RoboDual

This repo contains the checkpoint for the generalist policy of our paper:
Towards Synergistic, Generalized and Efficient Dual-System for Robotic Manipulation

Performance

The pre-trained OpenVLA with action chunk size of 8 can achieve around 3.27 average length on CALVIN ABC-D test suite:

Method	1	2	3	4	5	Avg.Len.
RoboDual (Generalist-only)	91.3	77.8	62.0	52.1	43.5	3.27

How to use

You can simply modify the vla_path in FeintuneConfig of the specialist training script according to your local path.

Citation

If you find our code or models useful in your work, please cite our paper:

@article{bu2024robodual,
  title={Towards Synergistic, Generalized, and Efficient Dual-System for Robotic Manipulation}, 
  author={Qingwen Bu and Hongyang Li and Li Chen and Jisong Cai and Jia Zeng and Heming Cui and Maoqing Yao and Yu Qiao},
  journal={arXiv preprint arXiv:2410.08001},
  year={2024}
}