Galaxea G0.5 — BimanualYAM Cups

Task: "Stack the cups." — 100 episodes, 39,184 frames @ 30 fps (RoboColosseum/BimanualYAM-datasets/Cups)
Inputs/outputs: cameras top / left wrist / right wrist + instruction; 14-D absolute joint state and action
Base: OpenGalaxea/G05 g05-base (GalaxeaVLA)
Trained: Full fine-tune, vision LR x0.1, FSDP (R1Lite post-training recipe; data in R1Lite layout)
Optim: LR 4e-5, cosine, warmup 200, wd 0.03; GBS 32 (8/GPU x 4); 5 epochs; fp32 master weights, bf16 compute; 4x H100; wall time 2h58m
Files: model.pt (final epoch), dataset_stats.json, action_tokenizer.pt.
Load: GalaxeaVLA with task config configs/galaxea/task/yam.yaml
Code: RoboColosseum harness (scripts/train/g05.sh); logs in W&B project RoboColosseum

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