JeasLee/openvla-0.5b-prismatic

OpenVLA 0.5B (Prismatic)

OpenVLA 0.5B is a compact 0.5B-parameter model trained following the settings of the original OpenVLA.
It is initialized from a smaller Prismatic VLM checkpoint—Qwen2.5 0.5B—from MiniVLA.

This Prismatic-compatible checkpoint is particularly useful if you wish to fully fine-tune OpenVLA using native PyTorch Fully Sharded Data Parallel (FSDP) with the Prismatic VLM training scripts.
We employ this pretrained model as the initialization for CronusVLA-0.5B, a multi-frame visual-language-action (VLA) model.

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🧩 Usage

Please refer to the official repositories for detailed usage instructions:

• OpenVLA GitHub
• CronusVLA GitHub

These repositories include guidelines for loading, fine-tuning, and evaluating this checkpoint.

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📚 Citation

If you find this model useful, please cite our work:

@article{li2025cronusvla,
  title={CronusVLA: Transferring Latent Motion Across Time for Multi-Frame Prediction in Manipulation},
  author={Li, Hao and Yang, Shuai and Chen, Yilun and Tian, Yang and Yang, Xiaoda and Chen, Xinyi and Wang, Hanqing and Wang, Tai and Zhao, Feng and Lin, Dahua and others},
  journal={arXiv preprint arXiv:2506.19816},
  year={2025}
}