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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 1.26.0 Download
PRECOMPILED_QNN_ONNX float Snapdragon® X Elite QAIRT 2.45, ONNX Runtime 1.26.0 Download
PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile QAIRT 2.45, ONNX Runtime 1.26.0 Download
PRECOMPILED_QNN_ONNX float Qualcomm® QCS8550 (Proxy) QAIRT 2.45, ONNX Runtime 1.26.0 Download
PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile QAIRT 2.45, ONNX Runtime 1.26.0 Download
PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile QAIRT 2.45, ONNX Runtime 1.26.0 Download
PRECOMPILED_QNN_ONNX float Qualcomm® QCS9075 QAIRT 2.45, ONNX Runtime 1.26.0 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® QCS8550 (Proxy) QAIRT 2.45 Download
QNN_CONTEXT_BINARY float Qualcomm® SA8775P 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
QNN_CONTEXT_BINARY float Qualcomm® SA7255P QAIRT 2.45 Download
QNN_CONTEXT_BINARY float Qualcomm® QCS9075 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 47.165 ms 38 - 38 MB NPU
dit PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 84.239 ms 793 - 793 MB NPU
dit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 72.916 ms 39 - 50 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® QCS8550 (Proxy) 92.866 ms 0 - 856 MB NPU
dit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 61.769 ms 1 - 13 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® QCS9075 95.289 ms 38 - 79 MB NPU
dit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 66.491 ms 1 - 13 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® QCS8750 66.491 ms 1 - 13 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® QCS7181 84.239 ms 793 - 793 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 46.966 ms 38 - 38 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® X Elite 84.422 ms 38 - 38 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 72.825 ms 41 - 48 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® QCS8275 221.461 ms 7 - 14 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® QCS8550 (Proxy) 91.616 ms 39 - 40 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® SA8775P 95.299 ms 0 - 7 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® SA8650P 95.299 ms 0 - 7 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® SA8255P 95.299 ms 0 - 7 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 59.112 ms 2 - 11 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® QCS9075 111.771 ms 38 - 78 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® SA7255P 221.461 ms 7 - 14 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 61.694 ms 0 - 10 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® QCS8750 61.694 ms 0 - 10 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® QCS7181 84.422 ms 38 - 38 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 49.943 ms 8 - 8 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 102.08 ms 1156 - 1156 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 67.28 ms 10 - 21 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® QCS8550 (Proxy) 98.754 ms 0 - 1278 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 46.762 ms 7 - 19 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® QCS9075 127.925 ms 6 - 13 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 59.688 ms 7 - 19 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® QCS8750 59.688 ms 7 - 19 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® QCS7181 102.08 ms 1156 - 1156 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 49.932 ms 4 - 4 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® X Elite 102.44 ms 4 - 4 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 67.132 ms 4 - 10 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® QCS8275 415.764 ms 1 - 8 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® QCS8550 (Proxy) 98.384 ms 4 - 5 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® SA8775P 128.29 ms 1 - 8 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® SA8650P 128.29 ms 1 - 8 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® SA8255P 128.29 ms 1 - 8 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 47.076 ms 3 - 11 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® QCS9075 127.712 ms 4 - 12 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® SA7255P 415.764 ms 1 - 8 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 58.653 ms 1 - 9 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® QCS8750 58.653 ms 1 - 9 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® QCS7181 102.44 ms 4 - 4 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 17.666 ms 5 - 5 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 41.821 ms 801 - 801 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 28.105 ms 5 - 16 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® QCS8550 (Proxy) 40.869 ms 0 - 898 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 18.226 ms 5 - 17 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® QCS9075 54.48 ms 4 - 7 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 20.767 ms 5 - 16 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® QCS8750 20.767 ms 5 - 16 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® QCS7181 41.821 ms 801 - 801 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 17.934 ms 1 - 1 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® X Elite 41.905 ms 1 - 1 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 27.291 ms 1 - 8 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® QCS8275 188.188 ms 1 - 8 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® QCS8550 (Proxy) 40.902 ms 1 - 2 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® SA8775P 54.54 ms 1 - 8 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® SA8650P 54.54 ms 1 - 8 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® SA8255P 54.54 ms 1 - 8 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 17.109 ms 1 - 10 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® QCS9075 54.677 ms 3 - 7 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® SA7255P 188.188 ms 1 - 8 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 20.538 ms 1 - 10 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® QCS8750 20.538 ms 1 - 10 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® QCS7181 41.905 ms 1 - 1 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 18.622 ms 134 - 134 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 40.594 ms 464 - 464 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 30.583 ms 100 - 112 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® QCS8550 (Proxy) 42.051 ms 0 - 490 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 18.234 ms 66 - 78 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® QCS9075 54.059 ms 21 - 45 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 23.346 ms 62 - 73 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® QCS8750 23.346 ms 62 - 73 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® QCS7181 40.594 ms 464 - 464 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 18.936 ms 21 - 21 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® X Elite 40.69 ms 21 - 21 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 29.254 ms 21 - 28 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® QCS8275 173.54 ms 21 - 29 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® QCS8550 (Proxy) 41.154 ms 21 - 23 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® SA8775P 52.647 ms 21 - 29 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® SA8650P 52.647 ms 21 - 29 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® SA8255P 52.647 ms 21 - 29 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 17.809 ms 3 - 12 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® QCS9075 53.931 ms 21 - 80 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® SA7255P 173.54 ms 21 - 29 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 23.476 ms 0 - 9 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® QCS8750 23.476 ms 0 - 9 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® QCS7181 40.69 ms 21 - 21 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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