| --- |
| license: mit |
| tags: |
| - robotics |
| - vla |
| - manipulation |
| - sim-to-real |
| --- |
| |
| # 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 |
|
|
| --- |
| _Auto-generated by `upload_checkpoints_v2.py`_ |
