Q6: add last p2 checkpoints for spatial_CL / spatial_noCL

Q6/ckpt/spatial_CL/s0__p2/episode_0046/README.md

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+---
+base_model: IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge
+library_name: peft
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.14.0

Q6/ckpt/spatial_CL/s0__p2/episode_0046/adapter_config.json

@@ -0,0 +1,47 @@
+{
+  "alpha_pattern": {},
+  "auto_mapping": {
+    "base_model_class": "SpatialVLAForActionPredictionWithValueHead",
+    "parent_library": "model.modeling_spatialvla_valuehead"
+  },
+  "base_model_name_or_path": "IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge",
+  "bias": "none",
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": "gaussian",
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 16,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "r": 32,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": [
+    "position_embedding_head.3",
+    "fc1",
+    "up_proj",
+    "out_proj",
+    "position_embedding_head.0",
+    "linear",
+    "fc2",
+    "v_proj",
+    "lm_head",
+    "q_proj",
+    "o_proj",
+    "k_proj",
+    "down_proj",
+    "gate_proj"
+  ],
+  "task_type": null,
+  "use_dora": false,
+  "use_rslora": false
+}

Q6/ckpt/spatial_CL/s0__p2/episode_0046/adapter_model.safetensors

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+size 1493825976

Q6/ckpt/spatial_CL/s0__p2/episode_0046/dataset_statistics.json

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+{"bridge_orig/1.0.0": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.41691166162490845, 0.25864794850349426, 0.21218234300613403, 3.122201919555664, 1.8618112802505493, 6.280478477478027, 1.0], "mean": [0.00023341862834058702, 0.00013004240463487804, -0.0001276263064937666, -0.0001556586939841509, -0.0004039350023958832, 0.0002355838514631614, 0.5764582753181458], "min": [-0.4007510244846344, -0.13874775171279907, -0.22553899884223938, -3.2010786533355713, -1.8618112802505493, -6.279075622558594, 0.0], "q01": [-0.02872725307941437, -0.04170349963009357, -0.026093858778476715, -0.08092105075716972, -0.09288699507713317, -0.20718276381492615, 0.0], "q99": [0.028309678435325586, 0.040855254605412394, 0.040161586627364146, 0.08192047759890528, 0.07792850524187081, 0.20382574498653397, 1.0], "std": [0.009765730239450932, 0.013689513318240643, 0.012667140923440456, 0.02853446453809738, 0.030637893825769424, 0.07691765576601028, 0.4973663091659546]}, "num_trajectories": 60064, "num_transitions": 2135463, "proprio": {"max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "q01": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "q99": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}}

Q6/ckpt/spatial_CL/s0__p2/episode_0046/run_config.yaml

@@ -0,0 +1,78 @@
+name: CRONOS-spatialvla-four_group_sequential_2x2-T2560-normal-seed0
+seed: 0
+resume_episode: 0
+env_id: PickPlaceNxM-v1
+env_n: 2
+env_m: 2
+num_envs: 64
+obj_set: rand
+obj1_index: 7
+obj2_index: 2
+obj3_index: 10
+plate1_index: 1
+plate2_index: 2
+plate3_index: 3
+scene: ''
+segment_len: 80
+episode_len: 2560
+task_len: 80
+ppo_update_len: 160
+max_episodes: 10
+max_steps: 0
+max_reset: 640
+config_path: configs/four_group_sequential_2x2.yaml
+task_order: sequential
+task_filter: ''
+reset_mode: per_episode
+reset_robot: true
+reset_unsuitable: false
+unsuitable_detector: low_z
+hsr_reset_scope: per_env
+record_segment_pose: true
+segment_pose_phase: both
+record_end_of_segment_xyz: false
+enable_backward: false
+backward_interval: 1
+backward_goal: table
+backward_recep_prob: 0.5
+num_groups: 0
+alg_name: ppo
+alg_grpo_fix: true
+grpo_group_scope: batch
+grpo_std_scope: group
+alg_ppo_epoch: 1
+alg_gradient_accum: 20
+alg_entropy_coef: 0.0
+buffer_gamma: 0.99
+buffer_lambda: 0.95
+buffer_minibatch: 8
+buffer_inferbatch: 32
+policy: spatialvla
+vla_path: IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge
+vla_load_path: /weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T2560-normal-seed0/wandb/run-Q6_2560b_cur/glob/episode_0036
+vla_unnorm_key: bridge_orig/1.0.0
+vla_lora_rank: 32
+vla_lr: 0.0001
+vla_vhlr: 0.003
+vla_grad_norm: 10.0
+vla_optim_beta1: 0.9
+vla_optim_beta2: 0.999
+vla_temperature: 1.0
+vla_temperature_eval: 0.0
+eval_interval: 1
+num_eval_episode: 4
+eval_at_start: false
+eval_single: false
+eval_sequential: false
+eval_sequences: 5
+vla_checkpoint_interval: 1
+resume_from: ''
+wandb: true
+wandb_dir: /weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T2560-normal-seed0
+record_video: true
+ppo_log: ppo_log.txt
+eval_report: eval_report.txt
+log_file: run.log
+start_time: '2026-09-07T02:24:44.840989Z'
+cronos_version: V0.93
+git_rev: 4b8c508677330e79d7edc6c58b01f3cb948b110c

