---
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
  - "track:wood"
  - "sponsor:openbmb"
  - "sponsor:openai"
  - "sponsor:modal"
  - "achievement:offgrid"
  - "achievement:welltuned"
  - "achievement:offbrand"
  - "achievement:llama"
  - "achievement:sharing"
  - "achievement:fieldnotes"
datasets:
  - build-small-hackathon/fireboy-vla-rollout-artifacts
---

> Personal mirror of the public hackathon model repo. Canonical org repo: https://huggingface.co/build-small-hackathon/fireboy-minicpm-v-4-6-vla.

# Fire Boy MiniCPM-V 4.6 VLA Router Artifacts

## Creator And Submission Links

| Item | Link |
| --- | --- |
| Creator | **Sanjay Prasad H S** (`sanjuhs`) |
| GitHub repo | [sanjuhs/build-small-hackathon-v1](https://github.com/sanjuhs/build-small-hackathon-v1) |
| HF collection | [Fire Boy MiniCPM-V VLA Toy Room](https://huggingface.co/collections/sanjuhs/fire-boy-minicpm-v-vla-toy-room-6a30d607f5910fb02c0e19ef) |
| Canonical HF Space repo | [build-small-hackathon/toy-room-v3](https://huggingface.co/spaces/build-small-hackathon/toy-room-v3) |
| Canonical live Space | [https://build-small-hackathon-toy-room-v3.hf.space/toy-v3](https://build-small-hackathon-toy-room-v3.hf.space/toy-v3) |
| Personal HF Space mirror | [sanjuhs/toy-room-v3](https://huggingface.co/spaces/sanjuhs/toy-room-v3) |
| Personal live Space mirror | [https://sanjuhs-toy-room-v3.hf.space/toy-v3](https://sanjuhs-toy-room-v3.hf.space/toy-v3) |
| YouTube demo | [https://youtu.be/rwRIXLwaLmI](https://youtu.be/rwRIXLwaLmI) |
| Canonical model repo | [build-small-hackathon/fireboy-minicpm-v-4-6-vla](https://huggingface.co/build-small-hackathon/fireboy-minicpm-v-4-6-vla) |
| Personal model mirror | [sanjuhs/fireboy-minicpm-v-4-6-vla](https://huggingface.co/sanjuhs/fireboy-minicpm-v-4-6-vla) |

This repository backs the Toy Room v3 embodied-action demo:

- Space: https://build-small-hackathon-toy-room-v3.hf.space/toy-v3
- GitHub: https://github.com/sanjuhs/build-small-hackathon-v1
- HF collection: https://huggingface.co/collections/sanjuhs/fire-boy-minicpm-v-vla-toy-room-6a30d607f5910fb02c0e19ef
- YouTube demo: https://youtu.be/rwRIXLwaLmI
- 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.