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lingbot-vla-v2/closelaptop/README.md
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# LingBot-VLA v2 6B — DROID CloseLaptop
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- **Task:** "close laptop" — 100 episodes, 27,649 frames @ 30 fps (`aarontung/droid-close-laptop`)
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- **Inputs/outputs:** cameras left exterior / right exterior / wrist + instruction; 8-D absolute joint state and action (7 Franka joints + gripper)
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- **Base:** `robbyant/lingbot-vla-v2-6b`
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- **Trained:** Full post-train (recipe `configs/vla/real_robot/real_robot.yaml`)
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- **Optim:** Muon, constant LR 1.25e-5 (same as BimanualYAM); GBS 32 (16/GPU x 2); 5 epochs; fp32 master weights, bf16 compute; 2x H200 NVL; wall time 2h20m
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- **Files:** Final checkpoint in HF format plus `norm_stats.json` (meanstd).
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- **Load:** use as `--model_path` with the lingbot-vla-v2 inference code, together with `--norm_stats_file norm_stats.json`
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- **Code:** RoboColosseum harness (`scripts/train/lingbot.sh`); logs in W&B project `RoboColosseum`
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