Does X-VLA run on OpenArm?

partial

T3 · community reportedlast verified 2026-10-25 · todayLeRobot

Scope: Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source.

Capabilities

Capability	State	Evidence
Train / fine-tune	works	ev-hub-leapshared-xvla
Real-robot inference	no verified evidence	—
Simulation inference	no verified evidence	—
Teleop + record	no verified evidence	—

Evidence 1 source; the cell shows the highest tier

T3 · community reportedhub-checkpointsource 2026-09-02verified 2026-10-25 (today)
config.json type=xvla (init lerobot/xvla-base); train_config.json dataset leapshared/Incline_new_20260902_203009 (20000 steps), whose meta/info.json robot_type=bi_openarm_follower (60 episodes). Card explains the required camera rename map; no rollout results.
https://huggingface.co/leapshared/Incline_new_60epi

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 10.16.2.10 conditions board: 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) conditions board: 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 0.6.1 conditions board: 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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History

No committed history yet. Source file: data/compat/openarm__xvla.yaml