| --- |
| license: apache-2.0 |
| library_name: vla-foundry |
| tags: |
| - foundry |
| - vla_foundry |
| - vla |
| - robotics |
| - diffusion-policy |
| - flow-matching |
| pipeline_tag: robotics |
| --- |
| |
| # Foundry-VLA-1.7B-sim |
|
|
| A 1.7B parameter vision-language-action model for bimanual robotic manipulation, part of the [VLA Foundry](https://github.com/TRI-ML/vla_foundry) collection. Trained on simulated manipulation data only. |
|
|
| ## Model Description |
|
|
| - **Architecture:** Foundry-VLM-1.3B vision-language backbone + (condition on last 4 layers) flow-matching diffusion action head (24 layers, 1024 hidden dim, 16 heads) |
| - **Parameters:** 1.7B (non-embedding) |
| - **Action space:** 20-dim relative actions (bimanual xyz + 6D rotation + gripper) |
| - **Cameras:** 4 views (2 scene + 2 wrist) |
| - **Training data:** 102M samples from simulated bimanual manipulation tasks only |
| - **VLM backbone:** [Foundry-VLM-1.3B-200M](https://huggingface.co/TRI-ML/Foundry-VLM-1.3B-200M) |
|
|
| ## Evaluation Results |
|
|
| Success rates on 16 seen tasks and 3 unseen tasks (200 rollouts per task): |
|
|
| | Simulator | Seen (16 tasks) | Unseen (3 tasks) | |
| |---|---|---| |
| | CS | 60.3% | 8.2% | |
| | OSS | 41.0% | 11.7% | |
|
|
| ## Usage |
|
|
| ```bash |
| git clone https://github.com/TRI-ML/vla_foundry.git |
| cd vla_foundry |
| pip install -e . |
| ``` |
|
|
| ```python |
| from vla_foundry.models.base_model import BaseModel |
| model = BaseModel.from_pretrained("TRI-ML/Foundry-VLA-1.7B-sim") |
| ``` |
|
|
| ## Links |
|
|
| - **Project page:** [tri-ml.github.io/vla_foundry](https://tri-ml.github.io/vla_foundry/) |
| - **Paper:** [VLA Foundry (arXiv 2604.19728)](https://arxiv.org/abs/2604.19728) |
| - **Code:** [github.com/TRI-ML/vla_foundry](https://github.com/TRI-ML/vla_foundry) |
| - **Collection:** [VLA Foundry collection](https://huggingface.co/collections/TRI-ML/vla-foundry) |
|
|
