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cabinet (joint, 2-cam)cabinet family, one of five base models
evaluated on ManiGuard-Bench under identical data, cameras, and controller.robbyant/lingbot-vla-v2-6b
— the pretrain release (not the RoboTwin post-trained variant).IDEAS-Lab-Northwestern/datagen-cabinet-v1-joint-5cam (LeRobot v2.1, consumed directly — no format conversion).camera_top = the left overview, camera_wrist_left = wrist),
8-D joint state (7 arm + gripper) mapped into the 55-D unified vector.subtract_state: false on both features, per
LingBot's own simulation recipe) — apply directly to a JointController, no delta step.| Path | What it is |
|---|---|
maniguard/norm_stats.json | this family's normalization statistics |
maniguard/robot_config.yaml | the feature mapping the policy was trained with; its norm_stats: points at the file above |
vlm/config.json | the Qwen/Qwen3-VL-4B-Instruct config (Apache-2.0), vendored unchanged — LingBot builds the VLM skeleton from it before loading these weights |
tokenizer*.json, *preprocessor_config.json, merges.txt, vocab.json, added_tokens.json, special_tokens_map.json, chat_template.jinja | the processor / tokenizer, byte-identical to training |
1python maniguard/serve/lingbot_native.py \
2 --checkpoint <this repo, downloaded> --qwen-config <dir holding vlm/config.json> \
3 --device cuda:0 --port 8000