OhhO Train
OhhO Data collects the demonstrations; OhhO Serve runs the model — Train is the engine in between. Fine-tune Vision-Language-Action, imitation-learning and reinforcement-learning policies from your own episodes or in simulation, track every run, and export a deployment-ready checkpoint.
Turn demonstrations into policies.
A policy is only as good as the loop that produced it. OhhO Train is the standardized training engine for embodied AI — the productized OmniVLA engine — so you fine-tune real models without stitching together a different toolchain for every method.
Train covers the methods that matter: behavior cloning and VLA fine-tuning (SmolVLA, ACT, diffusion, OpenVLA) on the LeRobot datasets you record with OhhO Data, plus reinforcement learning in Isaac Lab with domain randomization for sim-to-real. A continual-learning loop can re-train as new episodes and tasks arrive, with replay, multi-objective rewards and AI-judged self-evaluation.
Every run is tracked — losses, success rate, evaluation — with Weights & Biases sweeps to find good hyperparameters. When a checkpoint passes verification, Train exports it in the format the rest of the stack expects: a checkpoint OhhO Serve loads directly, or an ONNX policy OhhO Fleet ships over the air.
- Many methods, one engine. Behavior cloning, VLA fine-tuning (SmolVLA / ACT / diffusion / OpenVLA), offline RL and on-policy RL — selected by config, not a rewrite.
- Trains from your data. Point Train at a LeRobot dataset from OhhO Data, or generate experience in Gazebo and Isaac Sim with domain randomization for sim-to-real.
- Continual learning. A post-training loop re-trains as new episodes and tasks arrive, with prioritized replay and outcome-stratified episodic memory.
- Rewards & self-evaluation. Multi-objective rewards (task, safety, efficiency, smoothness) plus vision rewards and AI judges score behavior, not just loss.
- Tracked & reproducible. Losses, success rate and eval stream to Weights & Biases; Bayesian sweeps search hyperparameters for you.
- Export-ready. Verified checkpoints export to OhhO Serve and to ONNX for OhhO Fleet OTA, with hardware-aware execution providers baked in.
Related: OhhO Data, OhhO Serve, OhhO Proof, OhhO Market