UniVLA Bridge LAM Stage1/Stage2 and VLA 50K Checkpoints
This repository contains intermediate checkpoints from the UniVLA Bridge LAM/VLA run.
Layout
lam/stage1/: task-centric LAM stage-1 checkpoints.lam/stage2/: task-centric LAM stage-2 checkpoints.vla/pretrain/checkpoints/: VLA latent-action pretraining checkpoints at 10K intervals through 50K.configs/: training configs and the pipeline script used for the VLA 50K run.
The VLA 50K run used task_centric_lam_stage2_bridge/last.ckpt as the LAM checkpoint.