update paper link to arXiv version#110
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…bsocket serving, DMuon LIBERO configs - Bake fused CUDA kernels (two_expert MoE / rmsnorm / silu / rope) into csrc/ with install-time CUDAExtension build (reaches internal-parity training MFU ~53%). - Add minimal vanilla websocket serving (run_serving.sh + vendored harrix policy) validated bit-identical to the eval predict_batch path. - DMuon LIBERO/lerobot configs use recommended LRs (muon_lr=1e-4, adamw_lr=5e-5) + ZeRO-2; add libero_dmuon.yml. - Preserve published hotfixes (X-Square-Robot#110 arXiv links, X-Square-Robot#112 normalizer delta==0 guard) and richer public scripts. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
StarrickLiu
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Jul 22, 2026
…bsocket serving, DMuon LIBERO configs - Bake fused CUDA kernels (two_expert MoE / rmsnorm / silu / rope) into csrc/ with install-time CUDAExtension build (internal-parity MFU ~53%). - Ship the opt-free vanilla websocket serving stack (launch_vanilla_serving + WallXVanillaPolicy) validated bit-identical to the eval predict_batch path; run_serving.sh exposes the full vanilla CLI and rejects full-stack-only flags with guidance. Returns raw action chunks. - DMuon LIBERO/lerobot configs use recommended LRs (muon_lr=1e-4, adamw_lr=5e-5) + ZeRO-2; add libero_dmuon.yml. - Preserve published hotfixes (X-Square-Robot#110 arXiv links, X-Square-Robot#112 normalizer delta==0 guard) and the richer public scripts (restored from oss2/published). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
StarrickLiu
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Jul 23, 2026
…rving, restructured-harrix vendoring, DMuon LIBERO configs - Bake fused CUDA kernels (two_expert MoE / rmsnorm / silu / rope) into csrc/ with install-time CUDAExtension build (internal-parity MFU ~53%). - Vendor the restructured harrix (e2e_infer / model_executors / serving.replica + handlers/monitoring) for the LIBERO eval + vanilla websocket serving; the vanilla policy path is validated bit-identical to the eval predict_batch. - run_serving.sh exposes the full vanilla CLI and rejects full-stack-only flags with guidance; returns raw action chunks. - DMuon LIBERO/lerobot configs use recommended LRs (muon_lr=1e-4, adamw_lr=5e-5) + ZeRO-2; add libero_dmuon.yml. - Preserve published hotfixes (X-Square-Robot#110 arXiv links, X-Square-Robot#112 normalizer delta==0 guard). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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