g1_fdmv2_broccoli_500step

g1_fdmv2_broccoli_500step — 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 500 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

hf download robbyant/lingbot-va-base             --local-dir lingbot-va-base
hf download armanakbari4/g1_fdmv2_broccoli_500step --local-dir g1_broc_500_dl

mkdir -p g1_broc_500
ln -sf $(realpath g1_broc_500_dl/transformer)  g1_broc_500/transformer
ln -sf $(realpath lingbot-va-base/vae)          g1_broc_500/vae
ln -sf $(realpath lingbot-va-base/text_encoder) g1_broc_500/text_encoder
ln -sf $(realpath lingbot-va-base/tokenizer)    g1_broc_500/tokenizer

Serve with CONFIG_NAME=g1_cupbroc MODEL_PATH=g1_broc_500. transformer/config.json has attn_mode: torch (inference-ready).