FLUX cloth-folding inference checkpoint
Released files
checkpoints/flux_fold_clothes_bf16/
config.json
manifest.json
model.safetensors
This is the exported BF16 policy from step 14418 (model weights). No further export is needed. model.safetensors is 13,894,466,592 bytes, SHA256 4378d2ffd9f90f6b2efc0767512c29c934cd9f78c1e66997b551b52ade4b1c45.
The supplied export was downloaded and verified against OSS CRC64 and its original manifest. Tensor bytes are unchanged. Internal encoder paths were replaced with ./resources/flux/video_vae.safetensors and ./resources/flux/text_encoder; disabled training-cache fields cached_video_latents and latent_cache_contract_sha256, unsupported by the bundled PolicyConfig, were removed. The manifest now records the sanitized config hash. Keep config, manifest and model together.
Load with the robot adapter
From the repository root, after installing the FLUX environment:
export FLUX_RESOURCES=/absolute/path/to/flux_resources
export UMI_INFER_DATA=/absolute/path/to/calibrated_cell
bash scripts/run_flux_server.sh
The launcher defaults to the bundled checkpoint directory and injects the VAE/text encoder from FLUX_RESOURCES, overriding the portable config paths. Required resources:
flux_resources/
video_vae.safetensors
text_encoder/ # matching pretrained text encoder and processor
Encoders, cell extrinsics and vendor SDKs are separate requirements. For direct FluxActionPolicy.from_pretrained, either supply video_vae and text_encoder explicitly or provide the relative resource paths from the working directory.
The export fixes two cameras (images.left_ego, images.right_ego), a 256×512 side-by-side canvas, 20-D state/actions, 32-action chunks, 30 Hz and absolute actions in each chunk's anchor frame. The robot adapter handles 16-D poses, relative-state construction, normalization, anchor restoration and cell extrinsics. Keep the saved state/action quantiles unchanged.
Sampling and validation
The export has null sampler, step-count, guidance and shift fields. The server sets Euler, 4 steps, shift 42, guidance 1.0, action guidance 1.0 and seed 0 by default. Adjust FLUX_SAMPLER, FLUX_STEPS, FLUX_SHIFT, FLUX_GUIDANCE, FLUX_ACTION_GUIDANCE and FLUX_SEED explicitly when a validated deployment recipe is available. The training timestep shift does not establish an optimal inference shift.
File integrity and configuration compatibility have been checked on CPU. Frozen encoders, CUDA inference and physical-robot cloth folding were not tested in this release. See VALIDATION.md.