joon-stack/univla-lerobot-ppnb-st2-step5000
Full merged UniVLA checkpoint for LeRobot cache fine-tuning.
- dataset:
pick_place_nanobanana
- model:
univla_stage2_lam60k_vla50k
- base VLA:
hf_univla_bridge_lam_stage2_b200_tf21_vla50k_cleanenv_step050000
- step:
5000
- latent action token length:
4
- codebook size:
16
- predicted action horizon:
10
This repository contains full merged VLA weights and the matching action_decoder-5000.pt.
