Add LIBERO-10 action-policy finetune cookbook#242
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Mirror the DROID action-policy cookbook for LIBERO-10: launch_sft_action_policy_libero.sh + action_policy_libero_repro.toml + finetune README section + action README link. Stages nvidia/LIBERO_LeRobot_v3 libero_10, no keep-ranges filter, lr 5e-5/wu500/cyc16k. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…er results); recipe HSDP 2x8
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What
Adds a LIBERO-10 action-policy SFT cookbook, mirroring the existing DROID action-policy finetune cookbook.
launch_sft_action_policy_libero.sh— local wrapper: stagesnvidia/LIBERO_LeRobot_v3libero_10, downloads the Wan VAE, converts the Cosmos3-Nano base to DCP, and launches training. No keep-ranges filter (LIBERO-specific).toml/sft_config/action_policy_libero_repro.toml— the recipe (lr 5e-5, warmup 500, cycle 16000, global batch 2048).finetune/README.md(recipe table + LIBERO-10 quick start) and links it from the actionREADME.md.Delegates the canonical training implementation to cosmos-framework (companion PR adds the
action_policy_libero_nanoexperiment + eval harness).Mirrors the DROID cookbook structure. Based on
main.🤖 Generated with Claude Code