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Artifact sources

The residual adapter is a BAS-VLA project training artifact from the OpenVLA / LIBERO-10 offline action-calibration setting. Project contributions use the MIT License in LICENSE.

The 400 action triplets, original agent-view observations, sampled simulator states, demonstration initial states, and two BDDL scenes are derived from LIBERO and its demonstration dataset. The exact source demonstration filename, demo ID and frame index are retained in each record. LIBERO's copyright and MIT notice are preserved in licenses/LIBERO-MIT.txt.

The base carrier is openvla/openvla-7b. The bundled normalization statistics come from moojink/openvla-7b-oft-finetuned-libero-10; their source is recorded in normalization/source.json, with the OpenVLA-OFT MIT notice in licenses/OpenVLA-OFT-MIT.txt.

The source implementation tokenizes instructions with lowercase [a-z0-9]+ and uses binary presence features. The released weight file preserves every original tensor and is loadable by the public ResidualAdapter class. example.py applies it to one released matched record on CPU.