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GR00TN1.5

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GR00TN1.5: Optimized for Qualcomm Devices

GR00T N1.5 is a vision-language-action (VLA) model for generalist robot control. The model supports multiple robot embodiments and is designed for dexterous, long-horizon manipulation tasks.

This is based on the implementation of GR00TN1.5 found here. This repository contains pre-exported model files optimized for Qualcomm® devices. You can use the Qualcomm® AI Hub Models library to export with custom configurations. More details on model performance across various devices, can be found here.

Qualcomm AI Hub Models uses Qualcomm AI Hub Workbench to compile, profile, and evaluate this model. Sign up to run these models on a hosted Qualcomm® device.

Getting Started

There are two ways to deploy this model on your device:

Option 1: Download Pre-Exported Models

Below are pre-exported model assets ready for deployment.

Runtime Precision Chipset SDK Versions Download
PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX float Snapdragon® X Elite QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-8275 QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-9075 QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile QAIRT 2.45, ONNX Runtime 1.27.1 Download
QNN_CONTEXT_BINARY float Snapdragon® X2 Elite QAIRT 2.45 Download
QNN_CONTEXT_BINARY float Snapdragon® X Elite QAIRT 2.45 Download
QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile QAIRT 2.45 Download
QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 QAIRT 2.45 Download
QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ QCS8550 (Proxy) QAIRT 2.45 Download
QNN_CONTEXT_BINARY float Qualcomm® SA8775P QAIRT 2.45 Download
QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-9075 QAIRT 2.45 Download
QNN_CONTEXT_BINARY float Qualcomm® SA7255P QAIRT 2.45 Download
QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile QAIRT 2.45 Download
QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile QAIRT 2.45 Download

For more device-specific assets and performance metrics, visit GR00TN1.5 on Qualcomm® AI Hub.

Option 2: Export with Custom Configurations

Use the Qualcomm® AI Hub Models Python library to compile and export the model with your own:

  • Custom weights (e.g., fine-tuned checkpoints)
  • Custom input shapes
  • Target device and runtime configurations

This option is ideal if you need to customize the model beyond the default configuration provided here.

See our repository for GR00TN1.5 on GitHub for usage instructions.

Model Details

Model Type: Model_use_case.robotics

Model Stats:

  • Input: RGB camera frames (one or more views), a natural language task instruction and robot proprioceptive state (joint positions/velocities).

  • Output: Action chunk representing predicted joint commands over the next N timesteps, generated via diffusion denoising.

