quiet-storm/univla-lerobot-stackcup-st2-step5000

joon-stack/univla-lerobot-stackcup-st2-step5000

Full merged UniVLA checkpoint for LeRobot cache fine-tuning.

• —dataset: stack_cup_merged
• —model: univla_stage2_lam60k_vla50k
• —base VLA: hf_univla_bridge_lam_stage2_b200_tf21_vla50k_cleanenv_step050000
• —step: 5000
• —latent action token length: 4
• —codebook size: 16
• —predicted action horizon: 10

This repository contains full merged VLA weights and the matching action_decoder-5000.pt.