---
license: other
tags: [lingbot-va, world-model, video-action, robotics, arx-lift-r5, sft-teacher]
library_name: diffusers
---

# LingBot-VA ARX SFT Teacher — NO train/test split (all 199), step 3000

Video-action world-model (LingBot-VA) fine-tuned on the **full ARX WAM-OPD
dataset (all 199 episodes, no holdout)** — the contract-deliverable teacher.

> This is the **no-split** line. Its training upper bound was **3000 steps**
> (contract), so **there is no 5000-step checkpoint for this line** — the
> 5000-step run is the separate 160-episode *split* teacher (used only for the
> overfitting diagnostic). This checkpoint (step 3000) is the final schedule
> checkpoint of the no-split teacher.

## Provenance

| | |
|---|---|
| Base model | `Robbyant/lingbot-va-base` @ `5fbd004a…` |
| Dataset | `ylhaichen04/WAM-OPD_4Tasks` @ `651338c2…` (LeRobot v2.1, all 199 ep / 64,417 frames) |
| Split | none (all 199 for training, no holdout) |
| Temporal | `video_7p5hz_action_15hz_k2` (K=2) |
| Action | 14-D absolute joint -> 30-D `[14-19,28,21-26,29]`, dataset q01/q99 |
| Precision / optim | BF16 FSDP, AdamW lr 5e-6, grad clip 2.0, CFG 0.1 |
| This checkpoint | step 3000 (final; no 5000 for this line) |

`transformer/` = diffusers-format WanTransformer3DModel. Switch attn_mode to
torch/flashattn for inference (training used flex).

## Selection note

Because the no-split line has **no holdout**, step 3000 is a final schedule
checkpoint, not a validation-selected best. Checkpoint selection for deployment
should be done by real-robot evaluation.