Performance Summary

Model Runtime Precision Chipset Inference Time (ms) Peak Memory Range (MB) Primary Compute Unit
dit PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 46.131 ms 38 - 38 MB NPU
dit PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 84.607 ms 793 - 793 MB NPU
dit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 76.004 ms 39 - 48 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-8275 94.869 ms 38 - 80 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 93.645 ms 0 - 855 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-9075 93.724 ms 38 - 79 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-X7181 84.607 ms 793 - 793 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ Q-8750 66.121 ms 1 - 14 MB NPU
dit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 66.121 ms 1 - 14 MB NPU
dit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 69.71 ms 0 - 12 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 47.837 ms 38 - 38 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® X Elite 84.456 ms 38 - 38 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 72.177 ms 41 - 48 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 221.333 ms 38 - 45 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ QCS8550 (Proxy) 92.686 ms 39 - 40 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® SA8775P 95.193 ms 1 - 10 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® SA8650P 95.193 ms 1 - 10 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® SA8255P 95.193 ms 1 - 10 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-9075 93.651 ms 38 - 78 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-X7181 84.456 ms 38 - 38 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ Q-8750 62.785 ms 1 - 9 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® SA7255P 221.333 ms 38 - 45 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 62.785 ms 1 - 9 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 58.351 ms 2 - 11 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 44.781 ms 12 - 12 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 99.929 ms 1156 - 1156 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 68.994 ms 12 - 21 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-8275 132.049 ms 6 - 13 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 96.854 ms 0 - 1278 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-9075 125.218 ms 6 - 13 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-X7181 99.929 ms 1156 - 1156 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ Q-8750 54.026 ms 7 - 17 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 54.026 ms 7 - 17 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 43.794 ms 7 - 19 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 44.941 ms 4 - 4 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® X Elite 100.113 ms 4 - 4 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 66.988 ms 4 - 11 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 414.452 ms 1 - 10 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ QCS8550 (Proxy) 96.227 ms 4 - 5 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® SA8775P 125.852 ms 2 - 13 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® SA8650P 125.852 ms 2 - 13 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® SA8255P 125.852 ms 2 - 13 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-9075 124.75 ms 4 - 12 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-X7181 100.113 ms 4 - 4 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ Q-8750 53.169 ms 1 - 10 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® SA7255P 414.452 ms 1 - 10 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 53.169 ms 1 - 10 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 42.459 ms 3 - 11 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 17.747 ms 4 - 4 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 41.757 ms 801 - 801 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 27.531 ms 5 - 14 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-8275 59.088 ms 4 - 8 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 40.923 ms 0 - 897 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-9075 55.469 ms 4 - 7 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-X7181 41.757 ms 801 - 801 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ Q-8750 20.859 ms 5 - 17 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 20.859 ms 5 - 17 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 20.177 ms 5 - 17 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 17.989 ms 1 - 1 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® X Elite 42.066 ms 1 - 1 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 27.627 ms 1 - 8 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 188.197 ms 1 - 10 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ QCS8550 (Proxy) 40.857 ms 1 - 2 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® SA8775P 54.581 ms 1 - 10 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® SA8650P 54.581 ms 1 - 10 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® SA8255P 54.581 ms 1 - 10 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-9075 54.691 ms 3 - 7 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-X7181 42.066 ms 1 - 1 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ Q-8750 20.564 ms 1 - 14 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® SA7255P 188.197 ms 1 - 10 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 20.564 ms 1 - 14 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 18.316 ms 1 - 10 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 18.359 ms 134 - 134 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 40.203 ms 464 - 464 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 30.437 ms 100 - 112 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-8275 59.312 ms 21 - 45 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 42.552 ms 0 - 490 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-9075 56.201 ms 21 - 45 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-X7181 40.203 ms 464 - 464 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ Q-8750 23.651 ms 82 - 94 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 23.651 ms 82 - 94 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 18.171 ms 77 - 89 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 18.966 ms 21 - 21 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® X Elite 40.354 ms 21 - 21 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 30.122 ms 23 - 31 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 173.592 ms 21 - 31 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ QCS8550 (Proxy) 40.926 ms 21 - 58 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® SA8775P 52.652 ms 21 - 31 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® SA8650P 52.652 ms 21 - 31 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® SA8255P 52.652 ms 21 - 31 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-9075 54.562 ms 21 - 80 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-X7181 40.354 ms 21 - 21 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ Q-8750 23.208 ms 0 - 13 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® SA7255P 173.592 ms 21 - 31 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 23.208 ms 0 - 13 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 17.814 ms 3 - 11 MB NPU

License

  • The license for the original implementation of GR00TN1.5 can be found here.

References

Community

Usage and Limitations

This model may not be used for or in connection with any of the following applications:

  • Accessing essential private and public services and benefits;
  • Administration of justice and democratic processes;
  • Assessing or recognizing the emotional state of a person;
  • Biometric and biometrics-based systems, including categorization of persons based on sensitive characteristics;
  • Education and vocational training;
  • Employment and workers management;
  • Exploitation of the vulnerabilities of persons resulting in harmful behavior;
  • General purpose social scoring;
  • Law enforcement;
  • Management and operation of critical infrastructure;
  • Migration, asylum and border control management;
  • Predictive policing;
  • Real-time remote biometric identification in public spaces;
  • Recommender systems of social media platforms;
  • Scraping of facial images (from the internet or otherwise); and/or
  • Subliminal manipulation
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