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metadata 
license: other
tags:
  - robotics
  - vla
  - franka
  - droid
  - lerobot
  - robocolosseum
datasets:
  - aarontung/droid-mug-on-coaster
  - aarontung/droid-close-laptop

DROID-models (RoboColosseum)

These are vision-language-action (VLA) models fine-tuned on DROID (Franka) manipulation tasks for the RoboColosseum benchmark. Each VLA is fine-tuned from its public base checkpoint with the same recipe and the same LRs as BimanualYAM-models, on 2 GPUs, for 5 epochs. Each folder holds the final-epoch inference weights plus the small config files needed to load the model.

Layout: <model>/<task>/

Model Base checkpoint MugOnCoaster CloseLaptop
gr00t/ GR00T N1.7 nvidia/GR00T-N1.7-3B βœ… βœ…
pi05/ Ο€0.5 gs://openpi-assets/checkpoints/pi05_base βœ… βœ…
g05/ G0.5 OpenGalaxea/G05 (g05-base) βœ… βœ…
molmoact2/ MolmoAct2 allenai/MolmoAct2 βœ… βœ…
lingbot-vla-v2/ LingBot-VLA v2 6B robbyant/lingbot-vla-v2-6b βœ… βœ…

βœ… uploaded Β· ⏳ training or queued. Each <model>/<task>/README.md gives the recipe, the files, and how to load the model.

Tasks (LeRobot v3.0, 30 fps)

Task Dataset Instruction Episodes Frames
MugOnCoaster aarontung/droid-mug-on-coaster "mug on coaster" 100 41,227
CloseLaptop aarontung/droid-close-laptop "close laptop" 100 27,649

Common setup:

  • Cameras: left exterior, right exterior and wrist (all 360x640).
  • State and action: 8-D absolute joint positions [Franka arm 7, gripper 1].
  • Training: fp32 master weights with bf16 compute, on 2 GPUs per run (H100 or H200; see each model card).

Recipes (same for every task)

Model Cameras Trained parts GBS Peak LR
GR00T N1.7 left, wrist Full: VLM backbone (LLM + vision) + action head 32 1e-4, cosine, 5% warmup
Ο€0.5 left, wrist Full (openpi), EMA 0.99 32 2.5e-5, cosine to 2.5e-6, 1k warmup
G0.5 left, wrist Full (vision LR x0.1), FSDP 16 4e-5, cosine, 200 warmup, wd 0.03
MolmoAct2 left, right, wrist Full 64 LLM 2e-5, ViT 1e-5, connector 1e-5, action expert 1e-4
LingBot-VLA v2 left, right, wrist Full 32 1.25e-5, constant, Muon

Training logs are in the W&B project shaileshxml-nus/RoboColosseum.