Commit ·
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Parent(s):
RLDX-1 Release
Browse files- .gitattributes +37 -0
- LICENSE.md +61 -0
- README.md +212 -0
- architecture.png +3 -0
- config.json +70 -0
- model-00001-of-00003.safetensors +3 -0
- model-00002-of-00003.safetensors +3 -0
- model-00003-of-00003.safetensors +3 -0
- model.safetensors.index.json +730 -0
- processor/embodiment_id.json +38 -0
- processor/processor_config.json +2976 -0
- processor/statistics.json +0 -0
- teaser.png +3 -0
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LICENSE.md
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# RLWRLD Model License v1.0
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## 1. Definitions
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"Licensor" means RLWRLD, INC. and its affiliates.
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"Model" means the machine learning model, including learnt weights, parameters, configuration files, and documentation made available under this license.
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"Derivative Model" means all (a) modifications to the Model, (b) works based on the Model, and (c) any other derivative works of the Model, including models fine-tuned from the Model.
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"You" means an individual or legal entity exercising permissions granted by this license.
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## 2. License Grant
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Subject to the terms and conditions of this license, Licensor grants to You a perpetual, worldwide, non-exclusive, royalty-free license to use, reproduce, prepare derivative works of, publicly display, publicly perform, and distribute the Model and any Derivative Models.
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## 3. Conditions and Limitations
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**3.1 Non-Commercial Use.** The Model and any Derivative Models may only be used for non-commercial purposes. "Non-commercial" means for academic research, educational, personal, or evaluation purposes only, and does not include any use primarily intended for or directed toward commercial advantage or monetary compensation.
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**3.2 Attribution.** You must give appropriate credit to Licensor, provide a link to this license, and indicate if changes were made. You must include the following attribution notice with any distribution of the Model or Derivative Model:
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> "Licensed under the RLWRLD Model License v1.0"
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**3.3 Share-Alike.** If You distribute a Derivative Model, You must do so under this same license, or another license that includes at minimum (a) a non-commercial use limitation no less restrictive than Section 3.1 and (b) a share-alike requirement no less restrictive than this Section 3.3.
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**3.4 Redistribution.** You may distribute copies of the Model or Derivative Models provided that You (a) include a complete copy of this license, (b) retain all copyright, trademark, and attribution notices, and (c) comply with all conditions in this Section 3.
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**3.5 Use Restrictions.** The Model and any Derivative Models shall not be used for: (a) military, weapons development, or defense applications; (b) surveillance or monitoring of individuals without their consent; or (c) any use that violates applicable laws or regulations.
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**3.6 Trademarks.** This license does not grant any rights to use Licensor's names, logos, or trademarks, except as required for reasonable and customary use in describing the origin of the Model and reproducing the notices described in this license.
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**3.7 Patent Claims.** If You or Your affiliate(s) bring or threaten to bring any claim or litigation (including any claim, cross-claim, or counterclaim in a lawsuit) against any entity to enforce any patents that You allege are infringed by the Model, then any rights granted to You under this license will terminate immediately.
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**3.8 Termination.** If You violate any term of this license, Your rights under this license will terminate immediately.
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## 4. Third-Party Components
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The Model may include or be distributed with third-party components that are subject to separate license terms and notices. Such components are subject to their respective licenses, including any notices and disclaimers contained therein. Licensor does not grant any rights with respect to third-party components beyond those provided under the applicable third-party licenses.
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## 5. Disclaimer of Warranty
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THE MODEL IS PROVIDED "AS IS" WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WARRANTIES OF TITLE, MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR NONINFRINGEMENT. YOU BEAR THE RISK OF UNDERTAKING ANY ACTIVITIES UNDER THIS LICENSE. YOU ARE SOLELY RESPONSIBLE FOR DETERMINING THE APPROPRIATENESS OR LAWFULNESS OF USING OR REDISTRIBUTING THE MODEL, DERIVATIVE MODELS OR ANY OUTPUT OR RESULTS AND ASSUME ANY RISKS ASSOCIATED WITH YOUR USE OF THE MODEL, DERIVATIVE MODELS AND ANY OUTPUT AND RESULTS.
