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place_empty_cup (300 ep, single instruction)place_empty_cup task from RoboTwin 2.0 (demo_clean config), starting from the lerobot/xvla-base base checkpoint (Florence2 backbone, 879M params).| Config | Value |
|---|---|
| Base checkpoint | lerobot/xvla-base |
| Training data | 300 RoboTwin demonstrations, single instruction "place the empty cup" |
| Batch size | 32 |
| Steps | 20000 |
| dtype | bfloat16 |
| Optimizer | AdamW, lr=1e-4 |
| Chunk size | 32 |
demo_clean), 10 episodes, max_steps=400, action_chunk_exec=32.1from lerobot.policies.xvla import XVLAPolicy
2policy = XVLAPolicy.from_pretrained("arrow-hf/xvla-robotwin-place-empty-cup-300ep")action_chunk_exec=32 (full chunk). Default action_chunk_exec=16 causes 0% success on these tasks (TOPP replanning interference).