Add model card and checkpoint metadata

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+tokenizer.json filter=lfs diff=lfs merge=lfs -text

LICENSE

@@ -0,0 +1,201 @@
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README.md

@@ -0,0 +1,27 @@
+---
+license: apache-2.0
+base_model: Qwen/Qwen3.5-2B
+tags:
+  - robotics
+  - vision-language-action
+  - humanoid
+  - lambda0
+---
+
+# λ₀ Midtrain: G1 SONIC + Revo2
+
+This is the **Stage II mid-training checkpoint** for λ₀, intended as the starting point for Stage III robot post-training. It contains the **raw weights at step 100,000**; this checkpoint does not contain EMA weights. It is not a task-specific post-trained policy.
+
+The model uses a Qwen3.5-2B vision–language backbone and a generative action expert. Its training contract is `lambda0_velocity_v1`: velocity prediction over 50 future action steps, with discrete VLM state conditioning (256 bins). Action-space ID 2, `robot_sonic_revo2`, uses a 76-dimensional action vector (64 SONIC motion coordinates and 6 coordinates per Revo2 hand) and 44-dimensional proprioception. The model configuration also defines other action spaces; select the one matching your robot data contract.
+
+## Post-training
+
+The Stage III post-training recipe is being prepared in the [OpenLambda source repository](https://github.com/LambdaHumanoid/openlambda). Once published, set `STAGE2_CHECKPOINT_DIR` to the downloaded model directory, and use `initialization: midtrain` with `midtrain_weight_source: raw`. The example configuration is `lambda0/configs/posttrain/train.json`.
+
+The pretraining and mid-training datasets are not included in this model repository. Robot post-training requires data that matches the selected action-space and coordinate contracts. This checkpoint alone is not a deployment-ready robot policy; evaluate a post-trained policy before any robot use.
+
+## Files and provenance
+
+`model.safetensors` contains the trained weights. `config.json`, `state.json`, and the tokenizer and processor files supply the model and training contract needed for loading. The checkpoint originated from λ₀ Stage II training at global step 100,000. The `base_model_name_or_path` field in this release points to the public Qwen3.5-2B model rather than the original training machine path; the weights are unchanged.
+
+The λ₀ code and these weights are released under Apache 2.0. The [Qwen3.5-2B base model](https://huggingface.co/Qwen/Qwen3.5-2B) is also available under Apache 2.0.

