GR00T-N1.6-Rheo Pick-N-Place Tray
GR00T-N1.6-Rheo Pick-N-Place Tray#
GR00T-N1.6-Rheo-PickNPlace is a vision language action model (VLA) fine-tuned for surgical instrument handling in the Isaac for Healthcare Rheo workflow. It performs pick-and-place of a sterilized box from a shelf to a cart using a G1 embodiment. Intended for Rheo simulation workflows only; not for real-world clinical deployment. NVIDIA License; Apache-2.0 for Qwen2.5-7B-Instruct and SigLIP2-SO400M. Ready for commercial/non-commercial use.
| Property | Details |
|---|---|
| Model size | 3B parameters (GR00T N1.6) |
| Model type | Vision Language Action (VLA); PyTorch 2.8.0; GR00T N1.6. Input: vision (480×640 RGB), state (1×31), language. Output: 16×32 action tensor. Linux Ubuntu 22.04/24.04. Supported: Ampere, Blackwell, Hopper. |
| Performance | NVIDIA RTX 5880 Ada: 92.4 ± 1.3 ms latency, 8 GB VRAM. Trained on 120 simulation samples (manual teleoperation + Isaac Lab Mimic). |
| Workflow | Rheo |
| Hugging Face | nvidia/GR00T-N1.6-Rheo-PickNPlaceTray |