g1 cup_broccoli FDM-v2 transformer @ step 500

README.md

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+---
+license: apache-2.0
+tags:
+- robotics
+- lingbot-va
+- unitree-g1
+- world-model
+---
+
+# g1_fdmv2_broccoli_500step — LingBot-VA G1 post-trained transformer
+
+Fine-tuned `transformer` for LingBot-VA on Unitree G1 (Dex1), task
+`yigao7117/put_cup_n_broccoli`:
+*"Pick the pink object and put it in the orange basket, then pick up the
+broccoli and put it inside the pink object."*
+
+- Base: `robbyant/lingbot-va-base`
+- Post-training: 50 demos, single task, lr 1e-5, **FDM v2 recipe** — the
+  mutually-exclusive per-microstep regime (rank-synced coin `fdm_prob=0.5`:
+  EITHER FDM video-only L_fdm Eq.13 `lambda_fdm=1.0` OR standard IDM
+  L_dyn+L_inv; one forward, one backward). Optimizer **step 500** of a 2000-step
+  run.
+- This repo contains **only `transformer/`** — `vae/`, `text_encoder/`,
+  `tokenizer/` are unchanged from `robbyant/lingbot-va-base`.
+
+## Assemble an eval-ready checkpoint
+
+```bash
+hf download robbyant/lingbot-va-base             --local-dir lingbot-va-base
+hf download armanakbari4/g1_fdmv2_broccoli_500step --local-dir g1_broc_500_dl
+
+mkdir -p g1_broc_500
+ln -sf $(realpath g1_broc_500_dl/transformer)  g1_broc_500/transformer
+ln -sf $(realpath lingbot-va-base/vae)          g1_broc_500/vae
+ln -sf $(realpath lingbot-va-base/text_encoder) g1_broc_500/text_encoder
+ln -sf $(realpath lingbot-va-base/tokenizer)    g1_broc_500/tokenizer
+```
+
+Serve with `CONFIG_NAME=g1_cupbroc MODEL_PATH=g1_broc_500`.
+`transformer/config.json` has `attn_mode: torch` (inference-ready).

transformer/config.json

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+{
+  "patch_size": [
+    1,
+    2,
+    2
+  ],
+  "num_attention_heads": 24,
+  "attention_head_dim": 128,
+  "in_channels": 48,
+  "out_channels": 48,
+  "action_dim": 30,
+  "text_dim": 4096,
+  "freq_dim": 256,
+  "ffn_dim": 14336,
+  "num_layers": 30,
+  "cross_attn_norm": true,
+  "eps": 1e-06,
+  "rope_max_seq_len": 1024,
+  "pos_embed_seq_len": null,
+  "attn_mode": "torch",
+  "_class_name": "WanTransformer3DModel",
+  "_diffusers_version": "0.35.0.dev0"
+}

transformer/diffusion_pytorch_model.safetensors

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+size 10177831668