Hy-Embodied-0.5-VLA — LeRobot conversion
Byte-identical tensor conversion of
tencent/Hy-Embodied-0.5-VLA-UMI
at revision 3f53d1f8d2bc587c523cfdc9f1041ceee42c2524.
- Author runtime revision:
8ba4c8cbdf42a4bcf0a19be4bd2841405dfe15e9 - Model token horizon:
50 - Physical action horizon:
50 - Actions executed per sample:
50 - Image history:
1frames at interval1 - Action representation:
relative - 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. - One official BF16 forward/backward/SGD step had finite loss and gradients, 372,388,880 nonzero gradient elements, and a nonzero parameter update.
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.