joon-stack/univla-lerobot-ppnb-eu5-step5000
Full merged UniVLA checkpoint for LeRobot cache fine-tuning.
- dataset:
pick_place_nanobanana
- model:
euclidean_plain_5tokens_k16
- base VLA:
hf_univla_bridge_euclidean_plain_5tokens_k16_lam30k_8gpu_g256_step050000
- step:
5000
- latent action token length:
5
- codebook size:
16
- predicted action horizon:
10
This repository contains full merged VLA weights and the matching action_decoder-5000.pt.
