RobotControlStack/duobench-xvla-sim

DuoBench X-VLA (sim)

X-VLA policy for the bimanual FR3 Duo setup of DuoBench, trained on simulation data only for all 11 DuoBench sim tasks (one multi-task policy). Fine-tuned from lerobot/xvla-base with LeRobot on the DuoBench dataset.

Project page: https://duobench.github.io/ DuoBench Code: https://github.com/RobotControlStack/duobench

Training

• Data: 50 demonstrations per task from the <task>/sim folders of RobotControlStack/duobench (all tasks merged)
• Inputs: head, left_wrist and right_wrist cameras (224x224) and the 16-D state (2 x 7 joints + 2 grippers); output: 16-D joint and gripper action
• 40,000 steps, batch size 48, learning rate 1e-4, action chunk 30, seed 1000
• LeRobot commit c8ce413d; the full configuration is in train_config.json

Results

Success rate (%) in DuoBench simulation over 300 rollouts per task (seeds 0-299) with a Wilson 95% interval.

Task	Success	95% CI
ball_maze	2.0	[0.9, 4.3]
bin_sort	1.0	[0.3, 2.9]
block_balance	0.0	[0.0, 1.3]
carry_pot	12.3	[9.1, 16.5]
hinge_chest	12.0	[8.8, 16.2]
join_blocks	0.0	[0.0, 1.3]
pour_marbles	0.0	[0.0, 1.3]
spring_door	13.7	[10.2, 18.0]
transfer_cube	9.3	[6.5, 13.2]
transfer_gate	26.3	[21.7, 31.6]
transfer_reorient	0.0	[0.0, 1.3]
mean	7.0

Usage

# LeRobot at commit c8ce413d
from lerobot.policies.xvla.modeling_xvla import XVLAPolicy

policy = XVLAPolicy.from_pretrained("RobotControlStack/duobench-xvla-sim")

See the DuoBench code for the simulation environments and evaluation.

Limitations

• Trained on simulation data only; not meant for the real robot.
• Loading needs a LeRobot version compatible with the commit above.

Citation

If you find this model or DuoBench useful for your work, please consider citing it:

@misc{duobench,
  title={{DuoBench}: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World},
  author={Tobias J{\"u}lg and Seongjin Bien and Simon Hilber and Yannik Blei and Pierre Krack and Maximilian Li and Sven Parusel and Rudolf Lioutikov and Florian Walter and Wolfram Burgard},
  year={2026},
  url={https://arxiv.org/abs/2606.11901}
}