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TULLUS
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Model Details
Model Provider
TULLUS
Model Tree
Qwen/Qwen2.5-VL-7B-Instruct
Input Modalities
Output Modalities
Supported Functionality
20-D per step = right (10) + left (10):
Output tensor shape: (T=24, D=20), relative deltas, float32.
The RVQ tokenizer yields a fixed-length token sequence; see tokenizer card for exact code lengths.
robotics-diffusion-transformer/RVQActionTokenizerApproximate single-GPU requirements (Qwen2.5-VL-7B-Instruct scale):
| Mode | RAM | VRAM | Example GPU |
|---|---|---|---|
| Inference | ≥ 32 GB | ≥ 16 GB | RTX 4090 |
| LoRA FT | – | ≥ 32 GB | A100 40GB |
| Full FT | – | ≥ 80 GB | A100 80GB / H100 / B200 |
For deployment on real robots, follow your platform’s end-effector + camera choices and perform hardware setup & calibration (camera stand/pose, flange, etc.) before running closed-loop policies.
Tested OS: Ubuntu 24.04.
python
# Run under repository: https://github.com/thu-ml/RDT2import torchfrom transformers import AutoProcessor, Qwen2_5_VLForConditionalGenerationfrom vqvae import MultiVQVAEfrom models.normalizer import LinearNormalizerfrom utils import batch_predict_action# assuming using gpu 0device = "cuda:0"processor = AutoProcessor.from_pretrained("Qwen/Qwen2.5-VL-7B-Instruct")model = Qwen2_5_VLForConditionalGeneration.from_pretrained("robotics-diffusion-transformer/RDT2-VQ"torch_dtype=torch.bfloat16,attn_implementation="flash_attention_2",device_map=device).eval()vae = MultiVQVAE.from_pretrained("robotics-diffusion-transformer/RVQActionTokenizer").eval()vae = vae.to(device=device, dtype=torch.float32)valid_action_id_length = (vae.pos_id_len + vae.rot_id_len + vae.grip_id_len)# TODO: modify to your own downloaded normalizer path# download from http://ml.cs.tsinghua.edu.cn/~lingxuan/rdt2/umi_normalizer_wo_downsample_indentity_rot.ptnormalizer = LinearNormalizer.from_pretrained("umi_normalizer_wo_downsample_indentity_rot.pt") #result = batch_predict_action(model,processor,vae,normalizer,examples=[{"obs": {# NOTE: following the setting of UMI, camera0_rgb for right arm, camera1_rgb for left arm"camera0_rgb": ..., # RGB image in np.ndarray of shape (1, 384, 384, 3) with dtype=np.uint8"camera1_rgb": ..., # RGB image in np.ndarray of shape (1, 384, 384, 3) with dtype=np.uint8},"meta": {"num_camera": 2}},..., # we support batch inference, so you can pass a list of examples]，valid_action_id_length=valid_action_id_length,apply_jpeg_compression=True,# Since model is trained with mostly jpeg images, we suggest toggle this on for better formanceinstruction="Pick up the apple."# We suggest using Instruction in format "verb + object" with Capitalized First Letter and trailing period)# get the predict action from example 0action_chunk = result["action_pred"][0] # torch.FloatTensor of shape (24, 20) with dtype=torch.float32# action_chunk (T, D) with T=24, D=20# T=24: our action_chunk predicts the future 0.8s in fps=30, i.e. 24 frames# D=20: following the setting of UMI, we predict the action for both arms from right to left# - [0-2]: RIGHT ARM end effector position in x, y, z (unit: m)# - [3-8]: RIGHT ARM end effector rotation in 6D rotation representation# - [9]: RIGHT ARM gripper width (unit: m)# - [10-12]: LEFT ARM end effector position in x, y, z (unit: m)# - [13-18]: LEFT ARM end effector rotation in 6D rotation representation# - [19]: LEFT ARM gripper width (unit: m)# rescale gripper width from [0, 0.088] to [0, 0.1]for robot_idx in range(2):action_chunk[:, robot_idx * 10 + 9] = action_chunk[:, robot_idx * 10 + 9] / 0.088 * 0.1
For installation and fine-tuning instructions, please refer to the official GitHub repository.
Intended uses
Limitations
Safety & responsible use
| Symptom | Likely cause | Suggested fix |
|---|---|---|
| Drifting / unstable gripper widths | Scale mismatch | Apply LinearNormalizer; rescale widths ([0,0.088] → [0,0.1]). |
| Poor instruction following | Prompt format | Use “Verb + Object.” with capitalization + period. |
| No improvement after FT | OOD actions | Check RVQ bounds & reconstruction error; verify normalization. |
| Vision brittleness | JPEG gap | Enable --image_corruption; ensure 384×384 inputs. |
bibtex
@article{liu2026rdt2,title={RDT2: Exploring the Scaling Limit of UMI Data Towards Zero-Shot Cross-Embodiment Generalization},author={Liu, Songming and Li, Bangguo and Ma, Kai and Wu, Lingxuan and Tan, Hengkai and Ouyang, Xiao and Su, Hang and Zhu, Jun},journal={arXiv preprint arXiv:2602.03310},year={2026}}