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## 6. Limitation of Liability
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IN NO EVENT SHALL LICENSOR BE LIABLE TO YOU FOR ANY DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF OR RELATED TO THIS LICENSE OR THE USE OR INABILITY TO USE THE MODEL, DERIVATIVE MODELS, OR ANY OUTPUTS THEREOF, EVEN IF LICENSOR HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
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## 7. Indemnity
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You shall indemnify and hold harmless Licensor from and against any claim by any third party arising out of or related to Your use or distribution of the Model, Derivative Models, or any outputs thereof.
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## 8. Feedback
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If You provide feedback, suggestions, or improvements regarding the Model, Licensor may use such feedback without restriction or compensation to You.
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## 9. General Provisions
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**9.1 Governing Law.** This license will be governed by and construed in accordance with the laws of the State of Delaware, United States, without regard to its conflict of laws rules. The UN Convention on Contracts for International Sale of Goods does not apply to this license.
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**9.2 License Updates.** Licensor may update this license to comply with legal and regulatory requirements at any time. You agree to either comply with any updated license or cease Your use and distribution of the Model and any Derivative Model.
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README.md
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---
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license: other
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license_name: rlwrld-model-license-v1.0
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license_link: LICENSE.md
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library_name: transformers
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pipeline_tag: robotics
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tags:
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- robotics
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- vla
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- vision-language-action
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- manipulation
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- flow-matching
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- rldx
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base_model: Qwen/Qwen3-VL-8B-Instruct
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---
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# RLDX-1
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[Paper](https://arxiv.org/abs/2605.03269) · [Project page](https://rlwrld.ai/rldx-1) · [Code](https://github.com/RLWRLD/RLDX-1) · [Models](https://huggingface.co/collections/RLWRLD/rldx-1)
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<p align="center">
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<img src="teaser.png" width="100%" alt="RLDX-1 teaser">
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</p>
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**RLDX-1** is a general-purpose Robot Foundation Model designed for dexterous
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manipulation. Powered by a **Multi-Stream Action Transformer (MSAT)**, it
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seamlessly unifies multimodal perception (visual + tactile), high-DoF
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actuation, and memory-aware decision-making in a single architecture. RLDX-1
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achieves state-of-the-art performance across diverse simulation benchmarks
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and is fully validated on real-world hardware.
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This repository hosts **`RLDX-1-PT`** — a foundation checkpoint pretrained on
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a broad mixture of public manipulation corpora, from which all downstream
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`RLDX-1-{FT,MT}-*` releases finetune. Use it as your starting point for new
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embodiments and tasks.
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<p align="center">
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<img src="architecture.png" width="90%" alt="RLDX-1 architecture">
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</p>
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## Highlights
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- **Multi-Stream Action Transformer (MSAT).** Cognition, physics, and
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action each get a dedicated stream coupled by joint self-attention —
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an extension of MM-DiT to action modeling.
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- **Motion awareness.** Multi-frame observations + a motion module
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capture temporal dynamics; intermediate VLM layers compress video
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tokens to keep the policy efficient.
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- **Long-term memory.** A memory module fuses past cognition features
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with the current ones for history-grounded decisions beyond a short
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multi-frame window.
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- **Physical sensing.** Tactile and torque enter as a dedicated physics
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stream; the decoder is jointly trained to predict future physical
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signals.
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- **Three-stage training.** Pre-training (generalization) → mid-training
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(functionality) → post-training (task adaptation), with synthetic data
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augmenting rare manipulation scenarios.
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- **Real-time inference.** Static graph capture + custom fused kernels
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bring the all-modality model to **43.7 ms / step on RTX 5090
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(1.63× speedup, >22 Hz)**.
