ServoVLA LIBERO
ServoVLA policy for LIBERO-40 simulation. This release contains the EMA policy
head from training step 1,190,000 and the action normalization statistics saved
with that run.
Model Contract
- Benchmark: LIBERO-40 (
libero_10, libero_spatial, libero_object, libero_goal)
- Action space: 7-dimensional direct environment action
- State space: 8-dimensional LIBERO proprioception
- Cameras:
observation.images.image, observation.images.image2
- Action chunk: 16 steps
- Inference steps: 3
- Vision encoder:
facebook/dinov3-vitb16-pretrain-lvd1689m
- Language encoder:
Qwen/Qwen3.5-0.8B
- Weights: EMA (
used_ema=true)
- Action normalization: enabled, per-horizon dimension, 16 x 7 statistics
Evaluation
The selected checkpoint was evaluated on the fixed LIBERO-40 four-suite
protocol with 30 episodes per task, 1,200 episodes total:
- Overall balanced success rate: 78.0%
libero_10: 79.0%libero_spatial: 75.0%libero_object: 84.33%libero_goal: 73.67%
Three additional 50-episode-per-task evaluations with different seeds produced
overall balanced success rates of 75.6%, 79.15%, and 69.25% (mean 75.95%).
Rollouts used relative LIBERO environment control, open-loop 16-step chunks,
and observed maximum frame delay 0 in the reported runs.
Files
model.safetensors: LeRobot-compatible EMA policy weights.config.json: ServoVLA policy configuration.policy_preprocessor.json and policy_postprocessor.json: LeRobot processor configuration.checkpoint.pt: cleaned ServoVLA checkpoint containing model_state, ema_state,
step, and action_normalization only.
The checkpoint is weights-only for inference and fresh initialization. Optimizer,
scheduler, W&B, and resume-training state are intentionally absent.
Usage
Use this directory with the ServoVLA LIBERO evaluation entry points. The LIBERO
camera keys, state ordering, action dimensions, and direct-action semantics must
match the model contract above. This policy is not compatible with SO101 robot
observations or the SO101 delta-action contract.
License
ServoVLA is released under the MIT License. The vision and language encoders and
the LIBERO benchmark assets are subject to their respective upstream licenses
and terms.
