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RoboActualizer is an open-weight model for robotics from Bang Du, released under MIT License. Its published files total 873.8 MB.
Checkpoints of Roboactualizer, a joint image/action flow-matching policy on a frozen V-JEPA 2.1 ViT-L/16 encoder.
By Bang Du, published under mit, revision 5f37fc2ef0a6.
Checkpoints of Roboactualizer, a joint image/action flow-matching policy on a frozen V-JEPA 2.1 ViT-L/16 encoder. Each folder holds the checkpoint, the datasetstats.json used for action/state normalization (keep it next to the checkpoint; evaluation looks for it there) and the training config.yaml. SHA256SUMS lists file hashes. All checkpoints use the 300M V-JEPA 2.1 encoder: https://dl.fbaipublicfiles.com/vjepa2/vjepa21vitldistvitG384.pt, saved as checkpoints/vjepa2/vjepa21vitlarge384.pt in the code repository.
Checkpoints of Roboactualizer, a joint image/action flow-matching policy on a frozen V-JEPA 2.1 ViT-L/16 encoder. Code, environments and full instructions: the Roboactualizer repository.
| Folder | Model | Benchmark | Inference | Result | Eval config |
|---|---|---|---|---|---|
libero_dits/ |
DiT-S, step 173580 | LIBERO (4 suites x 10 tasks x 50) | 10 steps, no CFG, bf16 | 98.00 | eval_libero_dits |
libero_dits/ |
DiT-S, step 173580 | LIBERO-Plus (2,640-task sample) | 10 steps, action text-CFG 1.5, bf16 | 63.1 | eval_libero_plus_dits |
libero_ditb/ |
DiT-B, step 130185 | LIBERO-Plus (2,640-task sample) | 10 steps, action text-CFG 1.5, bf16 | 65.0 | eval_libero_plus_ditb |
robotwin_dits_fp32/ |
DiT-S, fp32 weights, step 176540 | RoboTwin 2.0 (50 tasks x clean/randomized x 25) | 10 steps, no CFG, fp32 | 58.84 | eval_robotwin_dits |
Each folder holds the checkpoint, the dataset_stats.json used for action/state normalization (keep it next to the
checkpoint; evaluation looks for it there) and the training config.yaml. SHA256SUMS lists file hashes.
All checkpoints use the 300M V-JEPA 2.1 encoder:
https://dl.fbaipublicfiles.com/vjepa2/vjepa2_1_vitl_dist_vitG_384.pt, saved as
checkpoints/vjepa2/vjepa2_1_vit_large_384.pt in the code repository.
huggingface-cli download db12312607/RoboActualizer --exclude "data/*" --local-dir checkpoints/roboactualizer
# from the code repository root
python experiments/libero/run_libero_manager.py --config-name eval_libero_dits \
ckpt=checkpoints/roboactualizer/libero_dits/step_173580.pt
bash experiments/libero/run_libero_plus.sh --config-name=eval_libero_plus_ditb \
ckpt=checkpoints/roboactualizer/libero_ditb/step_130185.pt
python experiments/robotwin/run_robotwin_manager.py --config-name eval_robotwin_dits \
ckpt=checkpoints/roboactualizer/robotwin_dits_fp32/step_176540.pt
12 files, 873.8 MB in total. The weights are 3 files totalling 873.7 MB in pt.
| File | Type | Size | SHA-256 |
|---|---|---|---|
| libero_ditb/step_130185.pt | Weights | 491.7 MB | 9165369f9a82 |
| libero_dits/step_173580.pt | Weights | 127.4 MB | 791e71723cab |
| robotwin_dits_fp32/step_176540.pt | Weights | 254.6 MB | 2df4ba17f9ca |
| libero_ditb/config.yaml | Configuration | 4.7 KB | — |
| libero_ditb/dataset_stats.json | Configuration | 22.9 KB | — |
| libero_dits/config.yaml | Configuration | 4.7 KB | — |
| libero_dits/dataset_stats.json | Configuration | 22.9 KB | — |
| robotwin_dits_fp32/config.yaml | Configuration | 5.5 KB | — |
| robotwin_dits_fp32/dataset_stats.json | Configuration | 88.7 KB | — |
| README.md | Documentation | 2.0 KB | — |
| SHA256SUMS | Other | 584 B | — |
| .gitattributes | Repository | 1.5 KB | — |
Released by Bang Du through its official repository on Hugging Face. Read the license.
| Precision | Weights in memory |
|---|---|
| As published | 873.7 MB |
Weights only, from the published parameter count; the key-value cache and runtime add to this.
Yes. RoboActualizer is released under MIT License. The MIT License is a short permissive license. It permits commercial use, modification and redistribution, provided the copyright notice and permission notice are included.
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