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## Released Checkpoints
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This card describes `RLDX-1-PT` (foundation). The full RLDX-1 model family:
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| Checkpoint | Description | Params | Embodiment Tag |
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|---|---|---|---|
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| [`RLDX-1-PT`](https://huggingface.co/RLWRLD/RLDX-1-PT) | Multi-source pretrained foundation (this repo) | 6.9B | per-dataset |
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| [`RLDX-1-VLM`](https://huggingface.co/RLWRLD/RLDX-1-VLM) | Qwen3-VL-8B vision-language backbone | 8B | — |
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| [`RLDX-1-FT-ROBOCASA`](https://huggingface.co/RLWRLD/RLDX-1-FT-ROBOCASA) | RoboCasa Kitchen 24-task finetune | 6.9B | `GENERAL_EMBODIMENT` |
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| [`RLDX-1-FT-RC365`](https://huggingface.co/RLWRLD/RLDX-1-FT-RC365) | RoboCasa-365 cross-task finetune | 6.9B | `GENERAL_EMBODIMENT` |
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| [`RLDX-1-FT-LIBERO`](https://huggingface.co/RLWRLD/RLDX-1-FT-LIBERO) | LIBERO 4-task suite (goal, object, spatial, long) finetune | 6.9B | `GENERAL_EMBODIMENT` |
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| [`RLDX-1-FT-SIMPLER-GOOGLE`](https://huggingface.co/RLWRLD/RLDX-1-FT-SIMPLER-GOOGLE) | SIMPLER Google VM/VA finetune | 6.9B | `OXE_FRACTAL` |
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| 74 |
+
| [`RLDX-1-FT-SIMPLER-WIDOWX`](https://huggingface.co/RLWRLD/RLDX-1-FT-SIMPLER-WIDOWX) | SIMPLER WidowX finetune | 6.9B | `OXE_BRIDGE_ORIG` |
|
| 75 |
+
| [`RLDX-1-FT-GR1`](https://huggingface.co/RLWRLD/RLDX-1-FT-GR1) | GR-1 Tabletop finetune | 6.9B | `GENERAL_EMBODIMENT` |
|
| 76 |
+
| [`RLDX-1-MT-DROID`](https://huggingface.co/RLWRLD/RLDX-1-MT-DROID) | DROID mid-train | 8.1B | `OXE_DROID` |
|
| 77 |
+
| [`RLDX-1-MT-ALLEX`](https://huggingface.co/RLWRLD/RLDX-1-MT-ALLEX) | All add-ons (memory + motion + physics + video) | 8.1B | `GENERAL_EMBODIMENT` |
|
| 78 |
+
|
| 79 |
+
## Performance
|
| 80 |
+
|
| 81 |
+
Success rate (%) of RLDX-1 finetuned on each benchmark's training set,
|
| 82 |
+
evaluated with the linked checkpoint.
|
| 83 |
+
|
| 84 |
+
| Benchmark | Success Rate | Checkpoint |
|
| 85 |
+
|---|---|---|
|
| 86 |
+
| LIBERO (Avg) | 97.8 | `RLDX-1-FT-LIBERO` |
|
| 87 |
+
| LIBERO-Plus | 87.6 | `RLDX-1-FT-LIBERO` |
|
| 88 |
+
| SIMPLER Google-VM | 81.5 | `RLDX-1-FT-SIMPLER-GOOGLE` |
|
| 89 |
+
| SIMPLER Google-VA | 77.4 | `RLDX-1-FT-SIMPLER-GOOGLE` |
|
| 90 |
+
| SIMPLER WidowX | 71.9 | `RLDX-1-FT-SIMPLER-WIDOWX` |
|
| 91 |
+
| RoboCasa Kitchen (24 tasks) | 70.6 | `RLDX-1-FT-ROBOCASA` |
|
| 92 |
+
| GR-1 Tabletop | 58.7 | `RLDX-1-FT-GR1` |
|
| 93 |
+
| RoboCasa365 (Avg) | 31.5 | `RLDX-1-FT-RC365` |
|
| 94 |
+
|
| 95 |
+
## Quick start
|
| 96 |
+
|
| 97 |
+
```bash
|
| 98 |
+
git clone https://github.com/RLWRLD/RLDX-1.git
|
| 99 |
+
cd RLDX
|
| 100 |
+
uv sync --python 3.10
|
| 101 |
+
uv pip install -e .
|
| 102 |
+
```
|
| 103 |
+
|
| 104 |
+
### Inference (single step)
|
| 105 |
+
|
| 106 |
+
```python
|
| 107 |
+
from rldx.policy.rldx_policy import RLDXPolicy
|
| 108 |
+
from rldx.data.embodiment_tags import EmbodimentTag
|
| 109 |
+
|
| 110 |
+
policy = RLDXPolicy(
|
| 111 |
+
model_path="RLWRLD/RLDX-1-FT-ROBOCASA",
|
| 112 |
+
embodiment_tag=EmbodimentTag.GENERAL_EMBODIMENT,
|
| 113 |
+
device="cuda:0",
|
| 114 |
+
)
|
| 115 |
+
|
| 116 |
+
action = policy.get_action(observation)
|
| 117 |
+
```
|
| 118 |
+
|
| 119 |
+
`RLDX-1-PT` is pretrained on a multi-source mixture, so for direct inference
|
| 120 |
+
pair it with the embodiment tag matching your data source — e.g.
