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lerobot/smolvla_base (450M params)| Task | Success Rate |
|---|---|
| Eggs | 50% |
| Can | 65% |
| Waffles | 70% |
| Mean | 61.7% |
1import torch
2checkpoint = torch.load("best/model.pt", map_location="cpu")1@article{gubernatorov2026hapticvla,
2 title={HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing},
3 author={Gubernatorov, Konstantin and Sannikov, Mikhail and Mikhalchuk, Ilya and Kuznetsov, Egor and Artemov, Makar and Ouwatobi, Ogunwoye Faith and Fernando, Marcelino and Asanov, Artem and Guo, Ziang and Tsetserukou, Dzmitry},
4 journal={arXiv preprint arXiv:2603.15257},
5 year={2026}
6}