---
license: apache-2.0
language:
  - en
tags:
  - robotics
  - vision-language-action
  - foveation
  - openpi
  - pi05
  - droid
  - jax
---

# FoveaVLA-Single

FoveaVLA-Single is the single-camera variant of **FoveaVLA: Foveation Actions Replace the Wrist Camera in VLAs**. Built on π₀.₅, it uses one external RGB-D camera with full views, foveal crops, and aligned depth. **No wrist camera is required.**

- **Inputs:** one external ZED stereo camera; robot state; language instruction.
- **Outputs:** 16 joint-position actions with gripper commands and one interaction box for t+8. Execute 8 actions before the next query.
- **Training data:** DROID demonstrations with RoboInter interaction annotations.
- **Config:** `foveavla_single`.

## Use

After setting up the [FoveaVLA server environment](https://github.com/Stanford-TML/FoveaVLA/blob/main/docs/deployment.md), run:

```bash
uv run --no-sync scripts/download_checkpoint.py --model=foveavla_single
XLA_PYTHON_CLIENT_MEM_FRACTION=0.70 uv run --no-sync scripts/serve.py \
  --model=foveavla_single --checkpoint=checkpoints/foveavla_single
```

See [Stanford-TML/FoveaVLA](https://github.com/Stanford-TML/FoveaVLA) for data preparation, training, and real-robot deployment. The deployment guide covers stereo-depth setup, GPU memory, camera calibration, and supported robot configurations.