---
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](https://huggingface.co/RoboColosseum/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` | [✅](gr00t/mugoncoaster) | [✅](gr00t/closelaptop) |
| `pi05/` π0.5 | `gs://openpi-assets/checkpoints/pi05_base` | [✅](pi05/mugoncoaster) | [✅](pi05/closelaptop) |
| `g05/` G0.5 | `OpenGalaxea/G05` (g05-base) | [✅](g05/mugoncoaster) | [✅](g05/closelaptop) |
| `molmoact2/` MolmoAct2 | `allenai/MolmoAct2` | [✅](molmoact2/mugoncoaster) | [✅](molmoact2/closelaptop) |
| `lingbot-vla-v2/` LingBot-VLA v2 6B | `robbyant/lingbot-vla-v2-6b` | [✅](lingbot-vla-v2/mugoncoaster) | [✅](lingbot-vla-v2/closelaptop) |

✅ uploaded · ⏳ 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 |
| π0.5 | 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`.