# 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`](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`](https://huggingface.co/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](https://github.com/NVIDIA/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](https://droid-dataset.github.io/). 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](https://github.com/tenstorrent/tt-metal/blob/main/LICENSE)). |
| 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](https://arxiv.org/abs/2503.14734)); GR00T N1.7 has no
  separate paper — its upstream is the `main` / `n1.7-release` line of [Isaac-GR00T](https://github.com/NVIDIA/Isaac-GR00T)
  and the [nvidia/GR00T-N1.7-3B](https://huggingface.co/nvidia/GR00T-N1.7-3B) model card. The backbone is
  [nvidia/Cosmos-Reason2-2B](https://huggingface.co/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`.