千寻智能（Spirit AI）
Spirit v1.5
5.4B Commercial use OK 8/8 verified
Facts
- Released
- 2026-01 1 Source
- Parameters
- 5.4 B 1 Source
- Architecture
- VLM + action expert 0 Source
- License
- 代码 MIT（README）；模型卡标 apache-2.0 2 Source
- Commercial
- Commercial use OK 0 Source
- Weights
- huggingface.co ↗ 1 Source
- Code
- github.com ↗ 1 Source
- Paper
- spirit-ai.com ↗ 0 Source
- Input modalities
- rgb · language · state 0 Source
- Action space
- 动作块（chunk）输出 0 Source
- Cross-embodiment
- Table30 基准任务；README 未列本体清单与训练小时 0 Source
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Single arm · Dual arm 0 Source
Architecture · Qwen3-VL 主干 + DiT 动作头 + policy API；2026-01-11 起在 RoboChallenge Table30 榜单排名第一（站方自述）
Sources · 2 sources
release_date,license,arch_notes,code_url https://github.com/Spirit-AI-Team/spirit-v1.5 Official page · Fetched 2026-09-05 · No snapshot stored yet README：2026-01 发布；MIT；Qwen3-VL backbone + DiT head；#1 on RoboChallenge Table30 as of Jan 11, 2026
params_b,weights_url,license https://huggingface.co/api/models/Spirit-AI-robotics/Spirit-v1.5 Model hub page · Fetched 2026-09-05 · No snapshot stored yet safetensors 5,400,901,236（F32）；license: apache-2.0；createdAt 2026-01-11
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,license,arch_notes,code_url · params_b,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 | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Spirit v1.5 |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 0 / 12 cells with a definite status
Clear direction, grounded judgement.