VLA-HAND baselines
Checkpoints of the two external baselines trained against V4 in the VLA-HAND project. Both were trained and tested on the same three domains (GigaHands, OakInk2, TACO), splits, normalisation statistics and test protocol as V4. Each is the checkpoint with the lowest validation loss, the one all reported test numbers come from.
| folder | model | init | action space | step | license |
|---|---|---|---|---|---|
vitra_original/ |
PaliGemma2-3B + DiT/DDPM action head (VITRA) | VITRA-VLA/VITRA-VLA-3B |
MANO joint angles | 10,000 | Gemma Terms of Use, see vitra_original/NOTICE.md |
smolvla_official/ |
SmolVLA (LeRobot SmolVLAPolicy) |
SmolVLM2-500M | 21-keypoint hand pose | 18,000 | Apache-2.0 |
Test results
Test split, the first 8 control steps of each test window, three domains pooled. Wrist translation in cm, wrist rotation in degrees (geodesic), fingers in cm; lower is better.
| model | wrist translation | wrist rotation | fingers |
|---|---|---|---|
| SmolVLA | 0.7518 | 3.6235 | 1.0094 |
| VITRA | 1.0298 | 4.7789 | 1.7933 |
VITRA predicts joint angles, so its finger error is measured after MANO forward kinematics and includes an FK floor that SmolVLA does not have. The finger columns are not directly comparable.
Files
Each folder holds best.pt and training_config.json, the run config stored inside the
checkpoint (its paths refer to the training machine). best.pt is a torch.save dict with:
step, model (state dict), config, val (validation metrics at that step), and
action_mean / action_std, the normalisation statistics the model was trained with.
There is no optimiser state.
Code
Training and test code: https://github.com/kaichen-z/VLA-HAND/tree/Kai_final/yuzhench_distill_editor/baselines
(commit baee56f). Load with the matching package's Model and load_pretrained(path).
Full T-ReX human-action checkpoint
model/trex_full_egotouch contains all inference weights, the processor, and standalone loading code.
No separate upstream checkpoint download is required. This is the no-touch EgoTouch adaptation, not native tactile T-ReX.
Its checkpoint uses human_trex.full.v1, not the legacy baseline format described above.