mlsanityData to 14 Oct 2026

GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

arXiv 2503.14734 ↗First posted 18 Mar 2025cs.RO cs.AI cs.LGcited by 1,225

Not on the map. Why?

Cited by 680 in Vision-language-action models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

General-purpose robots need a versatile body and an intelligent mind. 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. The vision-language module (System 2) interprets the environment through vision and language instructions. The subsequent diffusion transformer module (System 1) generates fluid motor actions in real time. Both modules are tightly coupled and jointly trained end-to-end. We train GR00T N1 with a heterogeneous mixture of real-robot trajectories, human videos, and synthetically generated datasets. We show that our generalist robot model GR00T N1 outperforms the state-of-the-art imitation learning baselines on standard simulation benchmarks across multiple robot embodiments. 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.

Key facts. Cited by 1,225 papers in the map (data through 14 Oct 2026). Builds on 89 of its 99 references that are in the map. First posted on arXiv 18 Mar 2025.

Builds on

89 of 99 references.

References · 89

  1. 2021LoRA: Low-Rank Adaptation of Large Language Modelscited by 14,380
  2. 2022Scalable Diffusion Models with Transformerscited by 6,054
  3. 2022Flow Matching for Generative Modelingcited by 5,702
  4. 2022Flamingo: a Visual Language Model for Few-Shot Learningcited by 4,386
  5. 2021On the Opportunities and Risks of Foundation Modelscited by 4,033
  6. 2022Flow Straight and Fast: Learning to Generate and Transfer Data with Rectified Flowcited by 3,700
  7. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 3,080
  8. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,887
  9. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,838
  10. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,407
  11. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,348
  12. 2024CogVideoX: Text-to-Video Diffusion Models with An Expert Transformercited by 2,261
38 more
  1. 2023PaLM-E: An Embodied Multimodal Language Modelcited by 2,071
  2. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,061
  3. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,568
  4. 2021Ego4D: Around the World in 3,000 Hours of Egocentric Videocited by 1,556
  5. 2024Octo: An Open-Source Generalist Robot Policycited by 1,484
  6. 2022Code as Policies: Language Model Programs for Embodied Controlcited by 1,210
  7. 2016Real-Time Single Image and Video Super-Resolution Using an Efficient Sub-Pixel Convolutional Neural Networkcited by 1,204
  8. 2025SigLIP 2: Multilingual Vision-Language Encoders with Improved Semantic Understanding, Localization, and Dense Featurescited by 1,188
  9. 2017The "something something" video database for learning and evaluating visual common sensecited by 1,103
  10. 2022Inner Monologue: Embodied Reasoning through Planning with Language Modelscited by 1,081
  11. 2019HowTo100M: Learning a Text-Video Embedding by Watching Hundred Million Narrated Video Clipscited by 950
  12. 2024WorldSimBench: Towards Video Generation Models as World Simulatorscited by 881
  13. 2025Cosmos World Foundation Model Platform for Physical AIcited by 864
  14. 2023Open X-Embodiment: Robotic Learning Datasets and RT-X Modelscited by 862
  15. 2018Scaling Egocentric Vision: The EPIC-KITCHENS Datasetcited by 795
  16. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 725
  17. 2022R3M: A Universal Visual Representation for Robot Manipulationcited by 694
  18. 2019RLBench: The Robot Learning Benchmark & Learning Environmentcited by 689
  19. 2023BridgeData V2: A Dataset for Robot Learning at Scalecited by 657
  20. 2022ProgPrompt: Generating Situated Robot Task Plans using Large Language Modelscited by 611
  21. 2017Ray: A Distributed Framework for Emerging AI Applicationscited by 527
  22. 2023Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectivescited by 490
  23. 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robotscited by 407
  24. 2025AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systemscited by 405
  25. 2024Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robotscited by 394
  26. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 391
  27. 2023An Embodied Generalist Agent in 3D Worldcited by 365
  28. 2023Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulationcited by 364
  29. 2023Vision-Language Foundation Models as Effective Robot Imitatorscited by 349
  30. 2022Video PreTraining (VPT): Learning to Act by Watching Unlabeled Online Videoscited by 345
  31. 2023Scaling Open-Vocabulary Object Detectioncited by 343
  32. 2024TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulationcited by 339
  33. 2025SmolLM2: When Smol Goes Big -- Data-Centric Training of a Small Language Modelcited by 335
  34. 20243D-VLA: A 3D Vision-Language-Action Generative World Modelcited by 328
  35. 2022HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interactioncited by 327
  36. 2023ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skillscited by 327
  37. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrationscited by 327
  38. 2024Latent Action Pretraining from Videoscited by 321

50 most cited of 89 All 89 (JSON)

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 325; 2026: 900.

