MIT（Lirui Wang, Kaiming He 等）
HPT（Heterogeneous Pre-trained Transformers）
227M Commercial terms unverified 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
- 2024-09 0 Source
- Parameters
- 0.227 B 1 Source
- Architecture
- Transformer policy 0 Source
- License
- MIT（代码仓库）；模型卡未标注许可证 1 Source
- Commercial
- Commercial terms unverified 0 Source
- Weights
- huggingface.co ↗ 1 Source
- Code
- github.com ↗ 1 Source
- Paper
- arxiv.org ↗ 0 Source
- Input modalities
- rgb · state · language 0 Source
- Action space
- 各本体自有动作头 0 Source
- Cross-embodiment
- 多本体数据混合预训练（README 未列具体清单） 0 Source
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Single arm · Dual arm 0 Source
Architecture · 把不同本体对齐到共享潜空间的 Transformer 主干；XLarge 226.8M / Large 50.5M / Base 12.6M / Small 3.1M；NeurIPS 2024 Spotlight
Sources · 2 sources
params_b,license,arch_notes,code_url https://github.com/liruiw/HPT Official page · Fetched 2026-09-05 · No snapshot stored yet README：HPT-XLarge 226.8M / Large 50.5M / Base 12.6M / Small 3.1M；MIT license；NeurIPS 2024 Spotlight
weights_url https://huggingface.co/api/models/liruiw/hpt-xlarge Model hub page · Fetched 2026-09-05 · No snapshot stored yet 模型卡无 license 字段；createdAt 2024-05-15
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
params_b,license,arch_notes,code_url · weights_url
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 | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| HPT（Heterogeneous Pre-trained Transformers） |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 2 / 12 cells with a definite status
Clear direction, grounded judgement.