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OpenRAL rSkill — xVLA (lerobot ecosystem VLA) finetuned on the LIBERO benchmark. Apache-2.0 weights; locally unverified (TBD checkpoint inspection — seeeval/libero.json).
1from openral_rskill.loader import rSkill
2pkg = rSkill.from_yaml("rskills/xvla-libero/rskill.yaml")1just sim-xvla-libero --no-run # validate wiring only
2just sim-xvla-libero # full run (LIBERO sim; needs GPU + MUJOCO_GL)| Field | Value |
|---|---|
| Source repo | lerobot/xvla-libero |
| Base model | lerobot/xvla-base |
| Paper | TBD |
| Code license | Apache-2.0 |
| Weights license | Apache-2.0 |
| Benchmark | LIBERO |
eval/libero.json::status: pending and
docs/reference/vla_compatibility.md §3.1.| Robot | Embodiment tag | Status | Notes |
|---|---|---|---|
| Franka Panda (LIBERO sim) | libero, franka_panda | ✓ matches manifest | Native training embodiment (assumed). |
| Other 7-DoF arms | — | needs adapter | A third 224×224 zero-tensor slot is filled in-process by the runner; it does not correspond to a physical sensor. |
| Key | Modality | Min resolution |
|---|---|---|
observation.images.camera1 | RGB | 224 × 224 |
observation.images.camera2 | RGB | 224 × 224 |
| Field | Value |
|---|---|
name | OpenRAL/rskill-xvla-franka_panda-libero_spatial-bf16 |
version | 0.1.0 |
license | apache-2.0 |
role | s1 |
runtime / quantization.dtype | pytorch / bf16 |
weights_uri | hf://lerobot/xvla-libero |
latency_budget.per_chunk_ms | 200 ms (conservative — update after local profiling) |
latency_budget.warmup_ms / load_ms | 15 000 ms / 60 000 ms |
commercial_use_allowed | true |
openral_core.RSkillManifest.eval/libero.json::status is pending — no locally-reproduced numbers
and no paper to cite. Do not populate this README's numbers without
either a locally-verified run or a precise paper citation with table
reference (per CLAUDE.md operating principle 2: truth over plausibility).rskill.yaml, README.md, eval/libero.json)
is Apache-2.0. The wrapped weights are also Apache-2.0 per the
upstream repo. Commercial use is allowed.rskills/smolvla-libero/README.md — gold-standard LIBERO finetune (locally verified).rskills/pi05-libero-int8/README.md — π0.5 LIBERO finetune (non-commercial).docs/reference/vla_compatibility.md §3.1.