---
title: "OpenVLA-OFT"
description: "OpenVLA-OFT: `image`, `prompt`, and `state` in; `action_trace` and `openvla-oft_action_trace.json` out; 5 variants; dedicated `worldfoundry-vla-openvla-compat-cu121`."
modelId: "openvla-oft"
pageSource: authored
---
OpenVLA-OFT applies optimized fine-tuning to OpenVLA — parallel decoding, continuous action heads, and chunking — and is fully GPU-validated in this catalog: an A100 restored all 7.54B parameters, produced deterministic finite 8x7 action chunks across multiple inputs at 14.47 GiB peak VRAM, and all five declared LIBERO checkpoints completed real inference (MIT license).
The paper is [arXiv 2502.19645](https://arxiv.org/abs/2502.19645). Project page: [openvla-oft.github.io](https://openvla-oft.github.io). Code: [moojink/openvla-oft](https://github.com/moojink/openvla-oft).
Catalog aliases include `openvla_oft` and `openvla-oft-libero`.
## What it is for
Use the OFT LIBERO specialists when you want parallel-decoded 8×7 action chunks on the OpenVLA 7B backbone — not the base [OpenVLA](/docs/guides/supported-models/openvla) card.
Launch `worldfoundry-eval run openvla-oft-libero-spatial`. Required: `image`, `prompt`, `state`. Artifacts: `action_trace` and `openvla-oft_action_trace.json`. Swap `openvla-oft-libero-object`, `-goal`, `-10`, or the combined spatial-object-goal-10 card for the other splits.
Related suite: [LIBERO](/docs/evaluation/benchmark-hub/libero).
## Runtime contract
Required: `image`, `prompt`, `state`. Cameras: `full_image` and `wrist_image`. Proprio is 8-D; action chunk is **8×7**. Official demo observation: `experiments/robot/libero/sample_libero_spatial_observation.pkl`. Status: **Verified** — all five declared LIBERO checkpoints completed A100 inference. Upstream memory hint is about **16 GB** for LIBERO.
## Running in WorldFoundry
Dedicated environment `worldfoundry-vla-openvla-compat-cu121` (Python 3.10, CUDA 12.1). Stage the matching `moojink/openvla-7b-oft-finetuned-libero-*` snapshot — the runtime does not download weights. Launch `worldfoundry-eval run openvla-oft-libero-spatial`. License: MIT.