lid: model card

README.md

@@ -17,8 +17,9 @@ evaluated on ManiGuard-Bench under identical data, cameras, and controller.
 - **Actions:** **absolute** joint targets (`subtract_state: false` on both features, per
   LingBot's own simulation recipe) — apply directly to a JointController, no delta step.
 - **Recipe:** upstream post-training config unchanged (MoE + depth/DINO distillation on);
-  global batch 256 = micro 32 x 8 GPUs, lr 5e-5 cosine, **2 epochs** (8,250 steps).
-- **Ladder:** checkpoints every 2,063 steps.
+  global batch 256 = micro 32 x 8 GPUs, lr 5e-5 cosine, **4 epochs** (16,500 steps — the
+  initial 2-epoch run resumed with the cosine stretched to the full horizon).
+- **Ladder:** checkpoints every 4,125 steps.
 
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