{
  "schema": "aiinfra_lerobot_training_hardware_matrix_v2",
  "version": "2026-09",
  "lastVerified": "2026-09-18",
  "softwareReleaseVerified": "LeRobot v0.6.1",
  "scope": "LeRobot policy training reference only",
  "method": "Transcribes policy-group VRAM envelopes and common-scenario wall-clock anchors from the Hugging Face LeRobot Compute Hardware Guide. Values are official order-of-magnitude references, not independent benchmarks.",
  "limits": [
    "Actual VRAM changes with batch size, image resolution, optimizer, precision, frozen modules, dataset and software version.",
    "Official wall-clock anchors may deviate by about plus or minus 50 percent with image resolution, dataset I/O, dataloader threading and exact GPU SKU.",
    "Training VRAM or wall-clock does not establish that a model fits, performs acceptably, or is supported on a Jetson or other robot computer.",
    "This data contains no Taiwan pricing, supply, distributor, safety or production-readiness claim."
  ],
  "vramRecords": [
    {"group":"light_behavior_cloning","policies":["act","vqbet","tdmpc"],"trainingConditions":"batch size 8, AdamW","peakVramGbReference":"2-6","officialStarterGpuReference":"RTX 3060, L4, A10G"},
    {"group":"diffusion_policy","policies":["diffusion","multi_task_dit"],"trainingConditions":"batch size 8, AdamW","peakVramGbReference":"8-14","officialStarterGpuReference":"RTX 4070+, L4, A10G"},
    {"group":"small_vla","policies":["smolvla"],"trainingConditions":"batch size 8, AdamW","peakVramGbReference":"10-16","officialStarterGpuReference":"RTX 4080+, L4, A10G"},
    {"group":"large_vla","policies":["pi0","pi0_fast","pi05","xvla","wall_x"],"trainingConditions":"batch size 8, AdamW","peakVramGbReference":"24-40","officialStarterGpuReference":"A100 40 GB+"},
    {"group":"multimodal_policy","policies":["groot","eo1"],"trainingConditions":"batch size 8, AdamW","peakVramGbReference":"24-40","officialStarterGpuReference":"A100 40 GB+"},
    {"group":"reinforcement_learning","policies":["sac"],"trainingConditions":"environment-dependent","peakVramGbReference":"configuration-dependent","officialStarterGpuReference":"See HIL-SERL guide"}
  ],
  "wallClockReferenceConditions": {
    "episodes": 50,
    "secondsPerEpisode": 30,
    "framesPerSecond": 30,
    "totalFramesApprox": 45000,
    "epochs": 5,
    "optimizer": "AdamW",
    "imageResolution": "640x480"
  },
  "wallClockRecords": [
    {"hardware":"RTX 4090 or RTX 3090 24 GB","policy":"act","batchSize":8,"wallClockReference":"30-60 minutes"},
    {"hardware":"RTX 4090 or RTX 3090 24 GB","policy":"diffusion","batchSize":8,"wallClockReference":"2-4 hours"},
    {"hardware":"L4 or A10G 24 GB","policy":"act","batchSize":8,"wallClockReference":"1-2 hours"},
    {"hardware":"L4 or A10G 24 GB","policy":"smolvla","batchSize":4,"wallClockReference":"3-6 hours"},
    {"hardware":"A100 40 GB","policy":"smolvla","batchSize":16,"wallClockReference":"1-2 hours"},
    {"hardware":"A100 40 GB","policy":"pi0 or pi05","batchSize":4,"wallClockReference":"4-8 hours"},
    {"hardware":"4x H100 80 GB","policy":"diffusion","batchSize":32,"wallClockReference":"30-60 minutes"},
    {"hardware":"4x H100 80 GB","policy":"smolvla","batchSize":32,"wallClockReference":"1-2 hours"},
    {"hardware":"Apple Silicon M1, M2 or M3 Max","policy":"act","batchSize":4,"wallClockReference":"6-14 hours"}
  ],
  "formula": {
    "stepsPerEpoch": "ceil(total_frames / (num_gpus * batch_size))",
    "totalSteps": "epochs * steps_per_epoch",
    "wallClock": "total_steps * per_step_time"
  },
  "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://github.com/huggingface/lerobot/releases/tag/v0.6.1",
    "https://huggingface.co/blog/lerobot-release-v060",
    "https://developer.nvidia.com/embedded/faq"
  ]
}