---
license: apache-2.0
library_name: lerobot
pipeline_tag: robotics
datasets:
- RobotControlStack/duobench
base_model:
- lerobot/xvla-base
tags:
- duobench
- bimanual
- manipulation
- simulation
- xvla
---

# DuoBench X-VLA (sim)

X-VLA policy for the bimanual FR3 Duo setup of [DuoBench](https://arxiv.org/abs/2606.11901), trained on simulation data only for all 11 DuoBench sim tasks (one multi-task policy).
Fine-tuned from [`lerobot/xvla-base`](https://huggingface.co/lerobot/xvla-base) with [LeRobot](https://github.com/huggingface/lerobot) on the [DuoBench dataset](https://huggingface.co/datasets/RobotControlStack/duobench).

Project page: https://duobench.github.io/
DuoBench Code: https://github.com/RobotControlStack/duobench

## Training
- Data: 50 demonstrations per task from the `<task>/sim` folders of [RobotControlStack/duobench](https://huggingface.co/datasets/RobotControlStack/duobench) (all tasks merged)
- Inputs: `head`, `left_wrist` and `right_wrist` cameras (224x224) and the 16-D state (2 x 7 joints + 2 grippers); output: 16-D joint and gripper action
- 40,000 steps, batch size 48, learning rate 1e-4, action chunk 30, seed 1000
- LeRobot commit [`c8ce413d`](https://github.com/huggingface/lerobot/tree/c8ce413d738da15a2eed2d0832315779ea28cbf9); the full configuration is in `train_config.json`

## Results
Success rate (%) in DuoBench simulation over 300 rollouts per task (seeds 0-299) with a Wilson 95% interval.

| Task | Success | 95% CI |
|---|---|---|
| ball_maze | 2.0 | [0.9, 4.3] |
| bin_sort | 1.0 | [0.3, 2.9] |
| block_balance | 0.0 | [0.0, 1.3] |
| carry_pot | 12.3 | [9.1, 16.5] |
| hinge_chest | 12.0 | [8.8, 16.2] |
| join_blocks | 0.0 | [0.0, 1.3] |
| pour_marbles | 0.0 | [0.0, 1.3] |
| spring_door | 13.7 | [10.2, 18.0] |
| transfer_cube | 9.3 | [6.5, 13.2] |
| transfer_gate | 26.3 | [21.7, 31.6] |
| transfer_reorient | 0.0 | [0.0, 1.3] |
| **mean** | **7.0** | |

## Usage
```python
# LeRobot at commit c8ce413d
from lerobot.policies.xvla.modeling_xvla import XVLAPolicy

policy = XVLAPolicy.from_pretrained("RobotControlStack/duobench-xvla-sim")
```
See the [DuoBench code](https://github.com/RobotControlStack/duobench) for the simulation environments and evaluation.

## Limitations
- Trained on simulation data only; not meant for the real robot.
- Loading needs a LeRobot version compatible with the commit above.

## Citation
If you find this model or DuoBench useful for your work, please consider citing it:
```
@misc{duobench,
  title={{DuoBench}: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World},
  author={Tobias J{\"u}lg and Seongjin Bien and Simon Hilber and Yannik Blei and Pierre Krack and Maximilian Li and Sven Parusel and Rudolf Lioutikov and Florian Walter and Wolfram Burgard},
  year={2026},
  url={https://arxiv.org/abs/2606.11901}
}
```