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Recent advancements in humanoid robots have shown great promise as a hardware platform for building generalist autonomy in the human world. A robot foundation model, trained on massive and diverse data sources, is essential for enabling the robots to reason about novel situations, robustly handle real-world variability, and rapidly learn new tasks. To this end, we introduce GR00T N1, an open foundation model for humanoid robots. GR00T N1 is a Vision-Language-Action (VLA) model with a dual-system architecture. 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Furthermore, we deploy our model on the Fourier GR-1 humanoid robot for language-conditioned bimanual manipulation tasks, achieving strong performance with high data efficiency.","weakest_assumption":"That the heterogeneous mixture of real-robot trajectories, human videos, and synthetically generated datasets provides sufficient coverage and quality to enable generalization to novel situations and different robot hardware in real-world deployments."}},"verdict_id":"ea594fec-f16b-42ab-8a2d-1b03c7c3a3b6"}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:319e1ecdcc3c443f235ddb53c419590928d1389d6f2e70d768091a9d9d3479c4","target":"record","created_at":"2026-07-05T10:40:18Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"6288e77ec0446829f77a12f4ef3f6e0dd3bfc3eb41fefde1b0c921978e36fe34","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-03-18T21:06:21Z","title_canon_sha256":"94257d55c10699b0cfab03676fd58825be86a348e6ab461e850a2b4292274c55"},"schema_version":"1.0","source":{"id":"2503.14734","kind":"arxiv","version":2}},"canonical_sha256":"54fad51d88fe7ade3fd5620eedaac0356b57be17e9d359f3e170a5224a8aa484","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"54fad51d88fe7ade3fd5620eedaac0356b57be17e9d359f3e170a5224a8aa484","first_computed_at":"2026-07-05T10:40:18.393867Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:40:18.393867Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fXcUU4AlET3MCkx/fzrpsM4FihRI5tfPAzjrst13b//H3v63hI9hYN8jdVhuFmzUV3ZRsR292rIn6bEYz59SAg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:40:18.394390Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.14734","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:319e1ecdcc3c443f235ddb53c419590928d1389d6f2e70d768091a9d9d3479c4","sha256:6d20a9602aac63f769bc49001c0f752ce894d270a884a8f18d64fd341655e655"],"state_sha256":"3751fc895813554b17b0fccb8b99f06f10560a6116fe9c1aa557d9a65910f54b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"l7vIDr1soveixfeJyvZLMlQ3quKmZ7tD/6RS4HA5Wi6sOdLaIOniry5V3IDi1V0rAEniq3YkS7ivdPHPtT93BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T08:12:16.491250Z","bundle_sha256":"23188417b33d7caaee1711573cbc49a87155ab4f5c0851ebb9caa36ae6b13f3c"}}