Home

Model Checkpoints

Released checkpoints for the VLA-Replica benchmark are available on Hugging Face.

Model Checkpoint
Pi_0.5 HenryZhang/VLAReplica_pi05_v4_chunk32_bs16_SFT
Pi_0 HenryZhang/VLAReplica_pi0_v4_chunk32_bs16
SmolVLA HenryZhang/VLAReplica_smolvla_sft_chunk32
X-VLA HenryZhang/VLAReplica_xvla_32_chunk
DiT-D HenryZhang/0502_5task_dit_v4_bs128_chunk32_40k
DiT-P HenryZhang/0502_5task_dit_flowmatching_v4_bs128_chunk32_40k
ACT HenryZhang/VLAReplica_act_v4_4layers_multigpu_chunk32