SO-ARM Starter GR00T
SO-ARM Starter GR00T#
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. For SO-ARM starter scrub-nurse–style tasks only.
| 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 | SO-ARM Starter |
| Hugging Face | nvidia/SO_ARM_Starter_Gr00t |