| --- |
| license: apache-2.0 |
| pipeline_tag: robotics |
| library_name: pytorch |
| tags: |
| - fast-vla |
| - fastvla |
| - vision-language-action |
| - vla |
| - robotics |
| - robot-manipulation |
| - robotwin |
| - libero |
| base_model: |
| - facebook/dinov2-base |
| --- |
| |
| # Fast-VLA (FastVLA) checkpoints |
|
|
| [Paper (arXiv:2610.21389)](https://arxiv.org/abs/2610.21389) · [Project page](https://garfield-kh.github.io/FastVLA) · [Code](https://github.com/Garfield-kh/FastVLA) |
|
|
| **Fast-VLA** calls a frozen 4B vision-language model (DM0.5) **once per episode** and keeps its |
| layer-wise key/value cache as a fixed task memory. At every action chunk only a lightweight |
| online actor runs: it reads the current views and robot state, queries the task memory, and |
| predicts the next chunk of actions. |
|
|
| This repository holds the online actors (DINOv2-based encoders + action decoder). The frozen |
| DM0.5 VLM is downloaded from the Hugging Face Hub on first use. |
|
|
| | Folder | Benchmark | Trained on | Parameters | Success rate (%) | |
| |---|---|---|---|---| |
| | `fastvla-robotwin/` | RoboTwin 2.0 | 27,500 demos (50 clean + 500 randomized per task) | 272M | 92.46 Clean / 92.40 Randomized | |
| | `fastvla-libero/` | LIBERO | 2,000 demos (Spatial / Object / Goal / Long) | 185M | 95.95 LIBERO / 79.11 LIBERO-Plus | |
|
|
| Each folder contains `model.safetensors`, `config.json`, `norm_stats.json` and `rope_tables.pt`. |
|
|
| ## Usage |
|
|
| ```bash |
| git clone https://github.com/Garfield-kh/FastVLA && cd FastVLA |
| hf download kehong/FastVLA-weights --local-dir checkpoints # or --include "fastvla-libero/*" |
| ``` |
|
|
| ```python |
| from fastvla.policy import FastVLAPolicy |
| |
| policy = FastVLAPolicy("checkpoints/fastvla-robotwin") |
| policy.reset() # start of an episode |
| actions = policy.act([head_rgb, left_wrist_rgb, right_wrist_rgb], joint_targets, |
| "Place the cans in the plastic box.") # (50, 14) |
| ``` |
|
|
| Installation, evaluation and training instructions are in the |
| [GitHub repository](https://github.com/Garfield-kh/FastVLA). |
|
|
| ## Citation |
|
|
| ```bibtex |
| @article{gong2026fastvla, |
| title = {Fast-VLA: You Only Think Once for Robot Manipulation}, |
| author = {Gong, Kehong and Hou, Guanli and Zheng, Xiaoxu and Wang, Qi and Xu, Mingxi and |
| Zhai, Anbang and He, Xiaoyu and Zhang, Mingyuan and Mi, Michael Bi}, |
| journal = {arXiv preprint arXiv:2610.21389}, |
| year = {2026} |
| } |
| ``` |
|
|
| ## License |
|
|
| The checkpoints are released under Apache-2.0. DM0.5, which the policy uses frozen, is |
| distributed separately under its own license. |
|
|
