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coltonhabr/
VLA-JEPA-SO101-30

Name: VLA-JEPA-SO101-30
Availability: InStock

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VLA-JEPA-SO101-30

Fine-tuned VLA-JEPA policy for an SO-101 pick-and-place task:

Pick up the black cube and place it in the green outlined square.

The training run used the SO-101 6D state/action space. The VLA-JEPA action/state adapter tensors were reinitialized to match that dimensionality.

From a compatible LeRobot checkout:

bash

uv run lerobot-eval \
  --policy.path=coltonhabr/VLA-JEPA-SO101-30

For training or evaluation pipelines that use the original dataset camera keys, apply the same rename map used during fine-tuning:

yaml

rename_map:
  observation.images.top: observation.images.exterior_1_left
  observation.images.wrist: observation.images.exterior_2_left