{"_id":"6a5b67eaa5f7ad08cce9998e","id":"openbmb/MiniCPM-RobotManip","private":false,"pipeline_tag":"robotics","library_name":"transformers","tags":["transformers","safetensors","minicpm_vla","feature-extraction","vision-language-action","robotics","embodied-ai","minicpm","manipulation","custom_code","license:apache-2.0","region:us"],"downloads":58,"likes":154,"modelId":"openbmb/MiniCPM-RobotManip","author":"openbmb","sha":"29cb257541e9f96f493abe21174f8892e5dffe3f","lastModified":"2026-07-22T04:16:28.000Z","gated":false,"disabled":false,"model-index":null,"config":{"architectures":["MiniCPMV_VLA"],"model_type":"minicpm_vla","auto_map":{"AutoConfig":"configuration_minicpm_vla.MiniCPMVLAConfig","AutoModel":"modeling_minicpm_vla.MiniCPMV_VLA"},"tokenizer_config":{"bos_token":"<|im_start|>","eos_token":"<|im_end|>","pad_token":"<|endoftext|>","unk_token":"<unk>","chat_template":"{%- if enable_thinking is not defined -%}\n    {%- set enable_thinking = false -%}\n{%- endif -%}\n{%- macro render_content(content, is_system_content=false) -%}\n    {%- if content is string -%}\n        {{- content -}}\n    {%- elif content is iterable and content is not mapping -%}\n        {%- set ns = namespace(parts=[]) -%}\n        {%- for item in content -%}\n            {%- if 'image' in item or 'image_url' in item or item.type == 'image' -%}\n                {%- if is_system_content -%}\n                    {{- raise_exception('System message cannot contain images.') -}}\n                {%- endif -%}\n                {%- set ns.parts = ns.parts + ['<|image_pad|>'] -%}\n            {%- elif 'video' in item or item.type == 'video' -%}\n                {%- if is_system_content -%}\n                    {{- raise_exception('System message cannot contain videos.') -}}\n                {%- endif -%}\n                {%- set ns.parts = ns.parts + ['<|video_pad|>'] -%}\n            {%- elif 'text' in item -%}\n                {%- set ns.parts = ns.parts + [item.text] -%}\n            {%- else -%}\n                {{- raise_exception('Unexpected item type in content.') -}}\n            {%- endif -%}\n        {%- endfor -%}\n        {{- ns.parts | join('\\n') -}}\n    {%- elif content is none or content is undefined -%}\n        {{- '' -}}\n    {%- else -%}\n        {{- raise_exception('Unexpected content type.') -}}\n    {%- endif -%}\n{%- endmacro -%}\n{%- if not messages %}\n    {{- raise_exception('No messages provided.') }}\n{%- endif %}\n{%- if tools and tools is iterable and tools is not mapping %}\n    {{- '<|im_start|>system\\n' }}\n    {{- \"# Tools\\n\\nYou have access to the following functions:\\n\\n<tools>\" }}\n    {%- for tool in tools %}\n        {{- \"\\n\" }}\n        {{- tool | tojson }}\n    {%- endfor %}\n    {{- \"\\n</tools>\" }}\n    {{- '\\n\\nIf you choose to call a function ONLY reply in the following format with NO suffix:\\n\\n<tool_call>\\n<function=example_function_name>\\n<parameter=example_parameter_1>\\nvalue_1\\n</parameter>\\n<parameter=example_parameter_2>\\nThis is the value for the second parameter\\nthat can span\\nmultiple lines\\n</parameter>\\n</function>\\n</tool_call>\\n\\n<IMPORTANT>\\nReminder:\\n- Function calls MUST follow the specified format: an inner <function=...></function> block must be nested within <tool_call></tool_call> XML tags\\n- Required parameters MUST be specified\\n- You may provide optional reasoning for your function call in natural language BEFORE the function call, but NOT after\\n- If there is no function call available, answer the question like normal with your current knowledge and do not tell the user about function calls\\n</IMPORTANT>' }}\n    {%- if messages[0].role == 'system' %}\n        {%- set content = render_content(messages[0].content, true)|trim %}\n        {%- if content %}\n            {{- '\\n\\n' + content }}\n        {%- endif %}\n    {%- endif %}\n    {{- '<|im_end|>\\n' }}\n{%- else %}\n    {%- if messages[0].role == 'system' %}\n        {%- set content = render_content(messages[0].content, true)|trim %}\n        {{- '<|im_start|>system\\n' + content + '<|im_end|>\\n' }}\n    {%- endif %}\n{%- endif %}\n{%- set ns = namespace(multi_step_tool=true, last_query_index=messages|length - 1) %}\n{%- for message in messages[::-1] %}\n    {%- set index = (messages|length - 1) - loop.index0 %}\n    {%- if ns.multi_step_tool and message.role == \"user\" %}\n        {%- set content = render_content(message.content)|trim %}\n        {%- if not(content.startswith('<tool_response>') and content.endswith('</tool_response>')) %}\n            {%- set ns.multi_step_tool = false %}\n            {%- set ns.last_query_index = index %}\n        {%- endif %}\n    {%- endif %}\n{%- endfor %}\n{%- if ns.multi_step_tool %}\n    {{- raise_exception('No user query found in messages.') }}\n{%- endif %}\n{%- for message in messages %}\n    {%- set content = render_content(message.content)|trim %}\n    {%- if message.role == \"system\" %}\n        {%- if not loop.first %}\n            {{- raise_exception('System message must be at the beginning.') }}\n        {%- endif %}\n    {%- elif message.role == \"user\" %}\n        {{- '<|im_start|>' + message.role + '\\n' + content + '<|im_end|>' + '\\n' }}\n    {%- elif message.role == \"assistant\" %}\n        {%- set reasoning_content = '' %}\n        {%- if message.reasoning_content is string %}\n            {%- set reasoning_content = message.reasoning_content %}\n        {%- else %}\n            {%- if '</think>' in content %}\n                {%- set reasoning_content = content.split('</think>')[0].rstrip('\\n').split('<think>')[-1].lstrip('\\n') %}\n                {%- set content = content.split('</think>')[-1].lstrip('\\n') %}\n            {%- endif %}\n        {%- endif %}\n        {%- set reasoning_content = reasoning_content|trim %}\n        {%- if loop.index0 > ns.last_query_index %}\n            {{- '<|im_start|>' + message.role + '\\n<think>\\n' + reasoning_content + '\\n</think>\\n\\n' + content }}\n        {%- else %}\n            {{- '<|im_start|>' + message.role + '\\n' + content }}\n        {%- endif %}\n        {%- if message.tool_calls and message.tool_calls is iterable and message.tool_calls is not mapping %}\n            {%- for tool_call in message.tool_calls %}\n                {%- if tool_call.function is defined %}\n                    {%- set tool_call = tool_call.function %}\n                {%- endif %}\n                {%- if loop.first %}\n                    {%- if content|trim %}\n                        {{- '\\n\\n<tool_call>\\n<function=' + tool_call.name + '>\\n' }}\n                    {%- else %}\n                        {{- '<tool_call>\\n<function=' + tool_call.name + '>\\n' }}\n                    {%- endif %}\n                {%- else %}\n                    {{- '\\n<tool_call>\\n<function=' + tool_call.name + '>\\n' }}\n                {%- endif %}\n                {%- if tool_call.arguments is defined %}\n                    {%- for args_name, args_value in tool_call.arguments|items %}\n                        {{- '<parameter=' + args_name + '>\\n' }}\n                        {%- set args_value = args_value | tojson | safe if args_value is mapping or (args_value is sequence and args_value is not string) else args_value | string %}\n                        {{- args_value }}\n                        {{- '\\n</parameter>\\n' }}\n                    {%- endfor %}\n                {%- endif %}\n                {{- '</function>\\n</tool_call>' }}\n            {%- endfor %}\n        {%- endif %}\n        {{- '<|im_end|>\\n' }}\n    {%- elif message.role == \"tool\" %}\n        {%- if loop.previtem and loop.previtem.role != \"tool\" %}\n            {{- '<|im_start|>user' }}\n        {%- endif %}\n        {{- '\\n<tool_response>\\n' }}\n        {{- content }}\n        {{- '\\n</tool_response>' }}\n        {%- if not loop.last and loop.nextitem.role != \"tool\" %}\n            {{- '<|im_end|>\\n' }}\n        {%- elif loop.last %}\n            {{- '<|im_end|>\\n' }}\n        {%- endif %}\n    {%- else %}\n        {{- raise_exception('Unexpected message role.') }}\n    {%- endif %}\n{%- endfor %}\n{%- if add_generation_prompt %}\n    {{- '<|im_start|>assistant\\n' }}\n    {%- if enable_thinking is defined and enable_thinking is false %}\n        {{- '<think>\\n\\n</think>\\n\\n' }}\n    {%- else %}\n        {{- '<think>\\n' }}\n    {%- endif %}\n{%- endif %}\n"},"chat_template_jinja":"{%- if enable_thinking is not defined -%}\n    {%- set enable_thinking = false -%}\n{%- endif -%}\n{%- macro