chat_template.jinja

@@ -0,0 +1,154 @@
+{%- set image_count = namespace(value=0) %}
+{%- set video_count = namespace(value=0) %}
+{%- macro render_content(content, do_vision_count, is_system_content=false) %}
+    {%- if content is string %}
+        {{- content }}
+    {%- elif content is iterable and content is not mapping %}
+        {%- for item in content %}
+            {%- if 'image' in item or 'image_url' in item or item.type == 'image' %}
+                {%- if is_system_content %}
+                    {{- raise_exception('System message cannot contain images.') }}
+                {%- endif %}
+                {%- if do_vision_count %}
+                    {%- set image_count.value = image_count.value + 1 %}
+                {%- endif %}
+                {%- if add_vision_id %}
+                    {{- 'Picture ' ~ image_count.value ~ ': ' }}
+                {%- endif %}
+                {{- '<|vision_start|><|image_pad|><|vision_end|>' }}
+            {%- elif 'video' in item or item.type == 'video' %}
+                {%- if is_system_content %}
+                    {{- raise_exception('System message cannot contain videos.') }}
+                {%- endif %}
+                {%- if do_vision_count %}
+                    {%- set video_count.value = video_count.value + 1 %}
+                {%- endif %}
+                {%- if add_vision_id %}
+                    {{- 'Video ' ~ video_count.value ~ ': ' }}
+                {%- endif %}
+                {{- '<|vision_start|><|video_pad|><|vision_end|>' }}
+            {%- elif 'text' in item %}
+                {{- item.text }}
+            {%- else %}
+                {{- raise_exception('Unexpected item type in content.') }}
+            {%- endif %}
+        {%- endfor %}
+    {%- elif content is none or content is undefined %}
+        {{- '' }}
+    {%- else %}
+        {{- raise_exception('Unexpected content type.') }}
+    {%- endif %}
+{%- endmacro %}
+{%- if not messages %}
+    {{- raise_exception('No messages provided.') }}
+{%- endif %}
+{%- if tools and tools is iterable and tools is not mapping %}
+    {{- '<|im_start|>system\n' }}
+    {{- "# Tools\n\nYou have access to the following functions:\n\n<tools>" }}
+    {%- for tool in tools %}
+        {{- "\n" }}
+        {{- tool | tojson }}
+    {%- endfor %}
+    {{- "\n</tools>" }}
+    {{- '\n\nIf you choose to call a function ONLY reply in the following format with NO suffix:\n\n<tool_call>\n<function=example_function_name>\n<parameter=example_parameter_1>\nvalue_1\n</parameter>\n<parameter=example_parameter_2>\nThis is the value for the second parameter\nthat can span\nmultiple lines\n</parameter>\n</function>\n</tool_call>\n\n<IMPORTANT>\nReminder:\n- Function calls MUST follow the specified format: an inner <function=...></function> block must be nested within <tool_call></tool_call> XML tags\n- Required parameters MUST be specified\n- You may provide optional reasoning for your function call in natural language BEFORE the function call, but NOT after\n- If there is no function call available, answer the question like normal with your current knowledge and do not tell the user about function calls\n</IMPORTANT>' }}
+    {%- if messages[0].role == 'system' %}
+        {%- set content = render_content(messages[0].content, false, true)|trim %}
+        {%- if content %}
+            {{- '\n\n' + content }}
+        {%- endif %}
+    {%- endif %}
+    {{- '<|im_end|>\n' }}
+{%- else %}
+    {%- if messages[0].role == 'system' %}
+        {%- set content = render_content(messages[0].content, false, true)|trim %}
+        {{- '<|im_start|>system\n' + content + '<|im_end|>\n' }}
+    {%- endif %}
+{%- endif %}
+{%- set ns = namespace(multi_step_tool=true, last_query_index=messages|length - 1) %}
+{%- for message in messages[::-1] %}
+    {%- set index = (messages|length - 1) - loop.index0 %}
+    {%- if ns.multi_step_tool and message.role == "user" %}
