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base_model: Qwen/Qwen3.5-2B
license: apache-2.0
pipeline_tag: robotics
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.
## Links
- **Paper:** [λ₀: Scaling Open-World Egocentric Human Data for Humanoid Loco-Manipulation](https://huggingface.co/papers/2610.18950)
- **Project page:** [Lambda Humanoid](https://lambdahumanoid.github.io/)
- **Code:** [OpenLambda repository](https://github.com/LambdaHumanoid/openlambda)
## 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. |