Jing Wang

Johan Bjorck, Fernando Castañeda, Nikita Cherniadev et al. · nvidia

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.

Jing Wang, Xiaofeng Liu, Fangyun Wang et al.

Congenital heart disease (CHD) is the most common birth defect and the leading cause of neonate death in China. Clinical diagnosis can be based on the selected 2D key-frames from five views. Limited by the availability of multi-view data, most methods have to rely on the insufficient single view analysis. This study proposes to automatically analyze the multi-view echocardiograms with a practical end-to-end framework. We collect the five-view echocardiograms video records of 1308 subjects (including normal controls, ventricular septal defect (VSD) patients and atrial septal defect (ASD) patients) with both disease labels and standard-view key-frame labels. Depthwise separable convolution-based multi-channel networks are adopted to largely reduce the network parameters. We also approach the imbalanced class problem by augmenting the positive training samples. Our 2D key-frame model can diagnose CHD or negative samples with an accuracy of 95.4\%, and in negative, VSD or ASD classification with an accuracy of 92.3\%. To further alleviate the work of key-frame selection in real-world implementation, we propose an adaptive soft attention scheme to directly explore the raw video data. Four kinds of neural aggregation methods are systematically investigated to fuse the information of an arbitrary number of frames in a video. Moreover, with a view detection module, the system can work without the view records. Our video-based model can diagnose with an accuracy of 93.9\% (binary classification), and 92.1\% (3-class classification) in a collected 2D video testing set, which does not need key-frame selection and view annotation in testing. The detailed ablation study and the interpretability analysis are provided.

Joel Jang, Seonghyeon Ye, Zongyu Lin et al.

We introduce DreamGen, a simple yet highly effective 4-stage pipeline for training robot policies that generalize across behaviors and environments through neural trajectories - synthetic robot data generated from video world models. DreamGen leverages state-of-the-art image-to-video generative models, adapting them to the target robot embodiment to produce photorealistic synthetic videos of familiar or novel tasks in diverse environments. Since these models generate only videos, we recover pseudo-action sequences using either a latent action model or an inverse-dynamics model (IDM). Despite its simplicity, DreamGen unlocks strong behavior and environment generalization: a humanoid robot can perform 22 new behaviors in both seen and unseen environments, while requiring teleoperation data from only a single pick-and-place task in one environment. To evaluate the pipeline systematically, we introduce DreamGen Bench, a video generation benchmark that shows a strong correlation between benchmark performance and downstream policy success. Our work establishes a promising new axis for scaling robot learning well beyond manual data collection. Code available at https://github.com/NVIDIA/GR00T-Dreams.