is checked against), code/models/demos/deepseek_v3_b1/unified_kernel_descriptor.py and unified_kernels/{kernel_op_api,kernel_utils,dataflow_utils,mcast}.hpp (the megakernel's generic_op descriptor and the device-kernel headers it #includes) and the whole tt-metal build inside the image (/opt/tt-metal, commit 668c290757550588d0ce46b180c344a462a2aaf5) |
in this repo (the 20 files) and in the image | Apache-2.0 (tenstorrent/tt-metal). |
Third-party Python packages inside the image (requirements.lock: torch 2.11.0+cpu, torchvision 0.26.0+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 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) and the Apache-2.0 tokenizer / processor files can be reused under Apache-2.0 on their own; running them against GR00T weights puts you back under the NVIDIA License. - The upstream paper is the GR00T N1 report (arXiv:2503.14734); GR00T N1.7 has no
separate paper — its upstream is the
main/n1.7-releaseline of Isaac-GR00T and the nvidia/GR00T-N1.7-3B model card. The backbone is nvidia/Cosmos-Reason2-2B (Qwen3-VL-2B family). - Hugging Face metadata of this repo:
license: other,license_name: nvidia-license,license_link: https://huggingface.co/nvidia/GR00T-N1.7-3B/blob/main/LICENSE,base_model: nvidia/GR00T-N1.7-3B.