|
| 121 |
+
`OXE_FRACTAL`, `OXE_BRIDGE_ORIG`, `OXE_DROID`, `GALAXEA`, `AGIBOT_GRIPPER`,
|
| 122 |
+
`AGIBOT_DEXHAND`, `NEURAL_GR1`, `HUMANOID_EVERYDAY_G1`,
|
| 123 |
+
`HUMANOID_EVERYDAY_H1`, etc. For custom robots, finetune.
|
| 124 |
+
|
| 125 |
+
### Real-time serving (ZeroMQ)
|
| 126 |
+
|
| 127 |
+
```bash
|
| 128 |
+
uv run python rldx/eval/run_rldx_server.py \
|
| 129 |
+
--model-path RLWRLD/RLDX-1-FT-ROBOCASA \
|
| 130 |
+
--embodiment-tag GENERAL_EMBODIMENT \
|
| 131 |
+
--host 0.0.0.0 --port 20000
|
| 132 |
+
```
|
| 133 |
+
|
| 134 |
+
A WebSocket server (`run_rldx_server_pi.py`) is also available for
|
| 135 |
+
openpi-compatible clients.
|
| 136 |
+
|
| 137 |
+
### Finetune from `RLDX-1-PT`
|
| 138 |
+
|
| 139 |
+
```bash
|
| 140 |
+
uv run python rldx/experiment/launch_train.py \
|
| 141 |
+
--base-model-path RLWRLD/RLDX-1-PT \
|
| 142 |
+
--dataset-path /path/to/your/dataset \
|
| 143 |
+
--embodiment-tag GENERAL_EMBODIMENT \
|
| 144 |
+
--video-length 4 --n-cog-tokens 64 \
|
| 145 |
+
--global-batch-size 64 --learning-rate 1e-4 \
|
| 146 |
+
--max-steps 60000 --save-steps 5000 \
|
| 147 |
+
--output-dir ./outputs/my_finetune
|
| 148 |
+
```
|
| 149 |
+
|
| 150 |
+
To enable add-ons (memory / motion / physics) see the recipes in the
|
| 151 |
+
[main README](https://github.com/RLWRLD/RLDX-1#finetuning) and the
|
| 152 |
+
[`training.md`](https://github.com/RLWRLD/RLDX-1/blob/main/docs/training.md)
|
| 153 |
+
guide.
|
| 154 |
+
|
| 155 |
+
## Model details
|
| 156 |
+
|
| 157 |
+
- **Architecture:** Multi-Stream Action Transformer (MSAT) policy with a
|
| 158 |
+
Qwen3-VL vision-language backbone, cognition-token perceptual summary,
|
| 159 |
+
optional Transformer memory, motion module, and tactile/torque physics
|
| 160 |
+
encoder/decoder. Trained with flow matching.
|
| 161 |
+
- **Inputs:** RGB video (default 4 frames), state proprioception, optional
|
| 162 |
+
tactile / torque signals, language instruction.
|
| 163 |
+
- **Outputs:** Action chunks of length 16 (default `--action-horizon 16`).
|
| 164 |
+
- **Backbone:** [`Qwen/Qwen3-VL-8B-Instruct`](https://huggingface.co/Qwen/Qwen3-VL-8B-Instruct).
|
| 165 |
+
- **Pretraining data:** A mixture of public manipulation corpora, covering
|
| 166 |
+
27 [Open X-Embodiment (OXE)](https://robotics-transformer-x.github.io/)
|
| 167 |
+
datasets (DROID, Bridge, Fractal, Language Table, …) plus
|
| 168 |
+
[Galaxea](https://galaxea.ai/), [AgiBot World](https://agibot-world.com/)
|
| 169 |
+
(Gripper + Dexhand), ActionNet, Neural-Curated GR-1 humanoid trajectories,
|
| 170 |
+
and Unitree G1 / H1 from
|
| 171 |
+
[HumanoidEveryday](https://lipeng-zhou.github.io/HumanoidEveryday/).
