---
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)