| --- |
| license: apache-2.0 |
| library_name: transformers |
| tags: |
| - robotics |
| - vla |
| - lingbot-vla |
| - lerobot |
| - manipulation |
| --- |
| |
| # LingBot-VLA 2.0 — Stack-the-cubes finetune |
|
|
| Finetune of **LingBot-VLA 2.0** (6B, MoE action expert) on the mixed |
| [LGG100/Stack-the-cubes](https://huggingface.co/datasets/LGG100/Stack-the-cubes) + |
| [LGG100/Stack-the-cubes-v2](https://huggingface.co/datasets/LGG100/Stack-the-cubes-v2) |
| datasets (Unitree G1 Dex1, dual-arm cube stacking). |
|
|
| Code & real-robot serving: https://github.com/YCC-DAVID/robotic |
|
|
| ## Checkpoints |
|
|
| Each `global_step_*/` folder holds the deployable HF-format weights |
| (`model-0000x-of-00006.safetensors` + tokenizer/config), loadable directly. |
|
|
| | Folder | Step | |
| |---|---| |
| | `global_step_5000/` | 5000 | |
| | `global_step_10000/` | 10000 | |
| | `global_step_15000/` | 15000 | |
| | `global_step_20000/` | 20000 (final) | |
|
|
| ## Training |
|
|
| - Base: LingBot-VLA 2.0 (fp32), 16-dim state/action (14 arm joints + 2 grippers) |
| - 2xA100-80GB, FSDP2, Muon optimizer, `L1_fm` loss, `bounds_99_woclip` norm, absolute actions |
| - 20000 steps, lr 1e-4, with depth + DINO-video distillation and future-image prediction |
| - Final loss ~0.11 (VLA_Loss) |
| |
| Only the deployable `hf_ckpt` weights are published (optimizer states omitted). |
|
|
