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 and learns from robot-aligned human demonstrations.
Links
- Paper: λ₀: Scaling Open-World Egocentric Human Data for Humanoid Loco-Manipulation
- Project page: Lambda Humanoid
- Code: OpenLambda repository
Post-training
The Stage III post-training recipe is being prepared in the OpenLambda source repository. 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 is also available under Apache 2.0.