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armanakbari4/
g1_fdmv2_broccoli_1000step

Name: g1_fdmv2_broccoli_1000step
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g1_fdmv2_broccoli_1000step — 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 1000 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_1000step --local-dir g1_broc_1000_dl

mkdir -p g1_broc_1000
ln -sf $(realpath g1_broc_1000_dl/transformer)  g1_broc_1000/transformer
ln -sf $(realpath lingbot-va-base/vae)          g1_broc_1000/vae
ln -sf $(realpath lingbot-va-base/text_encoder) g1_broc_1000/text_encoder
ln -sf $(realpath lingbot-va-base/tokenizer)    g1_broc_1000/tokenizer

Serve with CONFIG_NAME=g1_cupbroc MODEL_PATH=g1_broc_1000. transformer/config.json has attn_mode: torch (inference-ready).