|
| 172 |
+
|
| 173 |
+
For a full architectural walkthrough see
|
| 174 |
+
[`docs/architecture.md`](https://github.com/RLWRLD/RLDX-1/blob/main/docs/architecture.md).
|
| 175 |
+
|
| 176 |
+
## Intended use & limitations
|
| 177 |
+
|
| 178 |
+
**Intended use.** Research on robotic manipulation, finetuning on custom
|
| 179 |
+
embodiments, simulation benchmarking, and non-commercial real-robot
|
| 180 |
+
deployment under the conditions of the RLWRLD Model License v1.0.
|
| 181 |
+
|
| 182 |
+
**Out of scope.** Commercial deployment, military or weapons applications,
|
| 183 |
+
non-consensual surveillance, and any use that violates applicable laws or
|
| 184 |
+
regulations. See [`LICENSE.md`](LICENSE.md) §3.5 for the full list.
|
| 185 |
+
|
| 186 |
+
**Limitations.** Performance depends heavily on embodiment match and data
|
| 187 |
+
distribution. The pretrained checkpoint is OXE-conditioned and is not
|
| 188 |
+
guaranteed to work zero-shot on novel embodiments without finetuning.
|
| 189 |
+
Memory, motion, and physics modules are dormant in `RLDX-1-PT` and only
|
| 190 |
+
activate when the corresponding flags are wired during finetuning (see
|
| 191 |
+
`RLDX-1-MT-ALLEX`).
|
| 192 |
+
|
| 193 |
+
## Citation
|
| 194 |
+
|
| 195 |
+
```bibtex
|
| 196 |
+
@article{rldx2026,
|
| 197 |
+
title={RLDX-1 Technical Report},
|
| 198 |
+
author={Kim, Dongyoung and Jang, Huiwon and Koo, Myungkyu and Jang, Suhyeok and Kim, Taeyoung and others},
|
| 199 |
+
year={2026},
|
| 200 |
+
note={RLWRLD},
|
| 201 |
+
eprint={2605.03269},
|
| 202 |
+
archivePrefix={arXiv},
|
| 203 |
+
url={https://arxiv.org/abs/2605.03269}
|
| 204 |
+
}
|
| 205 |
+
```
|
| 206 |
+
|
| 207 |
+
## License
|
| 208 |
+
|
| 209 |
+
Released under the **RLWRLD Model License v1.0** — a non-commercial license
|
| 210 |
+
with attribution and share-alike requirements. See [`LICENSE.md`](LICENSE.md) for
|
| 211 |
+
the full text. By using this model you agree to those terms, including the
|
| 212 |
+
use restrictions in §3.5.
|
architecture.png
ADDED
|
Git LFS Details
|
config.json
ADDED
|
@@ -0,0 +1,70 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"architectures": [
|
| 3 |
+
"RLDX"
|
| 4 |
+
],
|
| 5 |
+
"backbone_model_type": "vtc_qwen3_vl",
|
| 6 |
+
"backbone_trainable_params_fp32": true,
|
| 7 |
+
"color_jitter_params": {
|
| 8 |
+
"brightness": 0.3,
|
| 9 |
+
"contrast": 0.4,
|
| 10 |
+
"hue": 0.08,
|
| 11 |
+
"saturation": 0.5
|
| 12 |
+
},
|
| 13 |
+
"conversation_image_first": false,
|
| 14 |
+
"diffusion_model_cfg": {
|
| 15 |
+
"action_model_max_seq_len": 512,
|
| 16 |
+
"attention_head_dim": 64,
|
| 17 |
+
"depth_multi_stream": 4,
|
| 18 |
+
"depth_single_stream": 8,
|
| 19 |
+
"dropout": 0.2,
|
| 20 |
+
"final_dropout": true,
|
| 21 |
+
"num_attention_heads": 24,
|
| 22 |
+
"output_dim": 1024,
|
| 23 |
+
"positional_embeddings": "rope_sa_only",
|
| 24 |
+
"pre_norm": "layer_norm",
|
| 25 |
+
"qk_norm": "rms_norm",
|
| 26 |
+
"rope_theta": 10000.0,
|
| 27 |
+
"sa_dim": 1536,
|
| 28 |
+
"set_triple_stream_for_mq": false,
|
| 29 |
+
"set_triple_stream_for_state": false,
|
| 30 |
+
"temb_type": "input_token",
|
| 31 |
+
"use_swiglu": true,
|
| 32 |
+
"vl_dim": 4096
