Documentation Index
Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
Use this file to discover all available pages before exploring further.
Overview
OpenVLA-OFT is a LoRA-based fine-tuning framework for Vision-Language-Action models built on theopenvla-7b base. Cyberwave supports training and deploying OpenVLA-OFT models on your custom datasets using the openvla (RLDS) dataset format.
OpenVLA-OFT uses the openvla (RLDS) dataset format for training, which differs from the LeRobot v3 format used by SmolVLA. The platform handles format selection automatically based on the model type.
Model Selection
When creating an ML model on Cyberwave, select OpenVLA-OFT as the model type to automatically route training and inference jobs to a cloud node with theopenvla-oft-policy profile.
Training
Training jobs are dispatched to a Cyberwave Cloud Node. The cloud node:- Downloads the dataset in RLDS format (
format=openvla) - Downloads the base model weights (
openvla/openvla-7bby default) - Runs the LoRA fine-tuning loop, routing all metrics to the Cyberwave dashboard
- Compresses and uploads the final checkpoint to the platform
Key training parameters
| Parameter | Description | Default |
|---|---|---|
max_steps | Number of training gradient steps | 50 000 |
batch_size | Per-GPU batch size (auto-scaled to camera count if omitted) | auto |
lora_rank | LoRA adapter rank | 32 |
use_l1_regression | Use L1 regression action head instead of cross-entropy | true |
use_proprio | Include proprioceptive state in observations | true |
num_images_in_input | Number of camera feeds used during training (auto-detected if omitted) | auto |
Inference
Trained checkpoints can be deployed directly from the Cyberwave platform. The cloud node loads the fine-tuned LoRA weights and streams predictions back to your robot via MQTT.Dataset format
OpenVLA-OFT requires datasets in the RLDS (TensorFlow Datasets) format. When you upload a dataset through the Cyberwave platform, it is automatically converted and made available for download in theopenvla format.