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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 46.32 ms 38 - 38 MB NPU
dit PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 84.065 ms 793 - 793 MB NPU
dit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 75.977 ms 38 - 48 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-8275 99.16 ms 38 - 80 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 93.571 ms 0 - 855 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-9075 93.659 ms 38 - 79 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-X7181 84.065 ms 793 - 793 MB NPU
dit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ Q-8750 63.006 ms 1 - 13 MB NPU
dit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 63.006 ms 1 - 13 MB NPU
dit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 63.802 ms 0 - 12 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 47.379 ms 38 - 38 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® X Elite 84.471 ms 38 - 38 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 69.98 ms 39 - 45 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 99.245 ms 38 - 79 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ QCS8550 (Proxy) 92.148 ms 39 - 41 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® SA8775P 95.077 ms 20 - 31 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® SA8650P 95.077 ms 20 - 31 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® SA8255P 95.077 ms 20 - 31 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-9075 93.86 ms 38 - 78 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-X7181 84.471 ms 38 - 38 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ Q-8750 61.781 ms 0 - 9 MB NPU
dit QNN_CONTEXT_BINARY float Qualcomm® SA7255P 221.285 ms 13 - 21 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 61.781 ms 0 - 9 MB NPU
dit QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 59.254 ms 2 - 11 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 45.379 ms 12 - 12 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 99.919 ms 1156 - 1156 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 68.346 ms 11 - 21 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-8275 132.64 ms 6 - 13 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 96.764 ms 0 - 1278 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-9075 125.004 ms 6 - 13 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-X7181 99.919 ms 1156 - 1156 MB NPU
llm PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ Q-8750 53.25 ms 7 - 16 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 53.25 ms 7 - 16 MB NPU
llm PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 45.737 ms 7 - 19 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 44.983 ms 4 - 4 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® X Elite 100.475 ms 4 - 4 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 67.489 ms 4 - 11 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 132.009 ms 4 - 12 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ QCS8550 (Proxy) 95.88 ms 4 - 6 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® SA8775P 125.79 ms 3 - 11 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® SA8650P 125.79 ms 3 - 11 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® SA8255P 125.79 ms 3 - 11 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-9075 125.793 ms 4 - 12 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-X7181 100.475 ms 4 - 4 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ Q-8750 53.338 ms 1 - 10 MB NPU
llm QNN_CONTEXT_BINARY float Qualcomm® SA7255P 414.818 ms 1 - 10 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 53.338 ms 1 - 10 MB NPU
llm QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 42.7 ms 3 - 12 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 17.645 ms 5 - 5 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 41.721 ms 801 - 801 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 28.031 ms 5 - 15 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-8275 58.48 ms 4 - 8 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 40.87 ms 0 - 897 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-9075 54.961 ms 4 - 7 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-X7181 41.721 ms 801 - 801 MB NPU
vit PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ Q-8750 20.7 ms 5 - 16 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 20.7 ms 5 - 16 MB NPU
vit PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 21.259 ms 5 - 17 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 18.002 ms 1 - 1 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® X Elite 42.019 ms 1 - 1 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 27.439 ms 1 - 8 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 58.793 ms 1 - 6 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ QCS8550 (Proxy) 40.782 ms 1 - 2 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® SA8775P 54.573 ms 1 - 10 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® SA8650P 54.573 ms 1 - 10 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® SA8255P 54.573 ms 1 - 10 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-9075 54.2 ms 1 - 5 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-X7181 42.019 ms 1 - 1 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ Q-8750 20.517 ms 1 - 9 MB NPU
vit QNN_CONTEXT_BINARY float Qualcomm® SA7255P 188.334 ms 1 - 10 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 20.517 ms 1 - 9 MB NPU
vit QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 17.124 ms 1 - 9 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 18.309 ms 134 - 134 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 41.095 ms 464 - 464 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 30.487 ms 98 - 110 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-8275 59.367 ms 21 - 45 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 41.595 ms 0 - 491 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-9075 53.982 ms 21 - 45 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-X7181 41.095 ms 464 - 464 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ Q-8750 23.521 ms 80 - 90 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 23.521 ms 80 - 90 MB NPU
vlm_proj PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 18.354 ms 79 - 92 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 18.862 ms 21 - 21 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® X Elite 40.678 ms 21 - 21 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 29.866 ms 21 - 28 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 59.103 ms 21 - 80 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ QCS8550 (Proxy) 41.332 ms 21 - 57 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® SA8775P 52.782 ms 21 - 30 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® SA8650P 52.782 ms 21 - 30 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® SA8255P 52.782 ms 21 - 30 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-9075 53.635 ms 21 - 80 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-X7181 40.678 ms 21 - 21 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ Q-8750 23.459 ms 0 - 9 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Qualcomm® SA7255P 173.092 ms 21 - 29 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 23.459 ms 0 - 9 MB NPU
vlm_proj QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 17.873 ms 3 - 12 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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