Lusmse/capstone-vla-checkpoints

Capstone VLA Checkpoints

Training checkpoints for VLA models trained on a pouring task using a KuavoV4Pro humanoid robot.

Models

gr00t/

• 80_20
• 90_10
• runReal

Pipeline

1. Teleoperation recording — Isaac Lab + ROS ZeroMQ bridge (34 DOF)
2. Synthetic data generation — Isaac Lab Mimic
3. Photorealistic augmentation — NVIDIA Cosmos Transfer 2.5
4. VLA training — gr00t n1.6 · pi0.5 · Diffusion Policy

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