Q6/ckpt/spatial_CL/s0__p2/episode_0046/scheduler_state.json

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+{
+  "mode": "sequential",
+  "fan_out": true,
+  "current_task_idx": 0,
+  "fan_out_offsets": [
+    0,
+    0,
+    0,
+    0
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+  "groups": [
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+      "name": "group_A",
+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
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+    {
+      "name": "group_B",
+      "cursor": 0,
+      "shuffle_perm": [],
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+      "last_task_idx": -1
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+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
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+    {
+      "name": "group_D",
+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
+    }
+  ],
+  "task_pool": [
+    "put ketchup bottle on yellow_plate",
+    "put ketchup bottle on cloth",
+    "put kitchen shovel on yellow_plate",
+    "put kitchen shovel on cloth",
+    "put bread on newspaper",
+    "put bread on carpet",
+    "put 7up can on newspaper",
+    "put 7up can on carpet",
+    "put carrot on sheet metal",
+    "put carrot on flat bowl",
+    "put banana on sheet metal",
+    "put banana on flat bowl",
+    "put hamburger on frying pan",
+    "put hamburger on cutting board",
+    "put plastic bottle on frying pan",
+    "put plastic bottle on cutting board"
+  ]
+}

Q6/ckpt/spatial_CL/s0__p2/episode_0046/training_state.pt

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Q6/ckpt/spatial_CL/s1__p2/episode_0046/README.md

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+---
+base_model: IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge
+library_name: peft
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.14.0

Q6/ckpt/spatial_CL/s1__p2/episode_0046/adapter_config.json

@@ -0,0 +1,47 @@
+{
+  "alpha_pattern": {},
+  "auto_mapping": {
+    "base_model_class": "SpatialVLAForActionPredictionWithValueHead",
+    "parent_library": "model.modeling_spatialvla_valuehead"
+  },
+  "base_model_name_or_path": "IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge",
+  "bias": "none",
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": "gaussian",
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 16,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "r": 32,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": [
+    "gate_proj",
+    "fc2",
+    "linear",
+    "up_proj",
+    "down_proj",
+    "position_embedding_head.0",
+    "lm_head",
+    "fc1",
+    "out_proj",
+    "k_proj",
+    "q_proj",
+    "position_embedding_head.3",
+    "o_proj",
+    "v_proj"
+  ],
+  "task_type": null,
+  "use_dora": false,
+  "use_rslora": false
+}

Q6/ckpt/spatial_CL/s1__p2/episode_0046/adapter_model.safetensors

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Q6/ckpt/spatial_CL/s1__p2/episode_0046/dataset_statistics.json

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Q6/ckpt/spatial_CL/s1__p2/episode_0046/run_config.yaml

