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URIS_TurboVLA_PiPER
MikeWu597/URIS_TurboVLA_PiPER
URIS_TurboVLA_PiPER is a robotics model from MikeWu597. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for piper.
TurboVLA在PiPER真机遥操数据上微调 10000 步的权重。 基座为 MikeWu597/URISTurboVLAPretrained， 代码采用 H-EmbodVis/TurboVLA。
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853 MB on disk
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.safetensors853 MB · 100%
At a glance
- Task
- Robotics
- Library
- piper
- Access
- Public
- Created
- Aug 4, 2026
- Updated
- Aug 4, 2026
- SHA
- 253d835f
Base models
Model card
From the Hugging Face model README
URIS_TurboVLA_PiPER
TurboVLA在PiPER真机遥操数据上微调 10000 步的权重。 基座为 MikeWu597/URIS_TurboVLA_Pretrained， 代码采用 H-EmbodVis/TurboVLA。
文件
| 文件 | 说明 |
|---|---|
model.safetensors | FP32主权重，106.6M 参数（DINOv3 ViT-B 85.7M + 策略头 20.9M） |
ema_model.safetensors | EMA版本的主权重（decay=0.999） |
config.json | 模型结构超参 + 微调配置 + 7 条任务指令 |
piper_stats.json | 动作/状态归一化统计 |
piper_bert_text_cache.pt | 任务指令缓存 |
loss_curve.png | 微调 loss 曲线（10k 步） |
微调配置
数据采用piper_orbbec_lerobot_joint（LeRobot v2.0）350 episodes，冻结 DINOv3，batch 32 * accum 2（effective 64），lr 2e-5（warmup 500），10k 步
加载方式
import torch
from safetensors.torch import load_file
from turbovla.models.turbovla import build_turbovla
class A: # 与 config.json 一致
LOCAL_DINOV3_PATH = "/path/to/dinov3-vitb16-hf"
text_hidden_dim = 768; hidden_dim = 256; nheads = 8
dim_feedforward = 2048; enhancer_inner_dim = 1024; max_text_len = 256
vla_feature_enhancer_layers = 6; action_dim = 7; chunk_size = 12
state_dim = 8; num_state_tokens = 2
text_dropout = 0.0; fusion_dropout = 0.0; fusion_droptath = 0.1
local_files_only = True; freeze_vision_encoder = True
model = build_turbovla(A())
model.load_state_dict(load_file("model.safetensors"))
model.eval()
- Task
- Robotics
- Library
- piper
- Created
- Aug 4, 2026
- Updated
- Aug 4, 2026