Train Robotic AI Models using Qualia

API key required

Fine-tune robot foundation models (VLA, vision-language-action) on cloud GPUs: pi0, pi0.5 (π0.5), GR00T N1.5, ACT, SmolVLA, SARM reward models. Robotics and robot training with LeRobot-format HuggingFace datasets. Launch, monitor, and cancel fine-tune jobs from the CLI. Agent-native: --json output and stable exit codes.

Install

openclaw skills install qualia-skill

Qualia

Fine-tune Vision-Language-Action (VLA) models for robotics on cloud GPUs.

Setup

Sign up at app.qualiastudios.dev
Create an API key (Settings → API Keys)
Set the env var:
```
export QUALIA_API_KEY="your-api-key"
```

Verify your install

First thing after setup, run the self-test:

python3 {baseDir}/scripts/qualia.py doctor

It checks the API key, auth/connectivity (/v1/credits), and the models endpoint. Exit 0 means everything works. Add --json for machine-readable results.

Machine-readable output

Every command accepts a global --json flag. In JSON mode, stdout carries exactly one JSON object or array and nothing else. Errors are emitted on stdout as {"error": {"code": <int>, "message": "...", "details": ...}} with the matching exit code.

python3 {baseDir}/scripts/qualia.py --json credits
# {"balance": 90784}

Prefer --json when driving the CLI programmatically; parse stdout, branch on exit code.

Exit codes

Code	Meaning
0	Success
1	Generic/unknown failure
2	Usage error (bad arguments, unknown command)
3	Auth error (HTTP 401/403 or missing `QUALIA_API_KEY`)
4	Insufficient credits (HTTP 402)
5	Validation error (bad camera mapping, hyperparams, or dataset; HTTP 400/422)
6	Not found (HTTP 404)
7	Connection/network error

When Someone Asks to Train a Model

They probably won't give you everything upfront. Here's what you need and how to get it:

Dataset: ask for their HuggingFace dataset ID (e.g. your-org/your-dataset)
Model type: if they don't specify, run models and help them choose:
- Quick prototyping → suggest ACT (fast, no base model needed)
- Production quality → suggest π0.5 or π0
- Humanoid robots → suggest GR00T N1.5
- Resource-conscious → suggest SmolVLA
Training duration: if unspecified, suggest 2 to 4 hours for a first run
Camera mapping: run dataset-keys on their dataset, then models to see required slots, and map them automatically. Confirm with the user before launching.

If the user already has a project, use it. Otherwise create one.

When Things Go Wrong

Symptom	Likely cause	Fix
Job stuck at `credit_validation`	Insufficient credits	Run `credits`, tell user to top up
Fails at `dataset_preprocessing`	Bad camera mapping or invalid dataset	Re-check `dataset-keys` output, verify mapping
Fails at `instance_booting`	GPU capacity issue	Try a different instance type or region
Job failed with no clear error	Check phase events	Run `status <job_id>` and read the event messages

Always run status <job_id> and share the full phase history with the user when debugging.

Quick Start

# See what models are available (always check, new ones are added regularly)
python3 {baseDir}/scripts/qualia.py models

# Check GPU options and pricing
python3 {baseDir}/scripts/qualia.py instances

# Check your credit balance
python3 {baseDir}/scripts/qualia.py credits

Train a Model

# 1. Discover image keys in your dataset
python3 {baseDir}/scripts/qualia.py dataset-keys your-org/your-dataset

# 2. Create a project
python3 {baseDir}/scripts/qualia.py project-create "My Robot"

# 3. Launch training
python3 {baseDir}/scripts/qualia.py finetune <project_id> <vla_type> your-org/your-dataset 4 \
  '{"cam_1": "observation.images.top"}' \
  --model <base_model_id> \
  --name "My run"

# 4. Monitor
python3 {baseDir}/scripts/qualia.py status <job_id>

Notes:

Run models first to see which VLA types require --model and which don't
Camera mappings map model slots (from models) to dataset image keys (from dataset-keys)
Smart camera mapping: The API returns generic slot names (cam_1, cam_2, cam_3) but the underlying models have a specific input order. Map semantically using these known orders:
- π0.5 / π0: cam_1 = base/overview camera, cam_2 = left wrist/arm, cam_3 = right wrist/arm
- GR00T N1.5: cam_1 = base/overview camera, cam_2 = left wrist/arm, cam_3 = right wrist/arm
- ACT / SmolVLA: cam_1 = primary camera, cam_2/cam_3 = secondary views
- Fuzzy-match dataset keys to these roles: context_camera or base_0 → cam_1; left_wrist ≈ left_arm → cam_2; right_wrist ≈ right_arm → cam_3
Omit --model for types that don't support custom models
Estimate cost before launching: run instances to get credits/hr, multiply by hours. Tell the user the estimated cost before confirming.
Dataset IDs on HuggingFace are case-sensitive, double-check the exact ID

Manage Jobs & Projects

python3 {baseDir}/scripts/qualia.py projects                     # List projects and jobs
python3 {baseDir}/scripts/qualia.py status <job_id>              # Job status and phase history
python3 {baseDir}/scripts/qualia.py cancel <job_id>              # Cancel a running job
python3 {baseDir}/scripts/qualia.py project-delete <project_id>  # Delete a project

Custom Hyperparameters

# Get defaults
python3 {baseDir}/scripts/qualia.py hyperparams <vla_type> [model_id]

# Validate overrides
python3 {baseDir}/scripts/qualia.py hyperparams-validate <vla_type> '{"learning_rate": 1e-4}'

# Use in training
python3 {baseDir}/scripts/qualia.py finetune ... --hyper-spec '{"learning_rate": 1e-4, "num_epochs": 50}'

Finetune Flags

Flag	Description
`--model <id>`	Base model ID (required for some VLA types)
`--name <str>`	Job display name
`--instance <id>`	GPU instance type
`--region <name>`	Cloud region
`--batch-size <n>`	Batch size (1-512, default 32)
`--hyper-spec '<json>'`	Custom hyperparameters
`--rabc <model_path>`	Enable RA-BC with SARM reward model (HF path)
`--rabc-image-key <k>`	Image key for reward annotations
`--rabc-head-mode <m>`	RA-BC head mode (e.g. sparse)

RA-BC (Reward-Aware Behavior Cloning)

Use a trained SARM reward model to weight training samples. Supported on smolvla, pi0, pi05.

python3 {baseDir}/scripts/qualia.py finetune \
  <project_id> pi0 your-org/your-dataset 4 \
  '{"cam_1": "observation.images.top"}' \
  --model lerobot/pi0 \
  --rabc your-org/sarm-reward-model \
  --rabc-image-key observation.images.top \
  --rabc-head-mode sparse

Job Phases

queuing → credit_validation → instance_booting → instance_activation → instance_setup → dataset_preprocessing → training_running → model_uploading → completed

Terminal: completed, failed, cancelled

Live Docs

For the latest models, endpoints, and capabilities, always check the live documentation:

LLM context: docs.qualiastudios.dev/llms.txt
API reference: dev-docs.qualiastudios.dev/api/reference
SDK: docs.qualiastudios.dev/sdk/overview
Guides: docs.qualiastudios.dev/global/guides