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Foundry-Qwen3VLA-2.1B
TRI-ML/Foundry-Qwen3VLA-2.1B
Foundry-Qwen3VLA-2.1B is a robotics model from TRI-ML. 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 vla-foundry. The card lists the license as apache-2.0.
A 2.1B parameter vision-language-action model for bimanual robotic manipulation, part of the VLA Foundry collection. Trained on both simulated and real-world manipulation data.
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At a glance
- Task
- Robotics
- Library
- vla-foundry
- License
- apache-2.0
- Access
- Public
- Created
- Apr 16, 2026
- Updated
- Apr 23, 2026
- SHA
- 33c63707
Model card
From the Hugging Face model README
Foundry-Qwen3VLA-2.1B
A 2.1B parameter vision-language-action model for bimanual robotic manipulation, part of the VLA Foundry collection. Trained on both simulated and real-world manipulation data.
Model Description
- Architecture: Qwen3-VL-2B-Thinking vision-language backbone + (condition on last 1 layer) flow-matching diffusion action head (24 layers, 1024 hidden dim, 16 heads)
- Parameters: 2.1B (non-embedding)
- Action space: 20-dim relative actions (bimanual xyz + 6D rotation + gripper)
- Cameras: 4 views (2 scene + 2 wrist)
- Training data: 100M samples from simulated and real-world bimanual manipulation tasks (with resample)
- VLM backbone: Qwen3-VL-2B-Thinking
Evaluation Results
Success rates on 16 seen tasks and 3 unseen tasks (200 rollouts per task):
| Simulator | Seen (16 tasks) | Unseen (3 tasks) |
|---|---|---|
| CS | 82.9% | 15.0% |
| OSS | 72.4% | 13.5% |
Usage
git clone https://github.com/TRI-ML/vla_foundry.git
cd vla_foundry
pip install -e .
from vla_foundry.models.base_model import BaseModel
model = BaseModel.from_pretrained("TRI-ML/Foundry-Qwen3VLA-2.1B")
Links
- Project page: tri-ml.github.io/vla_foundry
- Paper: VLA Foundry (arXiv 2604.19728)
- Code: github.com/TRI-ML/vla_foundry
- Collection: VLA Foundry collection
- Task
- Robotics
- Library
- vla-foundry
- License
- apache-2.0
- Created
- Apr 16, 2026
- Updated
- Apr 23, 2026