+        {%- set content = render_content(message.content, false)|trim %}
+        {%- if not(content.startswith('<tool_response>') and content.endswith('</tool_response>')) %}
+            {%- set ns.multi_step_tool = false %}
+            {%- set ns.last_query_index = index %}
+        {%- endif %}
+    {%- endif %}
+{%- endfor %}
+{%- if ns.multi_step_tool %}
+    {{- raise_exception('No user query found in messages.') }}
+{%- endif %}
+{%- for message in messages %}
+    {%- set content = render_content(message.content, true)|trim %}
+    {%- if message.role == "system" %}
+        {%- if not loop.first %}
+            {{- raise_exception('System message must be at the beginning.') }}
+        {%- endif %}
+    {%- elif message.role == "user" %}
+        {{- '<|im_start|>' + message.role + '\n' + content + '<|im_end|>' + '\n' }}
+    {%- elif message.role == "assistant" %}
+        {%- set reasoning_content = '' %}
+        {%- if message.reasoning_content is string %}
+            {%- set reasoning_content = message.reasoning_content %}
+        {%- else %}
+            {%- if '</think>' in content %}
+                {%- set reasoning_content = content.split('</think>')[0].rstrip('\n').split('<think>')[-1].lstrip('\n') %}
+                {%- set content = content.split('</think>')[-1].lstrip('\n') %}
+            {%- endif %}
+        {%- endif %}
+        {%- set reasoning_content = reasoning_content|trim %}
+        {%- if loop.index0 > ns.last_query_index %}
+            {{- '<|im_start|>' + message.role + '\n<think>\n' + reasoning_content + '\n</think>\n\n' + content }}
+        {%- else %}
+            {{- '<|im_start|>' + message.role + '\n' + content }}
+        {%- endif %}
+        {%- if message.tool_calls and message.tool_calls is iterable and message.tool_calls is not mapping %}
+            {%- for tool_call in message.tool_calls %}
+                {%- if tool_call.function is defined %}
+                    {%- set tool_call = tool_call.function %}
+                {%- endif %}
+                {%- if loop.first %}
+                    {%- if content|trim %}
+                        {{- '\n\n<tool_call>\n<function=' + tool_call.name + '>\n' }}
+                    {%- else %}
+                        {{- '<tool_call>\n<function=' + tool_call.name + '>\n' }}
+                    {%- endif %}
+                {%- else %}
+                    {{- '\n<tool_call>\n<function=' + tool_call.name + '>\n' }}
+                {%- endif %}
+                {%- if tool_call.arguments is defined %}
+                    {%- for args_name, args_value in tool_call.arguments|items %}
+                        {{- '<parameter=' + args_name + '>\n' }}
+                        {%- set args_value = args_value | tojson | safe if args_value is mapping or (args_value is sequence and args_value is not string) else args_value | string %}
+                        {{- args_value }}
+                        {{- '\n</parameter>\n' }}
+                    {%- endfor %}
+                {%- endif %}
+                {{- '</function>\n</tool_call>' }}
+            {%- endfor %}
+        {%- endif %}
+        {{- '<|im_end|>\n' }}
+    {%- elif message.role == "tool" %}
+        {%- if loop.previtem and loop.previtem.role != "tool" %}
+            {{- '<|im_start|>user' }}
+        {%- endif %}
+        {{- '\n<tool_response>\n' }}
+        {{- content }}
+        {{- '\n</tool_response>' }}
+        {%- if not loop.last and loop.nextitem.role != "tool" %}
+            {{- '<|im_end|>\n' }}
+        {%- elif loop.last %}
+            {{- '<|im_end|>\n' }}
+        {%- endif %}
+    {%- else %}
+        {{- raise_exception('Unexpected message role.') }}
+    {%- endif %}
+{%- endfor %}
+{%- if add_generation_prompt %}
+    {{- '<|im_start|>assistant\n' }}
+    {%- if enable_thinking is defined and enable_thinking is true %}
+        {{- '<think>\n' }}
+    {%- else %}
+        {{- '<think>\n\n</think>\n\n' }}
+    {%- endif %}
+{%- endif %}

