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GR00T N1.6-DROID is fine-tuned on the DROID dataset, a large-scale dataset for real-world robotic manipulation. This checkpoint can be deployed on DROID-compatible robot hardware. Checkpoint: nvidia/GR00T-N1.6-DROID

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Deployment

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Setup inference server

1

Start policy server

On a machine with a sufficiently powerful GPU, start the policy server from the root folder of the repository:
uv run python gr00t/eval/run_gr00t_server.py \
    --embodiment-tag OXE_DROID \
    --use_sim_policy_wrapper \
    --model-path=nvidia/GR00T-N1.6-DROID

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Setup robot control

1

Install DROID package

Install the DROID package on the robot control laptop/workstation following the official instructions.
2

Install GR00T dependencies

Install additional dependencies for the GR00T control script in the DROID environment:
pip install tyro moviepy==1.0.3 pydantic numpy==1.26.4
3

Configure cameras

Enter the camera IDs for your ZED cameras in examples/DROID/main_gr00t.py.
4

Start control script

Run the control script with your chosen external camera:
python examples/DROID/main_gr00t.py --external_camera="left"  # or "right"

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Hardware requirements

For the DROID setup, you’ll need:
  • GPU machine for running the policy server (RTX 4090, H100, or similar)
  • DROID-compatible robot hardware
  • ZED cameras configured as per DROID specifications
  • Network connection between control laptop and GPU server

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Dataset information

The DROID dataset provides:
  • Large-scale real-world manipulation demonstrations
  • Multi-camera observations
  • Diverse manipulation tasks
  • Standardized data format compatible with GR00T’s LeRobot schema

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