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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>VLA Foundry - Vision-Language-Action Model Training Framework</title>
<link rel="icon" href="assets/favicon.png" type="image/png">
<link href="https://fonts.googleapis.com/css2?family=Inter:wght@300;400;500;600;700&display=swap" rel="stylesheet">
<style>
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.content-section {
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.content-section p {
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.content-section p strong {
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.intro-title {
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text-align: center;
margin-bottom: 2rem;
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.wide-content-section {
max-width: 1200px;
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background: transparent;
border-radius: 24px;
padding: 3rem;
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margin-bottom: 2rem;
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.wide-content-section h2 {
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.full-width-video-section {
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.carousel-video-wrapper:hover .video-controls {
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min-width: 32px;
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.video-controls button:hover {
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.carousel-video-wrapper {
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.video-caption {
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.carousel-video-wrapper.active .video-caption {
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.carousel-controls {
display: flex;
justify-content: center;
gap: 1rem;
margin-top: 1.5rem;
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.carousel-btn {
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color: white;
border: none;
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border-radius: 50%;
font-size: 1.5rem;
cursor: pointer;
transition: all 0.3s ease;
box-shadow: 0 4px 6px rgba(0, 0, 0, 0.1);
display: flex;
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.carousel-btn:hover {
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.carousel-dots {
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justify-content: center;
gap: 0.5rem;
margin-top: 1rem;
}
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cursor: pointer;
transition: all 0.3s ease;
}
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background: white;
color: #2d2d2d;
border: 2px solid #CF152D;
padding: 0.5rem 1.5rem;
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font-size: 1rem;
font-weight: 500;
border-radius: 50px;
cursor: pointer;
transition: all 0.3s ease;
}
.rollout-toggle-btn:hover {
background: #FFF0F2;
}
.rollout-toggle-btn.active {
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.pipeline-image {
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}
.pipeline-image-narrow {
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.pipeline-image-wide {
width: 110%;
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}
.fade-in {
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footer {
text-align: center;
padding: 2rem;
margin-top: 4rem;
background: #2d2d2d;
color: white;
opacity: 0.9;
}
@media (max-width: 1024px) {
.tri-logo-container {
top: 0.75rem;
left: 1.5rem;
}
.tri-logo {
height: 80px;
}
header {
padding-top: 3rem;
}
.logo {
margin-top: 0.5rem;
}
}
@media (max-width: 768px) {
h1 {
font-size: 2.5rem;
}
.tagline {
font-size: 1.2rem;
}
.buttons {
flex-direction: column;
align-items: center;
}
.btn {
width: 100%;
max-width: 300px;
}
.tri-logo-container {
top: 0.5rem;
left: 1rem;
}
.tri-logo {
height: 60px;
}
header {
padding-top: 4rem;
}
.logo {
margin-top: 1rem;
}
}
</style>
</head>
<body>