|
| 33 |
+
},
|
| 34 |
+
"dtype": "bfloat16",
|
| 35 |
+
"load_bf16": true,
|
| 36 |
+
"memory_cfg": {
|
| 37 |
+
"hidden_size": 4096,
|
| 38 |
+
"intermediate_size": 16384,
|
| 39 |
+
"max_position_embeddings": 32,
|
| 40 |
+
"num_attention_heads": 16,
|
| 41 |
+
"num_hidden_layers": 2,
|
| 42 |
+
"num_key_value_heads": 16,
|
| 43 |
+
"rms_norm_eps": 1e-05,
|
| 44 |
+
"use_causal_attn": true,
|
| 45 |
+
"use_rope": true
|
| 46 |
+
},
|
| 47 |
+
"memory_video_delta_indices": [
|
| 48 |
+
-48,
|
| 49 |
+
-32,
|
| 50 |
+
-16,
|
| 51 |
+
0
|
| 52 |
+
],
|
| 53 |
+
"model_name": "RLWRLD/RLDX-1-VLM",
|
| 54 |
+
"model_type": "RLDX-1",
|
| 55 |
+
"n_cog_tokens": 64,
|
| 56 |
+
"general_embodiment_train_ratio": 0.03125,
|
| 57 |
+
"qwen3_collator": true,
|
| 58 |
+
"random_rotation_angle": null,
|
| 59 |
+
"reproject_vision": false,
|
| 60 |
+
"state_dropout_prob": 0.0,
|
| 61 |
+
"transformers_version": "4.57.0",
|
| 62 |
+
"tune_diffusion_model": true,
|
| 63 |
+
"tune_llm": false,
|
| 64 |
+
"tune_projector": true,
|
| 65 |
+
"tune_top_llm_layers": 4,
|
| 66 |
+
"tune_visual": false,
|
| 67 |
+
"use_relative_action": true,
|
| 68 |
+
"use_video": true,
|
| 69 |
+
"video_length": 4
|
| 70 |
+
}
|
model-00001-of-00003.safetensors
ADDED
|
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|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
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|
| 3 |
+
size 4912540968
|
model-00002-of-00003.safetensors
ADDED
|
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|
|
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|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
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|
| 3 |
+
size 4446192352
|
model-00003-of-00003.safetensors
ADDED
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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| 3 |
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size 4467155576
|
model.safetensors.index.json
ADDED
|
@@ -0,0 +1,730 @@
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|
|
|
|
|
|
|
|
|
|
|
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|
| 730 |
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|
processor/embodiment_id.json
ADDED
|
@@ -0,0 +1,38 @@
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|
| 1 |
+
{
|
| 2 |
+
"general_embodiment": 0,
|
| 3 |
+
"fractal20220817_data": 1,
|
| 4 |
+
"kuka": 2,
|
| 5 |
+
"bridge_orig": 3,
|
| 6 |
+
"taco_play": 4,
|
| 7 |
+
"jaco_play": 5,
|
| 8 |
+
"berkeley_cable_routing": 6,
|
| 9 |
+
"roboturk": 7,
|
| 10 |
+
"viola": 8,
|
| 11 |
+
"berkeley_autolab_ur5": 9,
|
| 12 |
+
"toto": 10,
|
| 13 |
+
"language_table": 11,
|
| 14 |
+
"stanford_hydra_dataset_converted_externally_to_rlds": 12,
|
| 15 |
+
"austin_buds_dataset_converted_externally_to_rlds": 13,
|
| 16 |
+
"nyu_franka_play_dataset_converted_externally_to_rlds": 14,
|
| 17 |
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|
| 18 |
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|
| 19 |
+
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|
| 20 |
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"austin_sirius_dataset_converted_externally_to_rlds": 18,
|
| 21 |
