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docs(lingbot_va): point checkpoint paths at the lerobot org

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The LeRobot-format checkpoints moved from pepijn223/* to lerobot/* (libero_long,
robotwin, base). Update the eval/train --policy.path examples accordingly.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-06-08 11:58:31 +02:00
parent 3b37bd0ca6
commit 6496728025
1 changed files with 10 additions and 10 deletions
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docs/source/lingbot_va.mdx
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@@ -13,11 +13,11 @@ LingBot-VA is a **dual-stream "mixture-of-transformers"**: a video/latent stream
(`action_embedder → blocks → action_proj_out`) share the same 30 transformer blocks and (`action_embedder → blocks → action_proj_out`) share the same 30 transformer blocks and
text conditioning. text conditioning.
| Component | Class | Role | | Component | Class | Role |
| ------------------------ | ----------------------- | -------------------------------------------------------------------------------------- | | ------------------------ | ----------------------- | ----------------------------------------------------------- |
| DiT backbone (trainable) | `WanTransformer3DModel` | ~5B-param dual-stream transformer. | | DiT backbone (trainable) | `WanTransformer3DModel` | ~5B-param dual-stream transformer. |
| VAE (frozen) | `AutoencoderKLWan` | Wan2.2 VAE, `z_dim=48`. Lazy-pulled from the source repo. | | VAE (frozen) | `AutoencoderKLWan` | Wan2.2 VAE, `z_dim=48`. Lazy-pulled from the source repo. |
| Text encoder (frozen) | `UMT5EncoderModel` | UMT5-XXL, `d_model=4096`. Lazy-pulled from the source repo. | | Text encoder (frozen) | `UMT5EncoderModel` | UMT5-XXL, `d_model=4096`. Lazy-pulled from the source repo. |
At inference the policy runs an autoregressive loop per chunk: it denoises the video-latent At inference the policy runs an autoregressive loop per chunk: it denoises the video-latent
stream (CFG, ~20 steps) and the action stream (~50 steps) with two independent stream (CFG, ~20 steps) and the action stream (~50 steps) with two independent
@@ -47,8 +47,8 @@ pip install -e ".[lingbot_va]"
The released upstream checkpoints have been converted to LeRobot format and pushed to the Hub: The released upstream checkpoints have been converted to LeRobot format and pushed to the Hub:
| Variant | LeRobot checkpoint | | Variant | LeRobot checkpoint |
| ---------------------- | ---------------------------------- | | ---------------------- | -------------------------------- |
| LIBERO-Long post-train | `lerobot/lingbot_va_libero_long` | | LIBERO-Long post-train | `lerobot/lingbot_va_libero_long` |
| RoboTwin post-train | `lerobot/lingbot_va_robotwin` | | RoboTwin post-train | `lerobot/lingbot_va_robotwin` |
| Pretrained base | `lerobot/lingbot_va_base` | | Pretrained base | `lerobot/lingbot_va_base` |
@@ -63,7 +63,7 @@ transformer + VAE fit on a single 24–32 GB GPU.
```bash ```bash
lerobot-eval \ lerobot-eval \
--policy.path=pepijn223/lingbot_va_libero_long \ --policy.path=lerobot/lingbot_va_libero_long \
--policy.device=cuda \ --policy.device=cuda \
--env.type=libero --env.task=libero_10 \ --env.type=libero --env.task=libero_10 \
--env.observation_height=128 --env.observation_width=128 \ --env.observation_height=128 --env.observation_width=128 \
@@ -85,7 +85,7 @@ executed via CuRobo IK.
```bash ```bash
lerobot-eval \ lerobot-eval \
--policy.path=pepijn223/lingbot_va_robotwin \ --policy.path=lerobot/lingbot_va_robotwin \
--policy.device=cuda \ --policy.device=cuda \
--env.type=robotwin --env.task=beat_block_hammer --env.action_mode=ee \ --env.type=robotwin --env.task=beat_block_hammer --env.action_mode=ee \
--eval.n_episodes=10 --eval.batch_size=1 \ --eval.n_episodes=10 --eval.batch_size=1 \
@@ -116,7 +116,7 @@ Requirements:
```bash ```bash
lerobot-train \ lerobot-train \
--policy.path=pepijn223/lingbot_va_libero_long --policy.attn_mode=flex \ --policy.path=lerobot/lingbot_va_libero_long --policy.attn_mode=flex \
--policy.use_peft=true \ --policy.use_peft=true \
--dataset.repo_id=<your LeRobot-format dataset> \ --dataset.repo_id=<your LeRobot-format dataset> \
--batch_size=1 --steps=... --output_dir=outputs/train/lingbot_va --batch_size=1 --steps=... --output_dir=outputs/train/lingbot_va