ServoVLA/ServoVLA-LIBERO

ServoVLA LIBERO

ServoVLA policy for LIBERO-40 simulation. This release contains the EMA policy head from training step 1,190,000 and the action normalization statistics saved with that run.

Model Contract

• Benchmark: LIBERO-40 (libero_10, libero_spatial, libero_object, libero_goal)
• Action space: 7-dimensional direct environment action
• State space: 8-dimensional LIBERO proprioception
• Cameras: observation.images.image, observation.images.image2
• Action chunk: 16 steps
• Inference steps: 3
• Vision encoder: facebook/dinov3-vitb16-pretrain-lvd1689m
• Language encoder: Qwen/Qwen3.5-0.8B
• Weights: EMA (used_ema=true)
• Action normalization: enabled, per-horizon dimension, 16 x 7 statistics

Evaluation

The selected checkpoint was evaluated on the fixed LIBERO-40 four-suite protocol with 30 episodes per task, 1,200 episodes total:

• Overall balanced success rate: 78.0%
• libero_10: 79.0%
• libero_spatial: 75.0%
• libero_object: 84.33%
• libero_goal: 73.67%

Three additional 50-episode-per-task evaluations with different seeds produced overall balanced success rates of 75.6%, 79.15%, and 69.25% (mean 75.95%). Rollouts used relative LIBERO environment control, open-loop 16-step chunks, and observed maximum frame delay 0 in the reported runs.

Files

• model.safetensors: LeRobot-compatible EMA policy weights.
• config.json: ServoVLA policy configuration.
• policy_preprocessor.json and policy_postprocessor.json: LeRobot processor configuration.
• checkpoint.pt: cleaned ServoVLA checkpoint containing model_state, ema_state, step, and action_normalization only.

The checkpoint is weights-only for inference and fresh initialization. Optimizer, scheduler, W&B, and resume-training state are intentionally absent.

Usage

Use this directory with the ServoVLA LIBERO evaluation entry points. The LIBERO camera keys, state ordering, action dimensions, and direct-action semantics must match the model contract above. This policy is not compatible with SO101 robot observations or the SO101 delta-action contract.

License

ServoVLA is released under the MIT License. The vision and language encoders and the LIBERO benchmark assets are subject to their respective upstream licenses and terms.