← Back to Models & Policies

SO-ARM Starter GR00T N1.5

GR00T N1.5 VLA fine-tuned for autonomous surgical assistance (surgical instrument handling) with SO-ARM101 in Isaac for Healthcare. Input: room + wrist camera (224×224), robot state, language instruction. Output: 16×6 action tensor. Trained with simulation and real-world teleoperation. Loaded by the scissor_pick_and_place policy mode; not expected to generalize outside that environment.

Property	Details
Model size	3B parameters (GR00T N1.5)
Model type	Vision Language Action (VLA); PyTorch 2.5.1, TensorRT 10.11; Linux Ubuntu 22.04/24.04
Performance	Ada RTX 6000: PyTorch 42.2 ms, TensorRT 27.0 ms; 5.7–6.6 GB. Supported: Ampere, Blackwell, Hopper.
Workflow	scissor_pick_and_place
Hugging Face	nvidia/SO_ARM_Starter_Gr00t