render_content(content, is_system_content=false) -%}\n    {%- if content is string -%}\n        {{- content -}}\n    {%- elif content is iterable and content is not mapping -%}\n        {%- set ns = namespace(parts=[]) -%}\n        {%- for item in content -%}\n            {%- if 'image' in item or 'image_url' in item or item.type == 'image' -%}\n                {%- if is_system_content -%}\n                    {{- raise_exception('System message cannot contain images.') -}}\n                {%- endif -%}\n                {%- set ns.parts = ns.parts + ['<|image_pad|>'] -%}\n            {%- elif 'video' in item or item.type == 'video' -%}\n                {%- if is_system_content -%}\n                    {{- raise_exception('System message cannot contain videos.') -}}\n                {%- endif -%}\n                {%- set ns.parts = ns.parts + ['<|video_pad|>'] -%}\n            {%- elif 'text' in item -%}\n                {%- set ns.parts = ns.parts + [item.text] -%}\n            {%- else -%}\n                {{- raise_exception('Unexpected item type in content.') -}}\n            {%- endif -%}\n        {%- endfor -%}\n        {{- ns.parts | join('\\n') -}}\n    {%- elif content is none or content is undefined -%}\n        {{- '' -}}\n    {%- else -%}\n        {{- raise_exception('Unexpected content type.') -}}\n    {%- endif -%}\n{%- endmacro -%}\n{%- if not messages %}\n    {{- raise_exception('No messages provided.') }}\n{%- endif %}\n{%- if tools and tools is iterable and tools is not mapping %}\n    {{- '<|im_start|>system\\n' }}\n    {{- \"# Tools\\n\\nYou have access to the following functions:\\n\\n<tools>\" }}\n    {%- for tool in tools %}\n        {{- \"\\n\" }}\n        {{- tool | tojson }}\n    {%- endfor %}\n    {{- \"\\n</tools>\" }}\n    {{- '\\n\\nIf you choose to call a function ONLY reply in the following format with NO suffix:\\n\\n<tool_call>\\n<function=example_function_name>\\n<parameter=example_parameter_1>\\nvalue_1\\n</parameter>\\n<parameter=example_parameter_2>\\nThis is the value for the second parameter\\nthat can span\\nmultiple lines\\n</parameter>\\n</function>\\n</tool_call>\\n\\n<IMPORTANT>\\nReminder:\\n- Function calls MUST follow the specified format: an inner <function=...></function> block must be nested within <tool_call></tool_call> XML tags\\n- Required parameters MUST be specified\\n- You may provide optional reasoning for your function call in natural language BEFORE the function call, but NOT after\\n- If there is no function call available, answer the question like normal with your current knowledge and do not tell the user about function calls\\n</IMPORTANT>' }}\n    {%- if messages[0].role == 'system' %}\n        {%- set content = render_content(messages[0].content, true)|trim %}\n        {%- if content %}\n            {{- '\\n\\n' + content }}\n        {%- endif %}\n    {%- endif %}\n    {{- '<|im_end|>\\n' }}\n{%- else %}\n    {%- if messages[0].role == 'system' %}\n        {%- set content = render_content(messages[0].content, true)|trim %}\n        {{- '<|im_start|>system\\n' + content + '<|im_end|>\\n' }}\n    {%- endif %}\n{%- endif %}\n{%- set ns = namespace(multi_step_tool=true, last_query_index=messages|length - 1) %}\n{%- for message in messages[::-1] %}\n    {%- set index = (messages|length - 1) - loop.index0 %}\n    {%- if ns.multi_step_tool and message.role == \"user\" %}\n        {%- set content = render_content(message.content)|trim %}\n        {%- if not(content.startswith('<tool_response>') and content.endswith('</tool_response>')) %}\n            {%- set ns.multi_step_tool = false %}\n            {%- set ns.last_query_index = index %}\n        {%- endif %}\n    {%- endif %}\n{%- endfor %}\n{%- if ns.multi_step_tool %}\n    {{- raise_exception('No user query found in messages.') }}\n{%- endif %}\n{%- for message in messages %}\n    {%- set content = render_content(message.content)|trim %}\n    {%- if message.role == \"system\" %}\n        {%- if not loop.first %}\n            {{- raise_exception('System message must be at the beginning.') }}\n        {%- endif %}\n    {%- elif message.role == \"user\" %}\n        {{- '<|im_start|>' + message.role + '\\n' + content + '<|im_end|>' + '\\n' }}\n    {%- elif message.role == \"assistant\" %}\n        {%- set reasoning_content = '' %}\n        {%- if message.reasoning_content is string %}\n            {%- set reasoning_content = message.reasoning_content %}\n        {%- else %}\n            {%- if '</think>' in content %}\n                {%- set reasoning_content = content.split('</think>')[0].rstrip('\\n').split('<think>')[-1].lstrip('\\n') %}\n                {%- set content = content.split('</think>')[-1].lstrip('\\n') %}\n            {%- endif %}\n        {%- endif %}\n        {%- set reasoning_content = reasoning_content|trim %}\n        {%- if loop.index0 > ns.last_query_index %}\n            {{- '<|im_start|>' + message.role + '\\n<think>\\n' + reasoning_content + '\\n</think>\\n\\n' + content }}\n        {%- else %}\n            {{- '<|im_start|>' + message.role + '\\n' + content }}\n        {%- endif %}\n        {%- if message.tool_calls and message.tool_calls is iterable and message.tool_calls is not mapping %}\n            {%- for tool_call in message.tool_calls %}\n                {%- if tool_call.function is defined %}\n                    {%- set tool_call = tool_call.function %}\n                {%- endif %}\n                {%- if loop.first %}\n                    {%- if content|trim %}\n                        {{- '\\n\\n<tool_call>\\n<function=' + tool_call.name + '>\\n' }}\n                    {%- else %}\n                        {{- '<tool_call>\\n<function=' + tool_call.name + '>\\n' }}\n                    {%- endif %}\n                {%- else %}\n                    {{- '\\n<tool_call>\\n<function=' + tool_call.name + '>\\n' }}\n                {%- endif %}\n                {%- if tool_call.arguments is defined %}\n                    {%- for args_name, args_value in tool_call.arguments|items %}\n                        {{- '<parameter=' + args_name + '>\\n' }}\n                        {%- set args_value = args_value | tojson | safe if args_value is mapping or (args_value is sequence and args_value is not string) else args_value | string %}\n                        {{- args_value }}\n                        {{- '\\n</parameter>\\n' }}\n                    {%- endfor %}\n                {%- endif %}\n                {{- '</function>\\n</tool_call>' }}\n            {%- endfor %}\n        {%- endif %}\n        {{- '<|im_end|>\\n' }}\n    {%- elif message.role == \"tool\" %}\n        {%- if loop.previtem and loop.previtem.role != \"tool\" %}\n            {{- '<|im_start|>user' }}\n        {%- endif %}\n        {{- '\\n<tool_response>\\n' }}\n        {{- content }}\n        {{- '\\n</tool_response>' }}\n        {%- if not loop.last and loop.nextitem.role != \"tool\" %}\n            {{- '<|im_end|>\\n' }}\n        {%- elif loop.last %}\n            {{- '<|im_end|>\\n' }}\n        {%- endif %}\n    {%- else %}\n        {{- raise_exception('Unexpected message role.') }}\n    {%- endif %}\n{%- endfor %}\n{%- if add_generation_prompt %}\n    {{- '<|im_start|>assistant\\n' }}\n    {%- if enable_thinking is defined and enable_thinking is false %}\n        {{- '<think>\\n\\n</think>\\n\\n' }}\n    {%- else %}\n        {{- '<think>\\n' }}\n    {%- endif %}\n{%- endif %}\n"},"cardData":{"license":"apache-2.0","library_name":"transformers","pipeline_tag":"robotics","tags":["vision-language-action","robotics","embodied-ai","minicpm","manipulation"]},"transformersInfo":{"auto_model":"AutoModel","custom_class":"modeling_minicpm_vla.MiniCPMV_VLA","pipeline_tag":"feature-extraction"},"siblings":[{"rfilename":".gitattributes"},{"rfilename":"README.md"},{"rfilename":"X_logo.jpg"},{"rfilename":"action_head.py"},{"rfilename":"chat_template.jinja"},{"rfilename":"config.json"},{"rfilename":"configuration_minicpm_vla.py"},{"rfilename":"discord.jpeg"},{"rfilename":"discord_logo.png"},{"rfilename":"feishu_logo.png"},{"rfilename":"generation_config.json"},{"rfilename":"github_logo.png"},{"rfilename":"manip_benchmark.png"},{"rfilename":"manip_case_en.gif"},{"rfilename":"model.safetensors"},{"rfilename":"modeling_minicpm_vla.py"},{"rfilename":"modelscope_logo.png"},{"rfilename":"preprocessor_config.json"},{"rfilename":"tokenizer.json"},{"rfilename":"tokenizer_config.json"},{"rfilename":"x.png"}],"spaces":[],"createdAt":"2026-07-18T11:47:54.000Z","safetensors":{"parameters":{"F32":235809280,"BF16":1300428016},"total":1536237296},"usedStorage":3595873715}