---
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`).