{
  "schema": "aiinfra_lerobot_training_hardware_matrix_v1",
  "version": "2026-08",
  "lastVerified": "2026-08-19",
  "scope": "LeRobot policy training reference only",
  "method": "Transcribes policy-group VRAM envelopes and starter GPU references from the Hugging Face LeRobot Compute Hardware Guide. Values are the guide's peak-VRAM estimates at batch size 8 with AdamW, not independent benchmarks.",
  "limits": [
    "Actual VRAM changes with batch size, image resolution, optimizer, precision, frozen modules, dataset and software version.",
    "Training VRAM does not establish that a model fits, performs acceptably, or is supported on a Jetson or other robot computer.",
    "Wall-clock, throughput and deployment latency require a reproducible local measurement.",
    "This data contains no Taiwan pricing, supply, distributor, safety or production-readiness claim."
  ],
  "records": [
    {
      "group": "light_behavior_cloning",
      "policies": ["act", "vqbet", "tdmpc"],
      "trainingConditions": "batch size 8, AdamW",
      "peakVramGbReference": "2-6",
      "officialStarterGpuReference": "RTX 3060, L4, A10G",
      "evidenceScope": "Order-of-magnitude training estimate only"
    },
    {
      "group": "diffusion_policy",
      "policies": ["diffusion"],
      "trainingConditions": "batch size 8, AdamW",
      "peakVramGbReference": "8-14",
      "officialStarterGpuReference": "RTX 4070+, L4, A10G",
      "evidenceScope": "Order-of-magnitude training estimate only"
    },
    {
      "group": "small_vla",
      "policies": ["smolvla"],
      "trainingConditions": "batch size 8, AdamW",
      "peakVramGbReference": "10-16",
      "officialStarterGpuReference": "RTX 4080+, L4, A10G",
      "evidenceScope": "Order-of-magnitude training estimate only"
    },
    {
      "group": "large_vla",
      "policies": ["pi0", "pi0_fast", "pi05", "xvla", "wall_x"],
      "trainingConditions": "batch size 8, AdamW",
      "peakVramGbReference": "24-40",
      "officialStarterGpuReference": "A100 40 GB+",
      "evidenceScope": "24 GB can be tight at batch size 1; validate the actual run"
    },
    {
      "group": "multimodal_policy",
      "policies": ["groot", "eo1"],
      "trainingConditions": "batch size 8, AdamW",
      "peakVramGbReference": "24-40",
      "officialStarterGpuReference": "A100 40 GB+",
      "evidenceScope": "Order-of-magnitude training estimate only"
    },
    {
      "group": "reinforcement_learning",
      "policies": ["rl"],
      "trainingConditions": "Environment-dependent",
      "peakVramGbReference": "configuration-dependent",
      "officialStarterGpuReference": "configuration-dependent",
      "evidenceScope": "Simulation, parallel environments and CPU can dominate"
    }
  ],
  "deploymentBoundary": {
    "developerKit": "NVIDIA describes Jetson developer kits as development and testing tools, not production systems.",
    "productionConsideration": "Production requires validation of the chosen module, carrier board, software image, I/O, power, thermals and environment.",
    "sourceUrl": "https://developer.nvidia.com/embedded/faq"
  },
  "sources": [
    "https://huggingface.co/docs/lerobot/hardware_guide",
    "https://developer.nvidia.com/embedded/faq"
  ]
}