Does X-VLA run on ROBOTIS OMX?
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | works | ev-hub-mingminng-xvla-omx, ev-hub-mingminng-xvla-omx-2, ev-hub-imstevenpmwork-xvla-omx | |
| Real-robot inference | works with caveats | Remote-inference hardware rollouts (pause/resume, starvation recovery, DAgger-style recording) per LeRobot main docs and PR #4937; no success metrics. | ev-lerobot-main-remote-readme, ev-lerobot-main-remote-guide, ev-lerobot-pr-4937 |
| Simulation inference | no verified evidence | — | |
| Teleop + record | no verified evidence | — |
Caveats
- Physical-run evidence is post-0.6.1, unreleased LeRobot main (remote-inference docs, PR #4937); no released LeRobot version documents it.
- The upstream support table names the checkpoint (imstevenpmwork/xvla_super_chatton_2), not the robot; OMX comes from that checkpoint's training dataset (robot_type=omx_follower) and from the PR's 'OMX/XVLA checks' hardware note.
- Upstream notes X-VLA runs chunk-only through the remote-inference runner; no task success rate, trial count or latency is published.
Evidence 6 sources; the cell shows the highest tier
- T3 · community reportedhub-checkpointsource 2026-07-20verified 2026-10-25 (today)lerobot 0.6.1
config.json type=xvla (fine-tuned from lerobot/xvla-base, 10000 steps); train_config.json dataset imstevenpmwork/super_chatton whose meta/info.json robot_type=omx_follower (100 episodes, front + wrist cameras). Auto-generated card; its rollout command is a placeholder template.
https://huggingface.co/imstevenpmwork/xvla_super_chatton_2/blob/36fbf138211f3084e8bcd1c1c9a506ab522bb85d/README.md - T1 · upstream documentedofficial-docssource 2026-10-14verified 2026-10-25 (today)lerobot main@d3793b7e36522321c1c455f0dc4826db3793dceb
Post-0.6.1 (unreleased main) remote-inference reference: the policy-support table's 'Execution evidence' column lists imstevenpmwork/xvla_super_chatton_2 under Remote HW. It names the checkpoint, not the robot.
“Remote HW: `imstevenpmwork/xvla_super_chatton_2`.”
https://github.com/huggingface/lerobot/blob/d3793b7e36522321c1c455f0dc4826db3793dceb/src/lerobot/remote_inference/README.md - T1 · upstream documentedofficial-docssource 2026-10-14verified 2026-10-25 (today)lerobot main@d3793b7e36522321c1c455f0dc4826db3793dceb
Post-0.6.1 (unreleased main) remote-inference user guide: states XVLA checkpoints have run on real robots through the remote-inference path (robots not named).
“ACT, SmolVLA, XVLA, EVO1 and LaWAM checkpoints have run on real robots through this path.”
https://github.com/huggingface/lerobot/blob/d3793b7e36522321c1c455f0dc4826db3793dceb/docs/source/remote_inference.mdx - T3 · community reportedgithub-prsource 2026-10-13verified 2026-10-25 (today)lerobot main@ae2b57f12223c8c5184fcd814eb63cd9ce7de203
Remote-inference PR by imstevenpmwork (LeRobot collaborator; merged into main as ae2b57f, after v0.6.1) names OMX/XVLA for its hardware checks of pause/resume, starvation recovery and recording strategies.
“OMX/XVLA checks covered pause/resume, starvation recovery/expiry and Sentry, Highlight, Episodic and corrections-only DAgger recording; uploaded datasets and videos were inspected.”
https://github.com/huggingface/lerobot/pull/4937 - T3 · community reportedhub-checkpointverified 2026-10-24 (1d ago)
config.json type=xvla; train_config.json dataset Mingminng/omx_pick_color_motor_3 whose meta/info.json robot_type=omx_follower (60 episodes); fine-tuned from lerobot/xvla-base.
https://huggingface.co/Mingminng/xvla_omx_pick_color_motor_3_V1 - T3 · community reportedhub-checkpointverified 2026-10-24 (1d ago)
config.json type=xvla; train_config.json dataset Mingminng/omx_pick_motor7 whose meta/info.json robot_type=omx_follower (10 episodes); fine-tuned from lerobot/xvla-base.
https://huggingface.co/Mingminng/xvla_omx_pick_motor2
X-VLA inference speed by hardware robot-independent · inference cost only
| Compute | Runtime | Precision | Cams | p50 / p95 ms | Inference | Platform | Source |
|---|---|---|---|---|---|---|---|
| Jetson Orin Nano 8GB (Super) | TensorRT | fp16 | 3 @640x480 | 342.59 / 343.47 | 2.92 Hz | jetpack 7.2.1 · power_mode MAXN_SUPER, clocks pinned with jetson_clocks (GPU 1020 MHz, CPU 1728 MHz) · tensorrt 10.16.2.10conditionsboard: Jetson Orin Nano Engineering Reference Developer Kit Super (8 GB) · l4t: R39.2.1 · os: Ubuntu 24.04.4 LTS · python: 3.12.3 · desktop: running Inference cost only; not task success. 300 s run on synthetic 640x480 observations resized by the exported policy to 224x224; 10 denoising steps; latency is runtime-only over a pre-materialized observation ring. Whole-board RAM in use 3.04 GB (unified memory, desktop running). Actions were gated against the stock policy (cosine >= 0.99999) before timing. | T3 · community reported |
| Jetson Orin Nano 8GB (Super) | ONNX (split) | fp16 | 3 | 391.55 / 407.33 | 2.55 Hz | jetpack 7.2 (L4T R39.2.x, per the repo host-setup doc at this commit) · power_mode MAXN_SUPER, pinned clocks · cuda 13.2 · tensorrt 10.16.2 (system, via ONNX Runtime TensorRT EP)conditionsboard: Jetson Orin Nano Super 8 GB developer kit · os: Ubuntu 24.04 · onnxruntime-gpu: 1.24 Inference cost only; not task success. Deterministic synthetic observations, pinned MAXN_SUPER clocks. Configured EP priority 12 graphs TensorRT. System RAM 5395 MB in use. | T3 · community reported |
| Jetson Orin Nano 8GB (Super) | PyTorch eager | fp32 | 3 | 2313.5 / 2320.89 | 0.43 Hz | jetpack 7.2 (L4T R39.2.x, per the repo host-setup doc at this commit) · power_mode MAXN_SUPER, pinned clocks · cuda 13.2 · lerobot 0.6.1conditionsboard: Jetson Orin Nano Super 8 GB developer kit · os: Ubuntu 24.04 Inference cost only; not task success. Deterministic synthetic observations, pinned MAXN_SUPER clocks. Stock LeRobot X-VLA policy in PyTorch FP32 (LeRobot 0.6.1 env). At 30 Hz control the 30-step chunk is overrun (author's control-rate fit). System RAM 5450 MB in use. | T3 · community reported |
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