airvla_ftdki_5000

hanapasta/airvla_ftdki_5000

airvla_ftdki_5000 is a robotics model from hanapasta. Use it for the robotics task on the model card, and read the license before you ship it in a product. The card lists the license as mit.

Knowledge-insulated variant of FT-D: the VLM backbone is frozen during fine-tuning. Recovers approach precision and navigation but only part of FT-C's grounding.

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From the Hugging Face model README

AirVLA FT-D-KI (pi0, step 5000, frozen backbone)

Knowledge-insulated variant of FT-D: the VLM backbone is frozen during fine-tuning. Recovers approach precision and navigation but only part of FT-C's grounding.

Part of the AirVLA MSc dissertation campaign: adapting a pretrained pi0 vision-language-action policy to a quadcopter with a 2-DoF arm and parallel gripper, evaluated in MuJoCo 3.3.4.

Property	Value
Base model	`lerobot/pi0`
Training data	`hanapasta/airvla_v22 (v2 + F1 + F2)`
Initialised from	FT-C, VLM backbone frozen
Training steps	5,000
Checkpoint selection	lowest pinned-noise validation MSE over the saved ladder

Frozen-protocol result (n = 60 pick + 20 navigation, paired scenes)

0/60 grasped - 43/60 correct-target - 117.8 mm median (88.2 mm target-true, best pure-policy precision at the time) - 12/20 navigation.

Usage

Evaluated with the frozen harness eval_v2.py from the code repository:

python eval_v2.py <this_checkpoint> 60 20 --torchseed 1000 --tag run --video

Code, reproduction guide and the full experimental ledger: https://github.com/robotics-hana/drone-version2

Evaluation uses MuJoCo 3.3.4; a different simulator version changes contact behaviour enough to invalidate comparison with the banked results.

Task: Robotics
License: mit
Created: Sep 18, 2026
Updated: Sep 18, 2026