---
license: apache-2.0
base_model: Qwen/Qwen3.5-2B
tags:
  - robotics
  - vision-language-action
  - humanoid
  - lambda0
---

# λ₀ Midtrain (100k)

This is the **Stage II mid-training checkpoint** for λ₀. It provides the starting point for Stage III robot post-training. This release contains the **raw weights after 100,000 training steps**. It does not contain EMA weights or a task-specific post-trained policy.

The model builds on [Qwen3.5-2B](https://huggingface.co/Qwen/Qwen3.5-2B) and learns from robot-aligned human demonstrations.

## Post-training

The Stage III post-training recipe is being prepared in the [OpenLambda source repository](https://github.com/LambdaHumanoid/openlambda). Follow that recipe when it is released to adapt this checkpoint to your robot tasks.

The pretraining and mid-training datasets are not included. This checkpoint is not a deployment-ready robot policy. Evaluate a post-trained policy before robot use.

## Checkpoint

The files include the model weights and the configuration needed to load them. The weight tensor file is unchanged from the Stage II checkpoint at step 100,000.

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.