Does SmolVLA run on XLeRobot?
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | works | ev-xlerobot-smolvla-doc, ev-hub-zonglin-smolvla, ev-hub-monozu-smolvla | |
| Real-robot inference | works with caveats | ev-xlerobot-smolvla-doc | |
| Simulation inference | no verified evidence | — | |
| Teleop + record | no verified evidence | — |
Caveats
- The documented SmolVLA workflow drives XLeRobot's arms as robot.type=bi_so101_follower using a community LeRobot fork (kahowang/lerobot); XLeRobot is not a drop-in LeRobot plugin.
Evidence 3 sources; the cell shows the highest tier
- T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
XLeRobot project docs: SmolVLA trained on ~20 episodes with a bimanual SO-101 three-camera setup, with real-robot demo GIFs (drawer pick-place, zipper opening).
“After training on **~20 episodes**, XLeRobot can:”
https://github.com/Vector-Wangel/XLeRobot/blob/b017b5e6354bd9f61f4247a920c72622ca0aade0/docs/en/source/software/getting_started/VLA_smol.md - T3 · community reportedhub-checkpointsource 2026-06-14verified 2026-10-24 (1d ago)
config.json type=smolvla; trained on zonglin11/xlerobot_fold_towel whose meta/info.json robot_type=xlerobot_2wheels.
https://huggingface.co/zonglin11/smolvla-xlerobot-fold-towel - T3 · community reportedhub-checkpointsource 2026-03-25verified 2026-10-24 (1d ago)
config.json type=smolvla; trained on monozu-deving/Xlerobot-grap-post-index4 whose meta/info.json robot_type=xlerobot_follower.
https://huggingface.co/monozu-deving/Xlerobot-grap-post-index4-v1
SmolVLA 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 | 2 @640x480 | 107.55 / 108.48 | 9.3 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 512x512; 10 denoising steps; latency is runtime-only over a pre-materialized observation ring. Whole-board RAM in use 1.78 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 | 2 | 189.89 / 190.93 | 5.25 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 7 graphs TensorRT / 2 CPU. System RAM 2385 MB in use. | T3 · community reported |
| Jetson Orin Nano 8GB (Super) | PyTorch eager | fp32 | 2 | 1167.93 / 1176.65 | 0.86 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 0.5.1conditionsboard: 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 SmolVLAPolicy in PyTorch FP32 (LeRobot 0.5.1 env, JetPack-matched torch). RSS peak 3826 MB, system RAM 4126 MB in use. | T3 · community reported |
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- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij