OpenDriveLab（香港大学 等）
UniVLA
7.54B Commercial use OK 8/8 verified
Facts
- Released
- 2025-05 1 Source
- Parameters
- 7.54 B 1 Source
- Architecture
- VLM + action expert 0 Source
- License
- Apache-2.0（代码仓库与模型卡均标注） 2 Source
- Commercial
- Commercial use OK 0 Source
- Weights
- huggingface.co ↗ 1 Source
- Code
- github.com ↗ 1 Source
- Paper
- arxiv.org ↗ 1 Source
- Input modalities
- rgb · language 0 Source
- Action space
- 潜在动作 → 各本体解码 0 Source
- Cross-embodiment
- Open X-Embodiment + Ego4D 人类视频子集；LIBERO / CALVIN / SimplerEnv / 导航 / AgileX 真机 1 Source
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Single arm · Dual arm · Wheeled 0 Source
Architecture · Prismatic 7B 主干 + 任务中心潜在动作（VQ-VAE 两阶段）+ 约 12M 参数动作解码器
Sources · 3 sources
license,release_date,arch_notes,cross_embodiment,code_url https://github.com/OpenDriveLab/UniVLA Official page · Fetched 2026-09-04 · No snapshot stored yet README：Apache-2.0；2025-05 代码发布；7B backbone，action decoder around 12M；OXE + Ego4D；AgiLex 真机
params_b,weights_url,license https://huggingface.co/api/models/qwbu/univla-7b Model hub page · Fetched 2026-09-04 · No snapshot stored yet safetensors 7,541,237,184；license: apache-2.0；createdAt 2025-05-06
paper_url https://arxiv.org/abs/2505.06111 Paper / official docs · Fetched 2026-09-04 · No snapshot stored yet UniVLA: Learning to Act Anywhere with Task-centric Latent Actions
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
license,release_date,arch_notes,cross_embodiment,code_url · params_b,weights_url,license · paper_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 | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| UniVLA |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 2 / 12 cells with a definite status
Clear direction, grounded judgement.