τ₀-VLA Proposal

The high-level planner of τ₀-VLA. It combines a task instruction, head and wrist camera images, and task memory to propose the next robot subtask.

This repository contains the complete Qwen3.5-9B model weights, tokenizer, and processor. full_qa returns scene reasoning, updated memory, and a subtask; subtask_only returns the next subtask as text.

hf download sii-research/tau-0-vla-proposal --local-dir weights/proposal

Use the Proposal guide for installation, three-camera inference, HTTP serving, and fine-tuning. The model uses camera order head → left → right. Supply your observations and inspect whether the proposed action fits the scene and task.

The world-model adapter generates goal images from an observation and subtask. File checksums are recorded in weights_manifest.json.

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