北京大学 EPIC 实验室 / 银河通用
GraspVLA
Non-commercial 7/8 verified
1 of 8 required fields are unverified. They are shown as badges, not filled with defaults. Sources for verified fields are listed below.
Facts
- Released
- 2025-07 1 Source
- Parameters
- Unverified 0 Source
- Architecture
- VLM + action expert 0 Source
- License
- CC BY-NC 4.0（代码徽章与模型卡一致） 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 0 Source
- Action space
- 抓取位姿 / 末端轨迹 0 Source
- Cross-embodiment
- 合成数据 SynGrasp-1B（240 类、1 万+ 物体） 1 Source
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Single arm 0 Source
Architecture · InternLM2-1.8B 语言 + DINOv2/SigLIP 视觉；十亿帧合成抓取数据 SynGrasp-1B 预训练
Sources · 2 sources
release_date,license,arch_notes,cross_embodiment,code_url https://github.com/PKU-EPIC/GraspVLA Official page · Fetched 2026-09-04 · No snapshot stored yet README：2025-07-25 模型发布；CC BY-NC 4.0；internlm2-1_8b + DINOv2/SigLIP；SynGrasp-1B
weights_url,license https://huggingface.co/api/models/vegebirrd/GraspVLA Model hub page · Fetched 2026-09-04 · No snapshot stored yet 模型卡 license: cc-by-nc-4.0
Tutorials
No tutorial yet. First one planned: running this model on a rented RTX 4090 with a measured latency report.
Record history
2026-09-04
Sources fetched
release_date,license,arch_notes,cross_embodiment,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 | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GraspVLA |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 1 / 12 cells with a definite status
Clear direction, grounded judgement.