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LingBot-VA Franka Fold-Towel artifacts
This repository contains the Fold-Towel SFT actor and its paired language-conditioned QTran-L critic.
Layout
sft/checkpoint_step_21000/
config.json
va_franka_fold_towel_sft_self_contained_cfg.py
transformer/
resume_manifest.json
training_state.pt
rank_*.pt
critic/checkpoint_00030000/
config.json
manifest.json
training_state.pt
dataset_config_compat.json
federated_catalog.json
language_sidecar_manifest.json
episode_success_overlay.json
critic/provenance/
raw_training_config.json
raw_manifest.json
nebula_runtime_config.json
The SFT checkpoint contains the fine-tuned transformer. A deployment still
needs the matching LingBot-VA base VAE, tokenizer, and text encoder. The
actor contract is a 30-dimensional action, frame_chunk_size=2, and the
Fold-Towel sequential composite image (384x480 RGB, left/right wrists on
top and head below). The task instruction is: fold the towel in half twice.
The critic is a language-conditioned twin_language_query_transformer_v1
IQL critic with window_size=4, infer_latent_chunk_size=2, and feature taps
[0,4,8,12,16,20,24,28]. Its uploaded config uses relative metadata paths;
the original Nebula training config is retained under critic/provenance/.
The critic checkpoint must be paired with the SFT transformer contract.
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