<div class="top-bar"></div>
<div class="header-section">
<div class="tri-logo-container">
<a href="https://www.tri.global/" target="_blank" rel="noopener noreferrer">
<img src="assets/tri-logo-dark.png" alt="Toyota Research Institute" class="tri-logo">
</a>
</div>
<header>
<img src="assets/logo_dark.svg" alt="VLA Foundry Logo" class="logo">
<div class="buttons">
<a href="https://arxiv.org/abs/2604.19728" class="btn btn-secondary" target="_blank"
rel="noopener noreferrer">
<img src="assets/arxiv-logo.svg" alt="arXiv" class="btn-icon"> arXiv
</a>
<a href="https://github.com/TRI-ML/vla_foundry" class="btn btn-secondary" target="_blank"
rel="noopener noreferrer">
<svg class="btn-icon" viewBox="0 0 16 16" fill="currentColor" xmlns="http://www.w3.org/2000/svg">
<path
d="M8 0C3.58 0 0 3.58 0 8c0 3.54 2.29 6.53 5.47 7.59.4.07.55-.17.55-.38 0-.19-.01-.82-.01-1.49-2.01.37-2.53-.49-2.69-.94-.09-.23-.48-.94-.82-1.13-.28-.15-.68-.52-.01-.53.63-.01 1.08.58 1.23.82.72 1.21 1.87.87 2.33.66.07-.52.28-.87.51-1.07-1.78-.2-3.64-.89-3.64-3.95 0-.87.31-1.59.82-2.15-.08-.2-.36-1.02.08-2.12 0 0 .67-.21 2.2.82.64-.18 1.32-.27 2-.27.68 0 1.36.09 2 .27 1.53-1.04 2.2-.82 2.2-.82.44 1.1.16 1.92.08 2.12.51.56.82 1.27.82 2.15 0 3.07-1.87 3.75-3.65 3.95.29.25.54.73.54 1.48 0 1.07-.01 1.93-.01 2.2 0 .21.15.46.55.38A8.013 8.013 0 0016 8c0-4.42-3.58-8-8-8z" />
</svg> Code
</a>
<a href="https://huggingface.co/collections/TRI-ML/vla-foundry" class="btn btn-secondary"
target="_blank" rel="noopener noreferrer">
🤗 Multi-task Model Weights
</a>
<a href="docs/" class="btn btn-secondary" target="_blank" rel="noopener noreferrer">
📚 Documentation
</a>
</div>
</header>
</div>
<div class="container">
<div class="content-section fade-in">
<h2>VLA Foundry: A Unified Framework for Training Vision-Language-Action Models</h2>
<div class="authors">
Jean Mercat<sup>*†</sup>, Sedrick Keh<sup>*†</sup>, Kushal Arora<sup>†</sup>, Isabella
Huang<sup>†</sup>, Paarth Shah<sup>†</sup>, Haruki Nishimura, Shun Iwase, Katherine Liu<sup>†</sup>
</div>
<div class="affiliation">
<sup>*</sup>Co-first authors<br>
<sup>†</sup>Core contributors
</div>
<p>
We present VLA Foundry, an open-source framework that unifies LLM, VLM, and VLA training in a single
codebase. Most open-source VLA efforts specialize on the action training stage, often stitching together
incompatible pretraining pipelines. VLA Foundry instead provides a shared training stack with end-to-end
control, from language pretraining to action-expert fine-tuning. VLA Foundry supports both from-scratch
training and pretrained backbones from Hugging Face. To demonstrate the utility of our framework, we
train and release two families of models: the first trained fully from scratch through our LLM→VLM→VLA
pipeline and the second built on the pretrained <a href="https://arxiv.org/abs/2511.21631"
target="_blank" rel="noopener noreferrer"
style="color: #CF152D; text-decoration: none; font-weight: 600;">Qwen3-VL</a> backbone. We evaluate
closed-loop policy performance of both models on <a
href="https://github.com/ToyotaResearchInstitute/lbm_eval" target="_blank" rel="noopener noreferrer"
style="color: #CF152D; text-decoration: none; font-weight: 600;">LBM Eval</a>, an open-data,
open-source simulator. We also contribute usability improvements to the simulator and the <a
href="https://arxiv.org/abs/2503.10966" target="_blank" rel="noopener noreferrer"
style="color: #CF152D; text-decoration: none; font-weight: 600;">STEP</a> analysis tools for easier
public use. In the nominal evaluation setting, our fully-open from-scratch model is on par with our <a
href="https://arxiv.org/abs/2507.05331" target="_blank" rel="noopener noreferrer"
style="color: #CF152D; text-decoration: none; font-weight: 600;">prior closed-source work</a> and
substituting in the Qwen3-VL backbone leads to a strong multi-task table top manipulation policy
outperforming our baseline by a wide margin.
