Publish compact three-model CD-LAM release

LICENSE

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MODEL_LICENSE_NOTICE.md

@@ -1,33 +0,0 @@
-# Model and data license notice
-
-The Apache License 2.0 in `LICENSE` applies to CD-LAM-authored source code and
-documentation. It does not, by itself, grant rights to the checkpoint tensors,
-external base models, datasets, or optional evaluation dependencies.
-
-The released CD-LAM checkpoint files are fine-tuned derivatives of an NVIDIA
-base model and remain subject to the applicable NVIDIA Open Model License and
-upstream use conditions published with
-[`nvidia/DreamDojo`](https://huggingface.co/nvidia/DreamDojo). Users must review
-and accept those terms before downloading, using, or redistributing the
-weights.
-
-An unmodified copy of the NVIDIA Open Model License Agreement is distributed as
-`NVIDIA_OPEN_MODEL_LICENSE.pdf`. It is the October 24, 2025 version downloaded
-from NVIDIA's authoritative agreement page:
-
-<https://www.nvidia.com/content/dam/en-zz/Solutions/license-agreements/enterprise-software/nvidia-open-model-license-agreements-24-10-2025.pdf>
-
-Its SHA-256 is
-`4d2fb590aa9b30c47f2058bff17291df7fa2aa0c1bd775a20703da9bb267cfab`.
-The exact redistribution attribution required by that agreement is included in
-`NOTICE`. The model documentation and `NOTICE` also identify the NVIDIA Cosmos
-lineage.
-
-The release does not redistribute the NVIDIA base checkpoint, Cosmos tokenizer
-or text encoder, AgiBotWorld data, SAM3, or CoWTracker. Their repositories,
-revisions, and access requirements are recorded in `asset_manifest.json` and
-the CD-LAM source repository. Those upstream terms are not modified by the
-CD-LAM license.
-
-This notice is a dependency and provenance summary. The included PDF is the
-upstream agreement text and controls where applicable.

NOTICE

@@ -1,13 +1,9 @@
 CD-LAM
 Copyright 2026 CD-LAM contributors
 
-This distribution contains CD-LAM-authored documentation and checkpoint
-modifications. CD-LAM-authored source code and documentation are provided under
-the Apache License 2.0 in LICENSE.
-
 The checkpoint files are derivatives of an NVIDIA model. The complete
 applicable NVIDIA Open Model License Agreement is included in
-NVIDIA_OPEN_MODEL_LICENSE.pdf.
+LICENSE.pdf.
 
 Licensed by NVIDIA Corporation under the NVIDIA Open Model License
 

README.md

@@ -13,17 +13,17 @@ tags:
 
 # CD-LAM
 
-This repository contains the three released 2B CD-LAM model entries.
+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 100h | `models/posttrain-100h/model.pt` | robot-action post-trained world-model overlay |
+| Posttrain | `models/posttrain/model.pt` | robot-action post-trained world-model overlay |
 
 The posttrain folder also contains its required
-`models/posttrain-100h/bridge.pt` and
-`models/posttrain-100h/action_contract.json`. They are support files for the
+`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
@@ -40,13 +40,11 @@ and SHA-256 values from `asset_manifest.json`.
 ## Compatibility
 
 The LAM and pretrain entries are compatible with each other. The posttrain
-entry belongs to a separate 100h latent space and must use the bridge and
-action contract in the same folder.
+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 DreamDojo](https://huggingface.co/nvidia/DreamDojo) 2B base checkpoint,
-Cosmos tokenizer, and text encoder. Exact revisions are recorded in
-`asset_manifest.json` and the
+NVIDIA 2B base checkpoint, Cosmos tokenizer, and text encoder. Exact revisions
+are recorded in `asset_manifest.json` and the
 [CD-LAM source release](https://github.com/yufanwei/CD-LAM).
 
