Stanford ILIAD
MiniVLA
500M 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
- 2024-12 1 Source
- Parameters
- 0.5 B 1 Source
- Architecture
- Monolithic autoregressive 0 Source
- License
- 代码 MIT；README 注明预训练权重可能继承底座（Llama Community License）限制 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 · language 0 Source
- Action space
- 7-DoF 末端位姿增量 + 夹爪（离散 token） 0 Source
- Cross-embodiment
- Open X-Embodiment 混合；LIBERO 四套任务；WidowX / BridgeData V2 1 Source
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Single arm 0 Source
Architecture · OpenVLA 缩小版：Prismatic 架构 + Qwen2.5-0.5B 语言主干 + DINOSigLIP 视觉，256 个额外动作 token
Sources · 1 sources
release_date,params_b,license,arch_notes,cross_embodiment,code_url,weights_url https://github.com/Stanford-ILIAD/openvla-mini Official page · Fetched 2026-09-05 · No snapshot stored yet README：2024-12-09 Added MiniVLA configs with Qwen2.5 0.5B backbone；All code is made available under the MIT License；pretrained models may inherit restrictions from the underlying base models（Llama Community License）；LIBERO / WidowX
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,params_b,license,arch_notes,cross_embodiment,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 | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MiniVLA |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 0 / 12 cells with a definite status
Clear direction, grounded judgement.