| tags: | |
| - libero | |
| - latent-dynamics | |
| - action-free | |
| - robotics | |
| # Latent dynamics (IDM/FDM) · libero_90 · seed 1000 | |
| Action-free visual dynamics pretrain: frozen SmolVLA vision features → IDM → FDM. | |
| Trained on RGB from `nvidia/libero_90` only (no action / state / reward labels). | |
| Files: | |
| - `idm_fdm.pt` — model weights + config dict | |
| - `idm_fdm.json` — training hyperparameters | |
| Used as frozen teacher for video-latent few-shot SmolVLA fine-tuning | |
| (`--video.checkpoint`). | |