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"dlr_edan_shared_control_converted_externally_to_rlds": 19,
|
| 22 |
+
"iamlab_cmu_pickup_insert_converted_externally_to_rlds": 20,
|
| 23 |
+
"utaustin_mutex": 21,
|
| 24 |
+
"berkeley_fanuc_manipulation": 22,
|
| 25 |
+
"cmu_stretch": 23,
|
| 26 |
+
"bc_z": 24,
|
| 27 |
+
"fmb_dataset": 25,
|
| 28 |
+
"dobbe": 26,
|
| 29 |
+
"droid": 27,
|
| 30 |
+
"agibot_dexhand": 28,
|
| 31 |
+
"agibot_gripper": 29,
|
| 32 |
+
"galaxea": 30,
|
| 33 |
+
"humanoid_everyday_g1": 31,
|
| 34 |
+
"humanoid_everyday_h1": 32,
|
| 35 |
+
"action_net": 33,
|
| 36 |
+
"neural_gr1": 34,
|
| 37 |
+
"new_embodiment": 35
|
| 38 |
+
}
|
processor/processor_config.json
ADDED
|
@@ -0,0 +1,2976 @@
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|
| 1 |
+
{
|
| 2 |
+
"processor_class": "RLDXProcessor",
|
| 3 |
+
"processor_kwargs": {
|
| 4 |
+
"modality_configs": {
|
| 5 |
+
"bridge_orig": {
|
| 6 |
+
"video": {
|
| 7 |
+
"delta_indices": [
|
| 8 |
+
-6,
|
| 9 |
+
-4,
|
| 10 |
+
-2,
|
| 11 |
+
0
|
| 12 |
+
],
|
| 13 |
+
"modality_keys": [
|
| 14 |
+
"primary",
|
| 15 |
+
"secondary"
|
| 16 |
+
],
|
| 17 |
+
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|
| 18 |
+
"mean_std_embedding_keys": null,
|
| 19 |
+
"action_configs": null
|
| 20 |
+
},
|
| 21 |
+
"state": {
|
| 22 |
+
"delta_indices": [
|
| 23 |
+
0
|
| 24 |
+
],
|
| 25 |
+
"modality_keys": [
|
| 26 |
+
"end_effector_position",
|
| 27 |
+
"end_effector_rotation",
|
| 28 |
+
"gripper_position"
|
| 29 |
+
],
|
| 30 |
+
"sin_cos_embedding_keys": null,
|
| 31 |
+
"mean_std_embedding_keys": null,
|
| 32 |
+
"action_configs": null
|
| 33 |
+
},
|
| 34 |
+
"action": {
|
| 35 |
+
"delta_indices": [
|
| 36 |
+
0,
|
| 37 |
+
1,
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"modality_keys": [
|
| 54 |
+
"end_effector_position",
|
| 55 |
+
"end_effector_rotation",
|
| 56 |
+
"gripper_close"
|
| 57 |
+
],
|
| 58 |
+
"sin_cos_embedding_keys": null,
|
| 59 |
+
"mean_std_embedding_keys": null,
|
| 60 |
+
"action_configs": [
|
| 61 |
+
{
|
| 62 |
+
"rep": "DELTA",
|
| 63 |
+
"type": "EEF",
|
| 64 |
+
"format": "DEFAULT",
|
| 65 |
+
"state_key": null
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"rep": "DELTA",
|
| 69 |
+
"type": "EEF",
|
| 70 |
+
"format": "DEFAULT",
|
| 71 |
+
"state_key": null
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"rep": "ABSOLUTE",
|
| 75 |
+
"type": "NON_EEF",
|
| 76 |
+
"format": "DEFAULT",
|
| 77 |
+
"state_key": null
|
| 78 |
+
}
|
| 79 |
+
]
|
| 80 |
+
},
|
| 81 |
+
"language": {
|
| 82 |
+
"delta_indices": [
|
| 83 |
+
0
|
| 84 |
+
],
|
| 85 |
+
"modality_keys": [
|
| 86 |
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"annotation.human.action.task_description"
|
| 87 |
+
],
|
| 88 |
+
"sin_cos_embedding_keys": null,
|
| 89 |
+
"mean_std_embedding_keys": null,
|
| 90 |
+
"action_configs": null
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"iamlab_cmu_pickup_insert_converted_externally_to_rlds": {
|
| 94 |
+
"video": {
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|
processor/statistics.json
ADDED
|
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|
|
teaser.png
ADDED
|
Git LFS Details
|