| --- |
| license: other |
| license_name: nvidia-open-model-license |
| license_link: https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-open-model-license/ |
| library_name: pytorch |
| tags: |
| - latent-action-model |
| - world-model |
| - robotics |
| - video-prediction |
| - research |
| --- |
| |
| # CD-LAM |
|
|
| This repository contains three CD-LAM model entries. |
|
|
| | entry | file | role | |
| |---|---|---| |
| | LAM | `models/lam/model.pt` | 32D latent-action model | |
| | Pretrain | `models/pretrain/model.pt` | latent-action-conditioned world-model overlay | |
| | Posttrain | `models/posttrain/model.pt` | robot-action post-trained world-model overlay | |
|
|
| The posttrain folder also contains its required |
| `models/posttrain/bridge.pt` and |
| `models/posttrain/action_contract.json`. They are support files for the |
| posttrain entry, not additional models. |
|
|
| ## Use with the source release |
|
|
| ```bash |
| git clone https://github.com/yufanwei/CD-LAM.git |
| cd CD-LAM |
| bash setup.sh --accept-base-license --with-models |
| ``` |
|
|
| The source downloader pins an immutable Hub revision and verifies file sizes |
| and SHA-256 values from `asset_manifest.json`. |
|
|
| ## Compatibility |
|
|
| The LAM and pretrain entries are compatible with each other. The posttrain |
| entry must use the bridge and action contract in the same folder. |
|
|
| The two world-model files are overlays and require the compatible external |
| NVIDIA 2B base checkpoint, Cosmos tokenizer, and text encoder. Exact revisions |
| are recorded in `asset_manifest.json` and the |
| [CD-LAM source release](https://github.com/yufanwei/CD-LAM). |
|
|
| ## Scope |
|
|
| These are inference and evaluation research artifacts, not optimizer-resume |
| checkpoints, a robot policy, or a safety controller. Model identity and tensor |
| verification do not by themselves reproduce the manuscript tables. |
|
|
| ## License and citation |
|
|
| Read `NOTICE` and `LICENSE.pdf` before using the checkpoints. Built on NVIDIA Cosmos. |
| The paper BibTeX entry is available in the source repository's |
| [README](https://github.com/yufanwei/CD-LAM#citation). |
|
|
