| --- |
| license: mit |
| base_model: |
| - openbmb/MiniCPM-V-4_6 |
| library_name: pytorch |
| tags: |
| - minicpm |
| - minicpm-v |
| - vision-language-action |
| - vla |
| - robotics |
| - mujoco |
| - modal |
| - codex |
| - build-small-hackathon |
| datasets: |
| - build-small-hackathon/fireboy-vla-rollout-artifacts |
| --- |
| |
| # Fire Boy MiniCPM-V 4.6 VLA Router Artifacts |
|
|
| This repository backs the Toy Room v3 embodied-action demo: |
|
|
| - Space: https://build-small-hackathon-toy-room-v3.hf.space/toy-v3 |
| - VLA research page: https://build-small-hackathon-toy-room-v3.hf.space/vla-research |
| - Policy gallery: https://build-small-hackathon-toy-room-v3.hf.space/fireboy-policy-gallery |
| - Dataset/artifacts: https://huggingface.co/datasets/build-small-hackathon/fireboy-vla-rollout-artifacts |
|
|
| The shipped live route uses MiniCPM-V 4.6 as the vision-language backbone, freezes the backbone, mean-pools the 1024-d vision-language representation, and trains a small skill/parameter head. The router emits a bounded contract: |
|
|
| - `walk_to` |
| - `run_around` |
| - `pick_up` |
| - `find_and_eat_berry` |
|
|
| Toy Room v3 calls this route first through `src/vla_router_policy.py`, then dispatches the selected skill into the MuJoCo policy registry and retargets the proof rollout into visible Fire Boy movement. |
|
|
| ## What Is Included |
|
|
| - `checkpoints/`: trained VLA heads, LoRA/action-head experiments, eval JSON, summaries, and embedding caches. |
| - `runtime-policies/`: small MuJoCo policy artifacts needed by the Toy Room v3 runtime. |
| - `docs/`: research notes copied from the source project. |
|
|
| The final judge-facing router currently loads: |
|
|
| ```text |
| checkpoints/fireboy_minicpm_vla_skill_param_head/minicpm_vla_skill_param_head.pt |
| ``` |
|
|
| and dispatches against the skill-parameter rows in: |
|
|
| ```text |
| checkpoints/fireboy_minicpm_vla_skill_param_head/fireboy_vla_skill_params_allskill.jsonl |
| ``` |
|
|
| ## Runtime Mapping |
|
|
| ```mermaid |
| flowchart LR |
| Player["Toy Room command"] --> API["/api/pet-action"] |
| API --> Router["Modal fireboy-vla-router\nMiniCPM-V 4.6"] |
| Router --> Head["frozen embedding + skill/param head"] |
| Head --> Dispatch["MuJoCo policy registry"] |
| Dispatch --> Action["retargeted PET JSON"] |
| Action --> Toy["Fire Boy moves, picks up, eats berry"] |
| ``` |
|
|
| ## License |
|
|
| The adapter heads, exported policy artifacts, cards, docs, and generated evidence in this repository are released under the MIT license. The upstream MiniCPM-V base model is not redistributed here and remains governed by its own upstream license and model card. |
|
|