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+name: CRONOS-spatialvla-four_group_sequential_2x2-T2560-normal-seed1
+seed: 1
+resume_episode: 0
+env_id: PickPlaceNxM-v1
+env_n: 2
+env_m: 2
+num_envs: 64
+obj_set: rand
+obj1_index: 7
+obj2_index: 2
+obj3_index: 10
+plate1_index: 1
+plate2_index: 2
+plate3_index: 3
+scene: ''
+segment_len: 80
+episode_len: 2560
+task_len: 80
+ppo_update_len: 160
+max_episodes: 10
+max_steps: 0
+max_reset: 640
+config_path: configs/four_group_sequential_2x2.yaml
+task_order: sequential
+task_filter: ''
+reset_mode: per_episode
+reset_robot: true
+reset_unsuitable: false
+unsuitable_detector: low_z
+hsr_reset_scope: per_env
+record_segment_pose: true
+segment_pose_phase: both
+record_end_of_segment_xyz: false
+enable_backward: false
+backward_interval: 1
+backward_goal: table
+backward_recep_prob: 0.5
+num_groups: 0
+alg_name: ppo
+alg_grpo_fix: true
+grpo_group_scope: batch
+grpo_std_scope: group
+alg_ppo_epoch: 1
+alg_gradient_accum: 20
+alg_entropy_coef: 0.0
+buffer_gamma: 0.99
+buffer_lambda: 0.95
+buffer_minibatch: 8
+buffer_inferbatch: 32
+policy: spatialvla
+vla_path: IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge
+vla_load_path: /weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T2560-normal-seed1/wandb/run-Q6_2560b_cur/glob/episode_0036
+vla_unnorm_key: bridge_orig/1.0.0
+vla_lora_rank: 32
+vla_lr: 0.0001
+vla_vhlr: 0.003
+vla_grad_norm: 10.0
+vla_optim_beta1: 0.9
+vla_optim_beta2: 0.999
+vla_temperature: 1.0
+vla_temperature_eval: 0.0
+eval_interval: 1
+num_eval_episode: 4
+eval_at_start: false
+eval_single: false
+eval_sequential: false
+eval_sequences: 5
+vla_checkpoint_interval: 1
+resume_from: ''
+wandb: true
+wandb_dir: /weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T2560-normal-seed1
+record_video: true
+ppo_log: ppo_log.txt
+eval_report: eval_report.txt
+log_file: run.log
+start_time: '2026-09-07T02:24:44.878041Z'
+cronos_version: V0.93
+git_rev: 4b8c508677330e79d7edc6c58b01f3cb948b110c

Q6/ckpt/spatial_CL/s1__p2/episode_0046/scheduler_state.json

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+{
+  "mode": "sequential",
+  "fan_out": true,
+  "current_task_idx": 0,
+  "fan_out_offsets": [
+    0,
+    0,
+    0,
+    0
+  ],
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+    {
+      "name": "group_A",
+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
+    },
+    {
+      "name": "group_B",
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+      "shuffle_perm": [],
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+      "last_task_idx": -1
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+    {
+      "name": "group_C",
+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
+    },
+    {
+      "name": "group_D",
+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
+    }
+  ],
+  "task_pool": [
+    "put ketchup bottle on yellow_plate",
+    "put ketchup bottle on cloth",
+    "put kitchen shovel on yellow_plate",
+    "put kitchen shovel on cloth",
+    "put bread on newspaper",
+    "put bread on carpet",
+    "put 7up can on newspaper",
+    "put 7up can on carpet",
+    "put carrot on sheet metal",
+    "put carrot on flat bowl",
+    "put banana on sheet metal",
+    "put banana on flat bowl",
+    "put hamburger on frying pan",
+    "put hamburger on cutting board",
+    "put plastic bottle on frying pan",
+    "put plastic bottle on cutting board"
+  ]
+}

Q6/ckpt/spatial_CL/s1__p2/episode_0046/training_state.pt

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Q6/ckpt/spatial_noCL/s0__p2/episode_0017/README.md

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+---
+base_model: IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge
+library_name: peft
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.14.0

Q6/ckpt/spatial_noCL/s0__p2/episode_0017/adapter_config.json

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+{
+  "alpha_pattern": {},
+  "auto_mapping": {
+    "base_model_class": "SpatialVLAForActionPredictionWithValueHead",
+    "parent_library": "model.modeling_spatialvla_valuehead"
+  },
+  "base_model_name_or_path": "IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge",
+  "bias": "none",
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": "gaussian",
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 16,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "r": 32,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": [
+    "down_proj",
+    "position_embedding_head.0",
+    "out_proj",
+    "linear",
+    "fc2",
+    "fc1",
+    "o_proj",
+    "v_proj",
+    "up_proj",
+    "gate_proj",
+    "lm_head",
+    "k_proj",
+    "q_proj",
+    "position_embedding_head.3"
+  ],
+  "task_type": null,
+  "use_dora": false,
+  "use_rslora": false
+}

Q6/ckpt/spatial_noCL/s0__p2/episode_0017/adapter_model.safetensors

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Q6/ckpt/spatial_noCL/s0__p2/episode_0017/dataset_statistics.json

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Q6/ckpt/spatial_noCL/s0__p2/episode_0017/run_config.yaml

