Hy-Embodied-0.5-VLA — LeRobot conversion
Byte-identical tensor conversion of
tencent/Hy-Embodied-0.5-VLA-RoboTwin
at revision bd7bba6f5934ad62293a2a34f74760c6a3ef2ff8.
- Author runtime revision:
8ba4c8cbdf42a4bcf0a19be4bd2841405dfe15e9 - Model token horizon:
40 - Physical action horizon:
20 - Actions executed per sample:
7 - Image history:
6frames at interval5 - Action representation:
relative_absolute - Euler inference steps:
10 - Padded state/action width:
32/32 - Tensor mapping: identity (1628 tensors)
The runtime consumes an already-selected LeRobot task string and never
samples task augmentation text. norm_stats.pkl is retained for provenance;
normalization is loaded at runtime from safe serialized processor state.
Validation
- Strict load,
save_pretrained, and strict reload passed with all 1,628 tensors mapped and no missing, unexpected, duplicate, or shape-mismatched tensors. - Full author-vs-LeRobot forward parity passed for batch sizes 1 and 2.
Images, masks, tokens, state/targets, training velocity/loss, every velocity
from the 10-step Euler sampler, the complete 11-state trajectory, and final
sampled actions all had max, p95, and p99 error
0.0. - Final relative, absolute, and blended 16D RoboTwin actions had scalar and
rotation-matrix max/p95 error
0.0. - On the pinned first-six-task RoboTwin quick protocol, the author wrapper scored 60/60. LeRobot scored 53/54 completed episodes; conservatively counting one native-planner hang as a failure gives 53/55 (96.36%) versus the matched author subset's 55/55, a 3.64-percentage-point delta.
Limitation
This policy supports the released 16D dual-arm pose/gripper embodiment only. A 12D mobile-manipulator action contains base semantics that the released 20D dual-arm representation cannot express and is rejected rather than silently truncated or reinterpreted.