---
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

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_Auto-generated by `upload_checkpoints_v2.py`_