openvla/openvla
7B-parameter open-source VLA foundation model (Prismatic VLM trained on Open X-Embodiment data); fine-tunable on a single GPU and widely used as an embodied-model baseline.
NVIDIA/Isaac-GR00T
NVIDIA's open-source humanoid foundation model GR00T N1 (dual-system architecture: fast VLM system + slow diffusion action blocks), with data pipelines and fine-tuning scripts.
thu-ml/RoboticsDiffusionTransformer
Largest open-source bimanual manipulation diffusion foundation model (1B params, jointly trained across multiple robot embodiments); led by a Chinese team.