CD-LAM

This repository contains three CD-LAM model entries.

entry	file	role
LAM	models/lam/model.pt	32D latent-action model
Pretrain	models/pretrain/model.pt	latent-action-conditioned world-model overlay
Posttrain	models/posttrain/model.pt	robot-action post-trained world-model overlay

The posttrain folder also contains its required models/posttrain/bridge.pt and models/posttrain/action_contract.json. They are support files for the posttrain entry, not additional models.

Use with the source release

git clone https://github.com/yufanwei/CD-LAM.git
cd CD-LAM
bash setup.sh --accept-base-license --with-models

The source downloader pins an immutable Hub revision and verifies file sizes and SHA-256 values from asset_manifest.json.

Compatibility

The LAM and pretrain entries are compatible with each other. The posttrain entry must use the bridge and action contract in the same folder.

The two world-model files are overlays and require the compatible external NVIDIA 2B base checkpoint, Cosmos tokenizer, and text encoder. Exact revisions are recorded in asset_manifest.json and the CD-LAM source release.

Scope

These are inference and evaluation research artifacts, not optimizer-resume checkpoints, a robot policy, or a safety controller. Model identity and tensor verification do not by themselves reproduce the manuscript tables.

License and citation

Read NOTICE and LICENSE.pdf before using the checkpoints. Built on NVIDIA Cosmos. The paper BibTeX entry is available in the source repository's README.