---
title: Spirit-v1.5
canonical_url: "https://www.modelscope.cn/models/Spirit-AI-robotics/Spirit-v1.5"
md_url: "https://www.modelscope.cn/models/Spirit-AI-robotics/Spirit-v1.5.md"
repository: Spirit-AI-robotics/Spirit-v1.5
last_updated: 2026-01-12
license: apache-2.0
library_name:
  - safetensors
  - pytorch
frameworks:
  - pytorch
downloads: 165
stars: 0
---

# Spirit-v1.5

> Spirit-v1.5 - Spirit-AI-robotics 在 ModelScope 开源的模型。Spirit-v1.5 is a Vision-Language-Action (VLA) model.

Spirit-AI-robotics/Spirit-v1.5 是 ModelScope 魔搭社区上的机器学习模型，采用 apache-2.0 许可。

- **Repository**: Spirit-AI-robotics/Spirit-v1.5
- **License**: apache-2.0
- **Downloads**: 165
- **Stars**: 0
- **Last updated**: 2026-01-12

Source: https://www.modelscope.cn/models/Spirit-AI-robotics/Spirit-v1.5

---

# Spirit-v1.5 (Base)

Spirit-v1.5 is a **Vision-Language-Action (VLA)** model.

## Introduction

Spirit-v1.5 is built on:

- A VLM backbone: `Qwen/Qwen3-VL-4B-Instruct`
- A DiT (Diffusion Transformer) action head
- A policy inference API

For implementation details and usage examples, please refer to the GitHub repository:

- GitHub: `https://github.com/Spirit-AI-Team/spirit-v1.5`

For the model announcement / overview, see the blog post:

- Blog: `https://www.spirit-ai.com/en/blog/spirit-v1-5`

## Requirements

Tested in a GPU environment. Recommended Python: **3.11+**.

Pinned dependency versions from this repo:

- `torch==2.9.1`
- `torchvision==0.24.1`
- `transformers==4.57.3`
- `diffusers==0.36.0`
- `safetensors==0.7.0`
- `numpy==2.4.0`
- `pillow==12.1.0`
- `scipy==1.16.3`

## Quickstart

This model card is hosted separately on Hugging Face. For the latest runnable commands and end-to-end usage, please follow:

- GitHub repo README: `https://github.com/Spirit-AI-Team/spirit-v1.5`

## Citation

If you use this model / code in your work, please cite and link to:

- GitHub: `https://github.com/Spirit-AI-Team/spirit-v1.5`
- Blog: `https://www.spirit-ai.com/en/blog/spirit-v1-5`

## Bibtex

```bibtex
@article{spiritai2026spiritv15,
  author = {Spirit AI Team},
  title = {Spirit-v1.5: Clean Data Is the Enemy of Great Robot Foundation Models},
  journal = {Spirit AI Blog},
  year = {2026},
  note = {https://www.spirit-ai.com/en/blog/spirit-v1-5},
}
```