1,225 papers.

Sort:

By area:

  1. 2025π0.5: a Vision-Language-Action Model with Open-World Generalizationcited by 1,761
  2. 2025V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planningcited by 809
  3. 2025SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Roboticscited by 530
  4. 2026World Action Models are Zero-shot Policiescited by 465
  5. 2026Fast-WAM: Do World Action Models Need Test-time Future Imagination?cited by 349
  6. 2026Causal World Modeling for Robot Controlcited by 321
  7. 2025X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Modelcited by 303
  8. 2025LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Modelscited by 303
  9. 2026Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planningcited by 300
  10. 2025Motus: A Unified Latent Action World Modelcited by 251
  11. 2025SAM 3D: 3Dfy Anything in Imagescited by 247
  12. 2025Real-Time Execution of Action Chunking Flow Policiescited by 216
38 more
  1. 2025DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledgecited by 213
  2. 2025World Simulation with Video Foundation Models for Physical AIcited by 200
  3. 2025ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Drivingcited by 198
  4. 2025MolmoAct: Action Reasoning Models that can Reason in Spacecited by 197
  5. 2025DreamGen: Unlocking Generalization in Robot Learning through Video World Modelscited by 179
  6. 2025Steering Your Diffusion Policy with Latent Space Reinforcement Learningcited by 169
  7. 2026Cosmos 3: Omnimodal World Models for Physical AIcited by 165
  8. 2025ThinkAct: Vision-Language-Action Reasoning via Reinforced Visual Latent Planningcited by 156
  9. 2025Knowledge Insulating Vision-Language-Action Models: Train Fast, Run Fast, Generalize Bettercited by 146
  10. 2025VLA-Adapter: An Effective Paradigm for Tiny-Scale Vision-Language-Action Modelcited by 145
  11. 2026π0.7: a Steerable Generalist Robotic Foundation Model with Emergent Capabilitiescited by 138
  12. 2025Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulationcited by 137
  13. 2026DreamDojo: A Generalist Robot World Model from Large-Scale Human Videoscited by 135
  14. 2025Unified Vision-Language-Action Modelcited by 134
  15. 2025Spatial Forcing: Implicit Spatial Representation Alignment for Vision-language-action Modelcited by 134
  16. 2025GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Datacited by 123
  17. 2026VLA-JEPA: Enhancing Vision-Language-Action Model with Latent World Modelcited by 118
  18. 2025FLARE: Robot Learning with Implicit World Modelingcited by 113
  19. 2026StarVLA: A Lego-like Codebase for Vision-Language-Action Model Developingcited by 112
  20. 2025GR-3 Technical Reportcited by 111
  21. 2025OneTwoVLA: A Unified Vision-Language-Action Model with Adaptive Reasoningcited by 107
  22. 2026A Pragmatic VLA Foundation Modelcited by 103
  23. 2025Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videoscited by 102
  24. 2025SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Controlcited by 101
  25. 2025A Survey on Vision-Language-Action Models: An Action Tokenization Perspectivecited by 96
  26. 2025ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulationcited by 91
  27. 2025Discrete Diffusion VLA: Bringing Discrete Diffusion to Action Decoding in Vision-Language-Action Policiescited by 90
  28. 2026CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulationcited by 88
  29. 2025F1: A Vision-Language-Action Model Bridging Understanding and Generation to Actionscited by 86
  30. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 84
  31. 2025InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policycited by 84
  32. 2025OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulationcited by 82
  33. 2025SAFE: Multitask Failure Detection for Vision-Language-Action Modelscited by 80
  34. 2026RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robotscited by 79
  35. 2025Self-Improving Vision-Language-Action Models with Data Generation via Residual RLcited by 78
  36. 2026DiT4DiT: Jointly Modeling Video Dynamics and Actions for Generalizable Robot Controlcited by 76
  37. 2026Being-H0.7: A Latent World-Action Model from Egocentric Videoscited by 75
  38. 2025RynnVLA-002: A Unified Vision-Language-Action and World Modelcited by 74

50 most cited of 1,225 All 1,225 (JSON)

Similar, not cited

Close in wording, no citation either way

  1. 2025Humanoid World Models: Open World Foundation Models for Humanoid Robotics
  2. 2026GigaBrain-0.7: Scaling Embodied Foundation Models to Emergent Capabilities with a Three-System Architecture
  3. 2025Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills
  4. 2026Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot
  5. 2026Green-VLA: Staged Vision-Language-Action Model for Generalist Robots
  6. 2025From Intention to Execution: Probing the Generalization Boundaries of Vision-Language-Action Models
  7. 2025Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary
  8. 2026GreenWAM: A World Foundation Model for Robotics