 ## Scope
@@ -57,7 +55,7 @@ verification do not by themselves reproduce the manuscript tables.
 
 ## License and citation
 
-Read `MODEL_LICENSE_NOTICE.md`, `NOTICE`, and
-`NVIDIA_OPEN_MODEL_LICENSE.pdf` before using the checkpoints. CD-LAM citation
+Read `NOTICE` and `LICENSE.pdf` before using the checkpoints. Built on NVIDIA Cosmos.
+CD-LAM citation
 metadata is available in the source repository's
 [CITATION.cff](https://github.com/yufanwei/CD-LAM/blob/main/CITATION.cff).

asset_manifest.json

@@ -9456,15 +9456,15 @@
       "bridge_contract_id": "agibot-alpha-22d-raw-adjacent-stride4",
       "bytes": 4303229324,
       "checkpoint_format": "cdlam.stage3.overlay",
-      "data_tier": "100h",
+      "data_tier": "posttrain",
       "historical_training_source_commit": "315712d6d01ae09533f734e67cedd51525851520",
-      "id": "posttrain-100h",
+      "id": "posttrain",
       "kind": "stage3",
       "matching_lam_sha256": "08fa663b1b9c3bb23edddfc7cd41344684f786f611fabf7d2b6618d282a4bbb9",
       "model_scale": "2B",
       "optimizer_step": 3000,
       "paper_role": "unverified",
-      "path": "models/posttrain-100h/model.pt",
+      "path": "models/posttrain/model.pt",
       "public_runtime_repository": "https://github.com/yufanwei/CD-LAM",
       "public_runtime_revision": "aa1e2c33367e561d1387c33fac801e9e73893af8",
       "release_path": "model.pt",
@@ -13409,17 +13409,17 @@
       "bridge_contract_id": "agibot-alpha-22d-raw-adjacent-stride4",
       "bytes": 639927,
       "checkpoint_format": "cdlam.action_to_latent_bridge",
-      "data_tier": "100h",
+      "data_tier": "posttrain",
       "historical_training_source_commit": "315712d6d01ae09533f734e67cedd51525851520",
-      "id": "posttrain-100h-bridge",
+      "id": "posttrain-bridge",
       "kind": "bridge",
       "latent_dim": 32,
-      "main_model_id": "posttrain-100h",
+      "main_model_id": "posttrain",
       "matching_lam_sha256": "08fa663b1b9c3bb23edddfc7cd41344684f786f611fabf7d2b6618d282a4bbb9",
       "model_scale": "2B",
       "optimizer_step": 300,
       "paper_role": "research",
-      "path": "models/posttrain-100h/bridge.pt",
+      "path": "models/posttrain/bridge.pt",
       "public_runtime_repository": "https://github.com/yufanwei/CD-LAM",
       "public_runtime_revision": "aa1e2c33367e561d1387c33fac801e9e73893af8",
       "release_path": "bridge.pt",
@@ -13534,14 +13534,14 @@
       "weights_only_load": "pass"
     },
     {
-      "bytes": 1393,
+      "bytes": 1398,
       "contract_id": "agibot-alpha-22d-raw-adjacent-stride4",
-      "id": "posttrain-100h-action-contract",
+      "id": "posttrain-action-contract",
       "kind": "json_contract",
-      "main_model_id": "posttrain-100h",
-      "path": "models/posttrain-100h/action_contract.json",
-      "release_sha256": "ca9d7eb175745c591fd8259322c7c031915a021a56c5b81770aab215f0566d38",
-      "source_sha256": "ca9d7eb175745c591fd8259322c7c031915a021a56c5b81770aab215f0566d38",
+      "main_model_id": "posttrain",
+      "path": "models/posttrain/action_contract.json",
+      "release_sha256": "1ed3cd3cf35b9cee2dee6c2a3e6041d926a1713726e386130c3298082686cf3c",
+      "source_sha256": "1ed3cd3cf35b9cee2dee6c2a3e6041d926a1713726e386130c3298082686cf3c",
       "verification_status": "byte_exact"
     }
   ],

models/{posttrain-100h → posttrain}/action_contract.json

@@ -15,7 +15,7 @@
   "metadata_source_repository": "https://github.com/NVIDIA/DreamDojo.git",
   "metadata_source_revision": "02f119b759d5c7f84a399fdeea3c6e82e7ed6cff",
   "legacy_bridge_sha256_by_scale_family": {
-    "100h": "346710032ca50ba18876d2727981b18db60cb9e7bea1d6efdb10056bb7232fdd"
+    "posttrain": "346710032ca50ba18876d2727981b18db60cb9e7bea1d6efdb10056bb7232fdd"
   },
   "layout": [
     {"name": "left_arm_joint_position", "start": 0, "end": 7},