LeRobot

Model · Robotics

smolvla_base

LeRobot

SmolVLA is a compact, efficient Vision-Language-Action (VLA) model designed for affordable robotics, trainable on a single GPU and deployable on consumer hardware, while matching the performance of much larger VLAs through community-driven data. Original paper: (SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics)[https://arxiv.org/abs/2506.01844] For full installation details (including optional video dependencies such as ffmpeg for torchcodec), see the official documentation: https://huggingface.co/docs/lerobot/installation If you’re training / fine-tuning, you typically call forward(...) to get a loss and then: - -policy.chunksize=... - -policy.nactionsteps=...…

Model · Robotics

pi0_base

LeRobot

π₀ is a Vision-Language-Action (VLA) foundation model from Physical Intelligence that jointly reasons over vision, language, and actions to control robots, serving as the base architecture that later enabled π₀.₅’s open-world generalization. Original paper: π0: A Vision-Language-Action Flow Model for General Robot Controlion For full installation details (including optional video dependencies such as ffmpeg for torchcodec), see the official documentation: https://huggingface.co/docs/lerobot/installation If you’re training / fine-tuning, you typically call forward(...) to get a loss and then: - -policy.chunksize=... - -policy.nactionsteps=... - -policy.maxactiontokens=...…

Model · Robotics

pi05_libero_finetuned_v044

LeRobot

π₀.₅ is a Vision-Language-Action (VLA) model with open-world generalization from Physical Intelligence, co-trained on robot demonstrations and large-scale multimodal data to execute long-horizon tasks in unseen real-world environments. Checkpoint trained and evaluated on LIBERO tasks Note: This model currently supports only the flow-matching action head for π₀.₅ training and inference. Other components from the original work (e.g., subtask prediction, action tokenization, or RL) were not released upstream and are not included here, though the LeRobot team is actively working to support them. Original paper: π0.5: A Vision-Language-Action Model with Open-World Generalization For full…

Model · Robotics

pi05_base

LeRobot

π₀.₅ is a Vision-Language-Action (VLA) model with open-world generalization from Physical Intelligence, co-trained on robot demonstrations and large-scale multimodal data to execute long-horizon tasks in unseen real-world environments. Note: This model currently supports only the flow-matching action head for π₀.₅ training and inference. Other components from the original work (e.g., subtask prediction, action tokenization, or RL) were not released upstream and are not included here, though the LeRobot team is actively working to support them. Original paper: π0.5: A Vision-Language-Action Model with Open-World Generalization For full installation details (including optional video…

Model · Robotics

smolvla_libero

LeRobot

SmolVLA is a compact, efficient vision-language-action model that achieves competitive performance at reduced computational costs and can be deployed on consumer-grade hardware. This policy has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs. For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval: Writes checkpoints to outputs/train/ /checkpoints/. Prefix the dataset repo with eval\ and supply --policy.path pointing to a local or hub checkpoint.

Model · Robotics

smolvla_robotwin

LeRobot

SmolVLA is a compact, efficient vision-language-action model that achieves competitive performance at reduced computational costs and can be deployed on consumer-grade hardware. This policy has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs. For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval: Writes checkpoints to outputs/train/ /checkpoints/. Prefix the dataset repo with eval\ and supply --policy.path pointing to a local or hub checkpoint.

Model · Robotics

pi05_libero_base

LeRobot

π₀.₅ is a Vision-Language-Action (VLA) model with open-world generalization from Physical Intelligence, co-trained on robot demonstrations and large-scale multimodal data to execute long-horizon tasks in unseen real-world environments. Note: This model currently supports only the flow-matching action head for π₀.₅ training and inference. Other components from the original work (e.g., subtask prediction, action tokenization, or RL) were not released upstream and are not included here, though the LeRobot team is actively working to support them. Original paper: π0.5: A Vision-Language-Action Model with Open-World Generalization For full installation details (including optional video…

Model · Robotics

xvla-base

LeRobot

X-VLA is a Vision-Language-Action foundation model that uses soft prompts to handle cross-embodiment and cross-domain robot control within a unified Transformer architecture. Original paper: X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model For full installation details (including optional video dependencies such as ffmpeg for torchcodec), see the official documentation: https://huggingface.co/docs/lerobot/installation If you’re training / fine-tuning, you typically call forward(...) to get a loss and then: - -policy.chunksize=... - -policy.nactionsteps=... - -policy.maxactiontokens=... - -policy.gradientcheckpointing=true You can use the record…

Model · Robotics

act_aloha_sim_transfer_cube_human

LeRobot

Action Chunking Transformer Policy (as per Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware) trained for the AlohaTransferCube environment from gym-aloha. See the LeRobot library (particularly the evaluation script) for instructions on how to load and evaluate this model. Trained with LeRobot@3c0a209. The model was trained using LeRobot's training script and with the alohasimtransfercubehuman dataset, using this command: The training curves may be found at https://wandb.ai/aliberts/lerobot/runs/720l37xb. The current model corresponds to the checkpoint at 80k steps. This took about 1h45 to train on an Nvida A100. The model was evaluated on the AlohaTransferCube task from…

Model · Robotics

diffusion_pusht

LeRobot

Diffusion Policy (as per Diffusion Policy: Visuomotor Policy Learning via Action Diffusion) trained for the PushT environment from gym-pusht. See the LeRobot library (particularly the evaluation script) for instructions on how to load and evaluate this model. Trained with LeRobot@3c0a209. The model was trained using LeRobot's training script and with the pusht dataset, using this command: The training curves may be found at https://wandb.ai/aliberts/lerobot/runs/s7elvf4r. The current model corresponds to the checkpoint at 175k steps. The model was evaluated on the PushT environment from gym-pusht and compared to a similar model trained with the original Diffusion Policy code. There are two…