</p>
</div>
</div>
<div class="full-width-video-section fade-in">
<video class="demo-video" autoplay loop muted playsinline>
<source src="assets/B_hop_close_current_floor_fixed.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<div class="wide-content-section fade-in">
<h2>Use VLA Foundry to train an LLM, then a VLM, and finally a VLA—all in one place</h2>
<div style="display: flex; flex-direction: column; gap: 2rem; align-items: center; margin-top: 2rem;">
<img src="assets/llm_vlm_vla.png" alt="Pipeline diagram part 1"
class="pipeline-image pipeline-image-narrow zoom-in">
</div>
</div>
<div class="wide-content-section fade-in">
<h2>Bootstrap off pre-trained models from Hugging Face</h2>
<div style="display: flex; flex-direction: column; gap: 2rem; align-items: center; margin-top: 2rem;">
<img src="assets/hf_model_support.png" alt="Pipeline diagram part 2"
class="pipeline-image pipeline-image-narrow zoom-in">
</div>
</div>
<div class="wide-content-section fade-in">
<h2>Discover what's included</h2>
<div class="features">
<div class="feature-card stagger-item">
<h3>🎯 Multiple Modalities</h3>
<p>Train with text, image-captions, or robotics data. Go from LLM to VLM to VLA using the same
framework.</p>
</div>
<div class="feature-card stagger-item">
<h3>⚡ Multi-Node Training</h3>
<p>Built on FSDP2 with WebDataset streaming. Multi-GPU training works locally with torchrun and on large
clusters with AWS SageMaker.</p>
</div>
<div class="feature-card stagger-item">
<h3>🔀 Dataset Mixing</h3>
<p>Specify dataset sources and ratios at dataloader time for easy dataset mixing and batch balancing
across modalities.</p>
</div>
<div class="feature-card stagger-item">
<h3>🔧 Modular Design</h3>
<p>Pure PyTorch implementation with no heavy external libraries. Easy to modify, extend, and add new
models or data pipelines.</p>
</div>
<div class="feature-card stagger-item">
<h3>🤗 Hugging Face Support</h3>
<p>Load pretrained weights from Hugging Face for LLMs, VLMs, CLIP models, and more. Use native or
HF-backed implementations.</p>
</div>
<div class="feature-card stagger-item">
<h3>📋 Registry System</h3>
<p>Self-registering models and batch handlers via decorators. Add new architectures without touching
core code.</p>
</div>
</div>
</div>
<div class="wide-content-section fade-in">
<h2>Download and use our open LLM, VLM, and VLA models</h2>
<div style="display: flex; flex-direction: column; gap: 2rem; align-items: center; margin-top: 2rem;">
<img src="assets/pre_trained_models.png" alt="Pre-trained models"
class="pipeline-image pipeline-image-wide zoom-in">
</div>
</div>
<div class="container">
<div class="content-section fade-in" style="padding-bottom: 1rem;">
<h2>See VLA results in action</h2>
<p style="text-align: center; margin-bottom: 0;">
Example success and failure rollouts from our <strong>Foundry-QwenVLA-2.5B</strong> model evaluated in
<a href="https://github.com/ToyotaResearchInstitute/lbm_eval" target="_blank" rel="noopener noreferrer"
style="color: #CF152D; text-decoration: none; font-weight: 600;">LBM Eval</a>,
a challenging open-source simulation benchmark.
</p>
</div>
</div>
<div style="text-align: center; margin: -1rem 0 2rem 0;">
<button class="rollout-toggle-btn active" data-type="success">Success</button>
<button class="rollout-toggle-btn" data-type="failure">Failure</button>
</div>
<div class="carousel-container fade-in" id="carousel-main">
<div class="carousel-track" id="carousel-track">
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos00_BimanualPlaceAppleFromBowlIntoBin_demonstration_36.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Place Apple From Bowl Into Bin</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos01_BimanualPlaceFruitFromBowlIntoBin_demonstration_101.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Place Fruit From Bowl Into Bin</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos02_BimanualPutRedBellPepperInBin_demonstration_113.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Put Red Bell Pepper In Bin</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source
src="assets/carousel_success/pos03_BimanualPutSpatulaOnPlateFromDryingRack_demonstration_16.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Put Spatula On Plate From Drying Rack</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos04_BimanualPutSpatulaOnPlateFromTable_demonstration_196.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Put Spatula On Plate From Table</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source
src="assets/carousel_success/pos05_BimanualStackPlatesOnTableFromDryingRack_demonstration_3.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Stack Plates On Table From Drying Rack</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos06_BimanualStoreCerealBoxUnderShelf_demonstration_143.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Store Cereal Box Under Shelf</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos07_PlaceCupByCoaster_demonstration_41.mp4" type="video/mp4">
</video>
