RoboInter-VLM: Vision-Language Model for RoboInter Manipulation Suite

This is the flagship model of the RoboInter-VLM series, based on Qwen2.5-VL-7B-Instruct. It delivers the strongest performance among the Qwen2.5-VL variants and is the recommended default checkpoint for general use.

Developed as part of the RoboInter project. The model is fine-tuned on the RoboInter-VQA dataset for intermediate representation understanding and generation in robotic manipulation.

All Available Checkpoints

All checkpoints are stored in safetensors format with bfloat16 precision.

Supported Tasks

These models are jointly trained on general VQA and three categories of our curated VQA tasks:

• Generation: Predicting intermediate representations such as trajectory waypoints, gripper bounding boxes, contact points/boxes, object bounding boxes (current & final), etc.
• Understanding: Multiple-choice visual reasoning about contact states, grasp poses, object grounding, trajectory selection, movement directions, etc.
• Task Planning: High-level task planning including next-step prediction, action primitive recognition, success determination, etc.

Usage

Quick Start (This Model)

from transformers import Qwen2_5_VLForConditionalGeneration, AutoProcessor

model_path = "InternRobotics/RoboInter-VLM"
model = Qwen2_5_VLForConditionalGeneration.from_pretrained(
    model_path, torch_dtype="auto", device_map="auto"
)
processor = AutoProcessor.from_pretrained(model_path)

For detailed usage and inference examples, please refer to the RoboInterVLM-QwenVL codebase.

LLaVA-OneVision Checkpoint

For loading and inference with the LLaVA-OneVision checkpoint, please refer to the RoboInterVLM-LLaVAOV codebase, as it requires custom model classes.

Training & Evaluation

For full training and evaluation pipelines, please refer to:

• Qwen2.5-VL models: RoboInterVLM-QwenVL
• LLaVA-OneVision model: RoboInterVLM-LLaVAOV
• VQA Dataset: RoboInter-VQA

Related Resources

• Project: RoboInter
• Annotation Data: RoboInter-Data
• VQA Dataset: RoboInter-VQA

Citation

If you find RoboInter useful in your research, please consider citing:

@article{li2026robointer,
  title={RoboInter: A Holistic Intermediate Representation Suite Towards Robotic Manipulation},
  author={Li, Hao and Wang, Ziqin and Ding, Zi-han and Yang, Shuai and Chen, Yilun and Tian, Yang and Hu, Xiaolin and Wang, Tai and Lin, Dahua and Zhao, Feng and Liu, Si and Pang, Jiangmiao},
  journal={arXiv preprint arXiv:2602.09973},
  year={2025}
}

License

Please refer to the original licenses of RoboInter, Qwen2.5-VL, and LLaVA-OneVision.