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+name: CRONOS-spatialvla-four_group_sequential_2x2-T2560-normal-seed0
+seed: 0
+resume_episode: 0
+env_id: PickPlaceNxM-v1
+env_n: 2
+env_m: 2
+num_envs: 64
+obj_set: rand
+obj1_index: 7
+obj2_index: 2
+obj3_index: 10
+plate1_index: 1
+plate2_index: 2
+plate3_index: 3
+scene: ''
+segment_len: 80
+episode_len: 2560
+task_len: 80
+ppo_update_len: 160
+max_episodes: 10
+max_steps: 0
+max_reset: 640
+config_path: configs/four_group_sequential_2x2.yaml
+task_order: sequential
+task_filter: ''
+reset_mode: per_episode
+reset_robot: true
+reset_unsuitable: false
+unsuitable_detector: low_z
+hsr_reset_scope: per_env
+record_segment_pose: true
+record_end_of_segment_xyz: false
+enable_backward: false
+backward_interval: 1
+num_groups: 0
+alg_ppo_epoch: 1
+alg_gradient_accum: 20
+alg_entropy_coef: 0.0
+buffer_gamma: 0.99
+buffer_lambda: 0.95
+buffer_minibatch: 8
+buffer_inferbatch: 32
+policy: spatialvla
+vla_path: IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge
+vla_load_path: /weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T2560-normal-seed0/wandb/run-20260814_184312-vuugdysy/glob/episode_0008
+vla_unnorm_key: bridge_orig/1.0.0
+vla_lora_rank: 32
+vla_lr: 0.0001
+vla_vhlr: 0.003
+vla_grad_norm: 10.0
+vla_optim_beta1: 0.9
+vla_optim_beta2: 0.999
+vla_temperature: 1.0
+vla_temperature_eval: 0.0
+eval_interval: 1
+num_eval_episode: 4
+eval_at_start: false
+eval_single: false
+eval_sequential: false
+eval_sequences: 5
+vla_checkpoint_interval: 1
+resume_from: ''
+wandb: true
+wandb_dir: CRONOS-spatialvla-four_group_sequential_2x2-T2560-normal-seed0
+record_video: true
+ppo_log: ppo_log.txt
+eval_report: eval_report.txt
+log_file: run.log
+start_time: '2026-08-26T15:49:21.546414Z'
+cronos_version: V0.3
+git_rev: e45cdb86f5cb717413258a1713bab07820fc9ea0

Q6/ckpt/spatial_noCL/s0__p2/episode_0017/scheduler_state.json

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+{
+  "mode": "sequential",
+  "fan_out": true,
+  "current_task_idx": 0,
+  "fan_out_offsets": [
+    0,
+    0,
+    0,
+    0
+  ],
+  "groups": [
+    {
+      "name": "group_A",
+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
+    },
+    {
+      "name": "group_B",
+      "cursor": 0,
+      "shuffle_perm": [],
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+      "last_task_idx": -1
+    },
+    {
+      "name": "group_C",
+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
+    },
+    {
+      "name": "group_D",
+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
+    }
+  ],
+  "task_pool": [
+    "put ketchup bottle on yellow_plate",
+    "put ketchup bottle on cloth",
+    "put kitchen shovel on yellow_plate",
+    "put kitchen shovel on cloth",
+    "put bread on newspaper",
+    "put bread on carpet",
+    "put 7up can on newspaper",
+    "put 7up can on carpet",
+    "put carrot on sheet metal",
+    "put carrot on flat bowl",
+    "put banana on sheet metal",
+    "put banana on flat bowl",
+    "put hamburger on frying pan",
+    "put hamburger on cutting board",
+    "put plastic bottle on frying pan",
+    "put plastic bottle on cutting board"
+  ]
+}

Q6/ckpt/spatial_noCL/s0__p2/episode_0017/training_state.pt

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Q6/ckpt/spatial_noCL/s1__p2/episode_0017/README.md

@@ -0,0 +1,202 @@
+---
+base_model: IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge
+library_name: peft
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.14.0

Q6/ckpt/spatial_noCL/s1__p2/episode_0017/adapter_config.json

@@ -0,0 +1,47 @@
+{
+  "alpha_pattern": {},
+  "auto_mapping": {
+    "base_model_class": "SpatialVLAForActionPredictionWithValueHead",
+    "parent_library": "model.modeling_spatialvla_valuehead"
+  },
+  "base_model_name_or_path": "IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge",
+  "bias": "none",
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": "gaussian",
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 16,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "r": 32,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": [
+    "k_proj",
+    "o_proj",
+    "position_embedding_head.0",
+    "down_proj",
+    "gate_proj",
+    "out_proj",
+    "up_proj",
+    "q_proj",
+    "fc1",
+    "linear",
+    "position_embedding_head.3",
+    "fc2",
+    "v_proj",
+    "lm_head"
+  ],
+  "task_type": null,
+  "use_dora": false,
+  "use_rslora": false
+}

