Field	Value
Base model	2toINF/X-VLA-Pt
Action encoding	absolute
Training config	lr=5e-4, coef=1.0, 20K iters
LoRA rank	8
Target modules	all-linear
Training data	180 episodes of teleoperated cable insertion

Usage

Action Encoding

This model was trained with absolute action encoding. When running inference, set or the serve.py will auto-detect from the sidecar file.