| --- |
| license: apache-2.0 |
| tags: |
| - robotics |
| - lingbot-va |
| - unitree-g1 |
| - world-model |
| --- |
| |
| # UnitreeG1_ethernetCable_2000step — LingBot-VA G1 post-trained transformer |
|
|
| Fine-tuned `transformer` for LingBot-VA on Unitree G1 (Dex1), task |
| `XiaoweiLinXL/unitree_insert_the_ethernet_cable_to_the_tv_box`: |
| *"Insert the ethernet cable into the tv box."* |
|
|
| - Base: `robbyant/lingbot-va-base` |
| - Post-training: 69 demos, single-task (cable insertion), lr 1e-5, |
| **FDM v2 recipe** — mutually-exclusive per-microstep regime (rank-synced |
| coin `fdm_prob=0.5`: FDM video-only L_fdm Eq.13 `lambda_fdm=1.0` OR |
| standard IDM L_dyn+L_inv; one forward, one backward). Per-step |
| **randomized chunk_size ∈ {1,2,3,4}** and **window_size ∈ {4..64}**. |
| - 4 GPUs × `grad_accum=4` = effective batch 16, optimizer **step 2000** |
| (final of a 2000-step schedule). |
| - Final losses: video=0.088, action=0.0016, fdm=0.085, grad_norm=0.036 |
| — healthier loss level than the put_away_tools v21 5k run (which had |
| suspiciously low video=0.0075, indicating overfit on a compressed |
| distribution). |
| - This repo contains **only `transformer/`** — `vae/`, `text_encoder/`, |
| `tokenizer/` are unchanged from `robbyant/lingbot-va-base`. |
|
|
| ## ⚠️ Quantile normalization warning |
|
|
| This checkpoint was trained under **quantile (q01/q99) normalization**. |
| Smoke testing at encode time showed `normalized action absmax = 2.77` for |
| ep0, well above the model's bounded prediction range. The same failure |
| mode hurt `put_away_tools v21` deployment — predictions under-shoot the |
| precise final-approach moments. For an insertion task this is especially |
| risky. |
|
|
| If deployment performance is weak: re-encode the norm_stat with **min/max |
| + zero-inclusion** (see `scripts/compute_g1_norm_stats.py` extended with |
| the zero-inclusion logic from `compute_ur3_bimanual_norm_stats.py`) and |
| retrain. The fix took ~36 h on 8 GPUs for put_away_tools v21. |
|
|
| ## Assemble an eval-ready checkpoint |
|
|
| ```bash |
| hf download robbyant/lingbot-va-base --local-dir lingbot-va-base |
| hf download EmbodyX/UnitreeG1_ethernetCable_2000step --local-dir g1_eth_2000_dl |
| |
| mkdir -p g1_eth_2000 |
| ln -sf $(realpath g1_eth_2000_dl/transformer) g1_eth_2000/transformer |
| ln -sf $(realpath lingbot-va-base/vae) g1_eth_2000/vae |
| ln -sf $(realpath lingbot-va-base/text_encoder) g1_eth_2000/text_encoder |
| ln -sf $(realpath lingbot-va-base/tokenizer) g1_eth_2000/tokenizer |
| ``` |
|
|
| Serve with `CONFIG_NAME=g1_ethernet_cable MODEL_PATH=g1_eth_2000`. |
| `transformer/config.json` has `attn_mode: torch` (inference-ready). |
|
|
