Adaptive-Machine-Patterns/amp-tadpole-lerobot

AMP Tadpole for LeRobot

The weights of AMP Tadpole v0.2.0 in LeRobot's format, for the tadpole policy type from lerobot-policy-tadpole.

AMP Tadpole is a small vision-language-action model (6.5M parameters) that drives a six-joint arm from three fixed camera images, the arm's state and a plain-English instruction, trained from scratch on the AMP Toy Robotics Benchmark (93.7% of instructions on its 300 held-out scenes). Its results, training, limitations and credits are on the main model card.

Try it in your browser: the AMP Embodied AI Workbench Demo.

Use

pip install git+https://github.com/Adaptive-Machine-Patterns/lerobot-policy-tadpole

from lerobot_policy_tadpole import TadpolePolicy, make_tadpole_pre_post_processors

policy = TadpolePolicy.from_pretrained("Adaptive-Machine-Patterns/amp-tadpole-lerobot")
pre, post = make_tadpole_pre_post_processors(policy.config)

or --policy.path=Adaptive-Machine-Patterns/amp-tadpole-lerobot with LeRobot's tools.

What is in it

The same network and weights as the main repository's v0.2.0 (step 330,000), and it gives the same answers: checked on 36 held-out observations through LeRobot's own processors, with no difference. Two parts used only in training are kept, so it can be fine-tuned: the head with which each image token redraws its patch, and the "no state" token. That makes 6,557,191 parameters. The word table holds the 32 tokens of the benchmark's instructions, plus one shared row for any other word.

Licence

Free for non-commercial use under CC BY-NC 4.0 (see LICENSE and NOTICE). For commercial use, licences are available from Adaptive Machine Patterns Ltd: adaptive-machine-patterns.com/embodied-ai-workbench or amp@adaptive-machine-patterns.com. The plugin's code is Apache-2.0.

No warranty. Provided "as is", without warranty of any kind (sections 5 and 6 of the licence). Not suitable for controlling real machinery.

LeRobot is a Hugging Face project; its mention implies no endorsement.

© 2026 Adaptive Machine Patterns Ltd, registered in England & Wales, no. 15618869.