美的 AI 研究院 等（DexVLA 团队）
DexVLA
3B Non-commercial 8/8 verified
Facts
- Released
- 2025-02 1 Source
- Parameters
- 3 B 0 Source
- Architecture
- VLM + action expert 0 Source
- License
- 代码 MIT；ScaleDP 预训练权重模型卡标 CC BY-NC 4.0 2 Source
- Commercial
- Non-commercial 0 Source
- Weights
- huggingface.co ↗ 1 Source
- Code
- github.com ↗ 1 Source
- Paper
- arxiv.org ↗ 0 Source
- Input modalities
- rgb · language · state 0 Source
- Action space
- 双臂 / 灵巧手关节（扩散） 0 Source
- Cross-embodiment
- ALOHA 脚本、AgileX 评测；README 未列训练小时数 0 Source
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Dual arm · form.dexterous_hand 0 Source
Architecture · Qwen2-VL-2B 主干 + 插件式 ScaleDP 扩散专家（1B 或 410M）
Sources · 2 sources
release_date,arch_notes,license,code_url https://github.com/juruobenruo/DexVLA Official page · Fetched 2026-09-05 · No snapshot stored yet README：2025-02-17 发布；Qwen2-VL-2B + 1B ScaleDP（另有 410M）；MIT LICENSE 文件
weights_url,license https://huggingface.co/api/models/lesjie/scale_dp_h Model hub page · Fetched 2026-09-05 · No snapshot stored yet 模型卡 license: cc-by-nc-4.0；createdAt 2025-02-24
Tutorials
No tutorial yet. First one planned: running this model on a rented RTX 4090 with a measured latency report.
Record history
2026-09-05
Sources fetched
release_date,arch_notes,license,code_url · weights_url,license
Latency & cost
cost = p50 ms ÷ 1000 × rental ÷ 3600 × 1000
| Hardware | p50 ms | p95 ms | Peak VRAM | Cost per 1k inferences ¥ | samples |
|---|---|---|---|---|---|
NVIDIA RTX 4090 ¥1.68/h · 共绩算力 (2026) | — | — | — | — no latency data | No data |
NVIDIA RTX 5090 ¥2.4/h · 润云 2.4 / 共绩 2.5 / 并行智算云 2.98 (2026) | — | — | — | — no latency data | No data |
NVIDIA A100 80GB no rental price | — | — | — | — no latency data | No data |
NVIDIA Jetson AGX Thor no rental price | — | — | — | — no latency data | No data |
NVIDIA H100 80GB no rental price | — | — | — | — no latency data | No data |
No latency measurements for this model yet · Data comes from literature, maintainer runs, or crowd CLI uploads. None exist so far.
Compatibility
Colored only where we hold evidence. An amber dot means the vendor declares this form as a target; that is a claim, not a verified compatibility.
| Unitree G1 | Unitree H1 | 智元 精灵 G1 | 松灵 Piper 机械臂 | SO-101 | Franka FR3 / Panda | Fourier GR-2 | WidowX 250 S | Google Robot（Everyday Robots） | ALOHA 2 / Cobot Magic（双臂） | Galaxea R1 Pro | Franka Emika Panda | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DexVLA |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 3 / 12 cells with a definite status
Clear direction, grounded judgement.