config.json

@@ -0,0 +1,320 @@
+{
+  "action_space_specs": [
+    {
+      "action_dim": 138,
+      "blocks": [
+        {
+          "end": 3,
+          "name": "left_wrist_pos",
+          "start": 0
+        },
+        {
+          "end": 9,
+          "name": "left_wrist_rot6d",
+          "start": 3
+        },
+        {
+          "end": 69,
+          "name": "left_finger_geometry",
+          "start": 9
+        },
+        {
+          "end": 72,
+          "name": "right_wrist_pos",
+          "start": 69
+        },
+        {
+          "end": 78,
+          "name": "right_wrist_rot6d",
+          "start": 72
+        },
+        {
+          "end": 138,
+          "name": "right_finger_geometry",
+          "start": 78
+        }
+      ],
+      "id": 0,
+      "name": "human_hand_geometry",
+      "proprio_dim": 138
+    },
+    {
+      "action_dim": 184,
+      "blocks": [
+        {
+          "end": 64,
+          "name": "sonic_motion",
+          "start": 0
+        },
+        {
+          "end": 124,
+          "name": "left_finger_geometry",
+          "start": 64
+        },
+        {
+          "end": 184,
+          "name": "right_finger_geometry",
+          "start": 124
+        }
+      ],
+      "id": 1,
+      "name": "human_fullbody_sonic_geometry",
+      "proprio_dim": 120
+    },
+    {
+      "action_dim": 76,
+      "blocks": [
+        {
+          "end": 64,
+          "name": "sonic_motion",
+          "start": 0
+        },
+        {
+          "end": 70,
+          "name": "left_revo2",
+          "start": 64
+        },
+        {
+          "end": 76,
+          "name": "right_revo2",
+          "start": 70
+        }
+      ],
+      "id": 2,
+      "name": "robot_sonic_revo2",
+      "proprio_dim": 44
+    },
+    {
+      "action_dim": 36,
+      "blocks": [
+        {
+          "end": 7,
+          "name": "left_hand",
+          "start": 0
+        },
+        {
+          "end": 14,
+          "name": "right_hand",
+          "start": 7
+        },
+        {
+          "end": 21,
+          "name": "left_arm",
+          "start": 14
+        },
+        {
+          "end": 28,
+          "name": "right_arm",
+          "start": 21
+        },
+        {
+          "end": 32,
+          "name": "torso_pose",
+          "start": 28
+        },
+        {
+          "end": 36,
+          "name": "torso_navigation",
+          "start": 32
+        }
+      ],
+      "id": 3,
+      "name": "robot_g1_simple_sim",
+      "proprio_dim": 32
+    },
+    {
+      "action_dim": 184,
+      "blocks": [
+        {
+          "end": 64,
+          "name": "sonic_motion",
+          "start": 0
+        },
+        {
+          "end": 124,
+          "name": "left_finger_geometry",
+          "start": 64
+        },
+        {
+          "end": 184,
+          "name": "right_finger_geometry",
+          "start": 124
+        }
+      ],
+      "id": 4,
+      "name": "human_fullbody_sonic_hand_state",
+      "proprio_dim": 138
+    }
+  ],
+  "architectures": [
+    "Lambda0"
+  ],
+  "base_model_name_or_path": "Qwen/Qwen3.5-2B",
+  "dim_time": 32,
+  "dtype": "bfloat16",
+  "expert_dropout": 0.0,
+  "expert_hidden_size": 768,
+  "expert_mlp_ratio": 4.0,
+  "expert_num_heads": 12,
+  "expert_num_layers": 24,
+  "model_type": "lambda0",
+  "num_actions": 50,
+  "num_domains": 30,
+  "prediction_type": "velocity",
+  "qwen_config": {
+    "_name_or_path": "",
+    "architectures": [
+      "Qwen3_5ForConditionalGeneration"
+    ],
+    "chunk_size_feed_forward": 0,
+    "dtype": null,
+    "id2label": {
+      "0": "LABEL_0",
+      "1": "LABEL_1"
+    },
+    "image_token_id": 248056,
+    "is_encoder_decoder": false,
+    "label2id": {
+      "LABEL_0": 0,
+      "LABEL_1": 1
+    },
+    "model_type": "qwen3_5",
+    "output_attentions": false,
+    "output_hidden_states": false,
+    "problem_type": null,
+    "return_dict": true,
+    "text_config": {
+      "_name_or_path": "",
+      "architectures": null,
+      "attention_bias": false,
+      "attention_dropout": 0.0,
+      "attn_output_gate": true,
+      "bos_token_id": null,
+      "chunk_size_feed_forward": 0,
+      "dtype": "bfloat16",
+      "eos_token_id": 248044,
+      "full_attention_interval": 4,
+      "head_dim": 256,
+      "hidden_act": "silu",
+      "hidden_size": 2048,
+      "id2label": {
+        "0": "LABEL_0",
+        "1": "LABEL_1"
+      },
+      "initializer_range": 0.02,
+      "intermediate_size": 6144,
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processor_config.json

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+}

state.json

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+  "action_expert_noise_samples": 4,
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tokenizer.json

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+size 19989765

tokenizer_config.json

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