| # FLUX cloth-folding inference checkpoint |
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| ## Released files |
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| ```text |
| checkpoints/flux_fold_clothes_bf16/ |
| config.json |
| manifest.json |
| model.safetensors |
| ``` |
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| 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`. |
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| 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. |
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| ## Load with the robot adapter |
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| From the repository root, after installing the FLUX environment: |
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| ```bash |
| export FLUX_RESOURCES=/absolute/path/to/flux_resources |
| export UMI_INFER_DATA=/absolute/path/to/calibrated_cell |
| bash scripts/run_flux_server.sh |
| ``` |
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| The launcher defaults to the bundled checkpoint directory and injects the VAE/text encoder from `FLUX_RESOURCES`, overriding the portable config paths. Required resources: |
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| ```text |
| flux_resources/ |
| video_vae.safetensors |
| text_encoder/ # matching pretrained text encoder and processor |
| ``` |
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| 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. |
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| 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. |
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| ## Sampling and validation |
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| 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. |
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| 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](VALIDATION.md). |
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