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mimi-neoki/vla0-gorgeous-30hz-merged-v2v3-qwen35-2b-lerobot051

sourceHugging Facecc-by-nc-4.0updated 5mo agoView on Hugging Face
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VLA-0 Gorgeous 30Hz Merged v2v3 Qwen3.5 2B

This repository contains a lightweight inference package exported from:

  • —runs/vla0_gorgeous_30hz_merged_v2v3_qwen35_2b_8gpu

It is packaged for use with the VLA-0 codebase in an environment aligned to lerobot==0.5.1.

Included

  • —model_last/
  • —Hugging Face save_pretrained export for the Qwen3.5-2B-based VLA-0 model.
  • —config.yaml
  • —Training/inference configuration used by rv_train.train.get_pretrained_model.
  • —dataset_stats.pkl
  • —Action de-normalization statistics required at inference time.
  • —model_last.pth
  • —Lightweight compatibility stub for VLA-0 inference. The actual model weights live in model_last/model.safetensors.

Important note about model_last.pth

The original training checkpoint .pth file is very large because it also stores optimizer and scheduler state. For inference with VLA-0, the model weights are loaded from model_last/, while model_last.pth is only used as a compatibility entrypoint by the current loader. This package therefore ships a compact inference stub instead of the original full training-state checkpoint.

Usage

Clone or download this repository locally, then point VLA-0 at the included stub:

bash
ROBOVERSE_DEPLOY_CHECKPOINT=/path/to/this-repo/model_last.pth python rv_train/deploy/service.py

Or load the transformer export directly:

python
from transformers import AutoModelForImageTextToText, AutoProcessor

model = AutoModelForImageTextToText.from_pretrained("/path/to/this-repo/model_last")
processor = AutoProcessor.from_pretrained("/path/to/this-repo/model_last")

Compatibility

  • —Base model: Qwen/Qwen3.5-2B
  • —Intended environment: VLA-0 repository with lerobot==0.5.1
  • —Export date: 2026-04-19

License

This package follows the licensing described in the upstream VLA-0 repository:

  • —VLA-0 code and released checkpoints: CC BY-NC 4.0
  • —Base model licensing follows Qwen/Qwen3.5-2B

Added numbered epoch checkpoint

  • —model_52/ and model_52.pth were added on 2026-04-20.
  • —This is the latest numbered epoch checkpoint currently available in the source run directory.
  • —model_last is kept separately and is not identical to model_52 in the current run state.