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CD-LAM
yufanwei/CD-LAM
CD-LAM is a robotics model from yufanwei. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for pytorch. The card lists the license as other.
This repository contains three CD-LAM model entries.
Access
Public
Updated Jul 13, 2026
Repo size
34.3 GB
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0
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Repo makeup
Click a slice to open those files.
.pt11.4 GB · 100%
At a glance
- Task
- Robotics
- Library
- pytorch
- License
- other
- Access
- Public
- Created
- Jul 9, 2026
- Updated
- Jul 13, 2026
- SHA
- 2a02c07f
Model card
From the Hugging Face model README
CD-LAM
This repository contains three CD-LAM model entries.
| entry | file | role |
|---|---|---|
| LAM | models/lam/model.pt | 32D latent-action model |
| Pretrain | models/pretrain/model.pt | latent-action-conditioned world-model overlay |
| Posttrain | models/posttrain/model.pt | robot-action post-trained world-model overlay |
The posttrain folder also contains its required
models/posttrain/bridge.pt and
models/posttrain/action_contract.json. They are support files for the
posttrain entry, not additional models.
Use with the source release
git clone https://github.com/yufanwei/CD-LAM.git
cd CD-LAM
bash setup.sh --accept-base-license --with-models
The source downloader pins an immutable Hub revision and verifies file sizes
and SHA-256 values from asset_manifest.json.
Compatibility
The LAM and pretrain entries are compatible with each other. The posttrain entry must use the bridge and action contract in the same folder.
The two world-model files are overlays and require the compatible external
NVIDIA 2B base checkpoint, Cosmos tokenizer, and text encoder. Exact revisions
are recorded in asset_manifest.json and the
CD-LAM source release.
Scope
These are inference and evaluation research artifacts, not optimizer-resume checkpoints, a robot policy, or a safety controller. Model identity and tensor verification do not by themselves reproduce the manuscript tables.
License and citation
Read NOTICE and LICENSE.pdf before using the checkpoints. Built on NVIDIA Cosmos.
The paper BibTeX entry is available in the source repository's
README.
- Task
- Robotics
- Library
- pytorch
- License
- other
- Created
- Jul 9, 2026
- Updated
- Jul 13, 2026