| 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. |