model_last/
- Hugging Face save_pretrained export for the Qwen3.5-2B-based VLA-0 model.
config.yaml
- Training/inference configuration used by rv_train.train.get_pretrained_model.
dataset_stats.pkl
- Action de-normalization statistics required at inference time.
model_last.pth
- Lightweight compatibility stub for VLA-0 inference. The actual model weights live in model_last/model.safetensors.

Important note about `model_last.pth`

The original training checkpoint .pth file is very large because it also stores optimizer and scheduler state. For inference with VLA-0, the model weights are loaded from model_last/, while model_last.pth is only used as a compatibility entrypoint by the current loader.
This package therefore ships a compact inference stub instead of the original full training-state checkpoint.

Usage

Clone or download this repository locally, then point VLA-0 at the included stub:

ROBOVERSE_DEPLOY_CHECKPOINT=/path/to/this-repo/model_last.pth python rv_train/deploy/service.py

Or load the transformer export directly:

python

from transformers import AutoModelForImageTextToText, AutoProcessor

model = AutoModelForImageTextToText.from_pretrained("/path/to/this-repo/model_last")
processor = AutoProcessor.from_pretrained("/path/to/this-repo/model_last")

Compatibility

Base model: Qwen/Qwen3.5-2B
Intended environment: VLA-0 repository with lerobot==0.5.1
Export date: 2026-04-19

License

This package follows the licensing described in the upstream VLA-0 repository:

VLA-0 code and released checkpoints: CC BY-NC 4.0
Base model licensing follows Qwen/Qwen3.5-2B

Added numbered epoch checkpoint

model_52/ and model_52.pth were added on 2026-04-20.
This is the latest numbered epoch checkpoint currently available in the source run directory.
model_last is kept separately and is not identical to model_52 in the current run state.

mimi-neoki/vla0-gorgeous-30hz-merged-v2v3-qwen35-2b-lerobot051

VLA-0 Gorgeous 30Hz Merged v2v3 Qwen3.5 2B

Included

Important note about model_last.pth

Usage

Compatibility

License

Added numbered epoch checkpoint

mimi-neoki/
vla0-gorgeous-30hz-merged-v2v3-qwen35-2b-lerobot051

Important note about `model_last.pth`