YccHugAi/lingbot-vla-2-stackcube

LingBot-VLA 2.0 — Stack-the-cubes finetune

Finetune of LingBot-VLA 2.0 (6B, MoE action expert) on the mixed LGG100/Stack-the-cubes + LGG100/Stack-the-cubes-v2 datasets (Unitree G1 Dex1, dual-arm cube stacking).

Code & real-robot serving: https://github.com/YCC-DAVID/robotic

Checkpoints

Each global_step_*/ folder holds the deployable HF-format weights (model-0000x-of-00006.safetensors + tokenizer/config), loadable directly.

Folder	Step
global_step_5000/	5000
global_step_10000/	10000
global_step_15000/	15000
global_step_20000/	20000 (final)

Training

• Base: LingBot-VLA 2.0 (fp32), 16-dim state/action (14 arm joints + 2 grippers)
• 2xA100-80GB, FSDP2, Muon optimizer, L1_fm loss, bounds_99_woclip norm, absolute actions
• 20000 steps, lr 1e-4, with depth + DINO-video distillation and future-image prediction
• Final loss ~0.11 (VLA_Loss)

Only the deployable hf_ckpt weights are published (optimizer states omitted).