<div class="video-caption">Place Cup By Coaster</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos08_PushCoasterToCenterOfTable_demonstration_94.mp4"
type="video/mp4">
</video>
<div class="video-caption">Push Coaster To Center Of Table</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos09_PushCoasterToMug_demonstration_23.mp4" type="video/mp4">
</video>
<div class="video-caption">Push Coaster To Mug</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos10_PutBananaOnSaucer_demonstration_122.mp4"
type="video/mp4">
</video>
<div class="video-caption">Put Banana On Saucer</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos11_PutKiwiInCenterOfTable_demonstration_51.mp4"
type="video/mp4">
</video>
<div class="video-caption">Put Kiwi In Center Of Table</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos12_PutMugOnSaucer_demonstration_91.mp4" type="video/mp4">
</video>
<div class="video-caption">Put Mug On Saucer</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos13_PutSpatulaInUtensilCrock_demonstration_162.mp4"
type="video/mp4">
</video>
<div class="video-caption">Put Spatula In Utensil Crock</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos14_TurnCupUpsideDown_demonstration_141.mp4"
type="video/mp4">
</video>
<div class="video-caption">Turn Cup Upside Down</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_success/pos15_TurnMugRightsideUp_demonstration_47.mp4"
type="video/mp4">
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<div class="video-caption">Turn Mug Rightside Up</div>
</div>
</div>
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<div class="carousel-controls">
<button class="carousel-btn" onclick="prevVideo()">‹</button>
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<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos00_BimanualPlaceAppleFromBowlIntoBin_demonstration_14.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Place Apple From Bowl Into Bin</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos01_BimanualPlaceFruitFromBowlIntoBin_demonstration_61.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Place Fruit From Bowl Into Bin</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos02_BimanualPutRedBellPepperInBin_demonstration_117.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Put Red Bell Pepper In Bin</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source
src="assets/carousel_failure/pos03_BimanualPutSpatulaOnPlateFromDryingRack_demonstration_109.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Put Spatula On Plate From Drying Rack</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos04_BimanualPutSpatulaOnPlateFromTable_demonstration_114.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Put Spatula On Plate From Table</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source
src="assets/carousel_failure/pos05_BimanualStackPlatesOnTableFromDryingRack_demonstration_44.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Stack Plates On Table From Drying Rack</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos06_BimanualStoreCerealBoxUnderShelf_demonstration_44.mp4"
type="video/mp4">
</video>
<div class="video-caption">Bimanual Store Cereal Box Under Shelf</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos07_PlaceCupByCoaster_demonstration_1.mp4" type="video/mp4">
</video>
<div class="video-caption">Place Cup By Coaster</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos08_PushCoasterToCenterOfTable_demonstration_46.mp4"
type="video/mp4">
</video>
<div class="video-caption">Push Coaster To Center Of Table</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos09_PushCoasterToMug_demonstration_76.mp4" type="video/mp4">
</video>
<div class="video-caption">Push Coaster To Mug</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos10_PutBananaOnSaucer_demonstration_182.mp4"
type="video/mp4">
</video>
<div class="video-caption">Put Banana On Saucer</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos11_PutKiwiInCenterOfTable_demonstration_132.mp4"
type="video/mp4">
</video>
<div class="video-caption">Put Kiwi In Center Of Table</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos12_PutMugOnSaucer_demonstration_171.mp4" type="video/mp4">
</video>
<div class="video-caption">Put Mug On Saucer</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos13_PutSpatulaInUtensilCrock_demonstration_169.mp4"
type="video/mp4">
</video>
<div class="video-caption">Put Spatula In Utensil Crock</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos14_TurnCupUpsideDown_demonstration_107.mp4"
type="video/mp4">
</video>
<div class="video-caption">Turn Cup Upside Down</div>
</div>
<div class="carousel-video-wrapper">
<video class="carousel-video" autoplay loop muted playsinline>
<source src="assets/carousel_failure/pos15_TurnMugRightsideUp_demonstration_15.mp4"
type="video/mp4">
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<div class="video-caption">Turn Mug Rightside Up</div>
</div>
</div>
</div>
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