---
license: apache-2.0
tags:
- robotics
- vla
- vision-language-action
- openvla
- nut_thread
- sim
pipeline_tag: robotics
---
# FIRe-VLA-OpenVLA-NutThread-Sim

<!-- TODO: FIRe project one-line description and paper/code links -->

A **OpenVLA** vision-language-action policy fine-tuned for the **Nut threading** contact-rich
robotic assembly task (**Sim** domain), part of the FIRe model suite.

- **Framework:** OpenVLA
- **Task:** Nut threading (`nut_thread`)
- **Domain:** Sim
- **Checkpoint:** inference-ready (20000 steps)

## Usage

```python
# Requires the OpenVLA-OFT codebase: https://github.com/moojink/openvla-oft
from transformers import AutoModelForVision2Seq, AutoProcessor

repo = "bhe1004/FIRe-VLA-OpenVLA-NutThread-Sim"
processor = AutoProcessor.from_pretrained(repo, trust_remote_code=True)
model = AutoModelForVision2Seq.from_pretrained(repo, trust_remote_code=True)
# OFT extras bundled in the repo: action_head, proprio_projector,
# lora_adapter, dataset_statistics.json
```

## Related
- Training data: [`bhe1004/FIRe-VLA-OpenVLA-NutThread-Sim`](https://huggingface.co/datasets/bhe1004/FIRe-VLA-OpenVLA-NutThread-Sim)