Q6/ckpt/spatial_noCL/s1__p2/episode_0017/adapter_model.safetensors

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+size 1493825976

Q6/ckpt/spatial_noCL/s1__p2/episode_0017/dataset_statistics.json

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+{"bridge_orig/1.0.0": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.41691166162490845, 0.25864794850349426, 0.21218234300613403, 3.122201919555664, 1.8618112802505493, 6.280478477478027, 1.0], "mean": [0.00023341862834058702, 0.00013004240463487804, -0.0001276263064937666, -0.0001556586939841509, -0.0004039350023958832, 0.0002355838514631614, 0.5764582753181458], "min": [-0.4007510244846344, -0.13874775171279907, -0.22553899884223938, -3.2010786533355713, -1.8618112802505493, -6.279075622558594, 0.0], "q01": [-0.02872725307941437, -0.04170349963009357, -0.026093858778476715, -0.08092105075716972, -0.09288699507713317, -0.20718276381492615, 0.0], "q99": [0.028309678435325586, 0.040855254605412394, 0.040161586627364146, 0.08192047759890528, 0.07792850524187081, 0.20382574498653397, 1.0], "std": [0.009765730239450932, 0.013689513318240643, 0.012667140923440456, 0.02853446453809738, 0.030637893825769424, 0.07691765576601028, 0.4973663091659546]}, "num_trajectories": 60064, "num_transitions": 2135463, "proprio": {"max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "q01": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "q99": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}}

Q6/ckpt/spatial_noCL/s1__p2/episode_0017/run_config.yaml

@@ -0,0 +1,71 @@
+name: CRONOS-spatialvla-four_group_sequential_2x2-T2560-normal-seed1
+seed: 1
+resume_episode: 0
+env_id: PickPlaceNxM-v1
+env_n: 2
+env_m: 2
+num_envs: 64
+obj_set: rand
+obj1_index: 7
+obj2_index: 2
+obj3_index: 10
+plate1_index: 1
+plate2_index: 2
+plate3_index: 3
+scene: ''
+segment_len: 80
+episode_len: 2560
+task_len: 80
+ppo_update_len: 160
+max_episodes: 10
+max_steps: 0
+max_reset: 640
+config_path: configs/four_group_sequential_2x2.yaml
+task_order: sequential
+task_filter: ''
+reset_mode: per_episode
+reset_robot: true
+reset_unsuitable: false
+unsuitable_detector: low_z
+hsr_reset_scope: per_env
+record_segment_pose: true
+record_end_of_segment_xyz: false
+enable_backward: false
+backward_interval: 1
+num_groups: 0
+alg_ppo_epoch: 1
+alg_gradient_accum: 20
+alg_entropy_coef: 0.0
+buffer_gamma: 0.99
+buffer_lambda: 0.95
+buffer_minibatch: 8
+buffer_inferbatch: 32
+policy: spatialvla
+vla_path: IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge
+vla_load_path: /weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T2560-normal-seed1/wandb/run-20260814_190556-fn01ukxw/glob/episode_0008
+vla_unnorm_key: bridge_orig/1.0.0
+vla_lora_rank: 32
+vla_lr: 0.0001
+vla_vhlr: 0.003
+vla_grad_norm: 10.0
+vla_optim_beta1: 0.9
+vla_optim_beta2: 0.999
+vla_temperature: 1.0
+vla_temperature_eval: 0.0
+eval_interval: 1
+num_eval_episode: 4
+eval_at_start: false
+eval_single: false
+eval_sequential: false
+eval_sequences: 5
+vla_checkpoint_interval: 1
+resume_from: ''
+wandb: true
+wandb_dir: CRONOS-spatialvla-four_group_sequential_2x2-T2560-normal-seed1
+record_video: true
+ppo_log: ppo_log.txt
+eval_report: eval_report.txt
+log_file: run.log
+start_time: '2026-08-26T16:20:14.502787Z'
+cronos_version: V0.3
+git_rev: e45cdb86f5cb717413258a1713bab07820fc9ea0

Q6/ckpt/spatial_noCL/s1__p2/episode_0017/scheduler_state.json

@@ -0,0 +1,59 @@
+{
+  "mode": "sequential",
+  "fan_out": true,
+  "current_task_idx": 0,
+  "fan_out_offsets": [
+    0,
+    0,
+    0,
+    0
+  ],
+  "groups": [
+    {
+      "name": "group_A",
+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
+    },
+    {
+      "name": "group_B",
+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
+    },
+    {
+      "name": "group_C",
+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
+    },
+    {
+      "name": "group_D",
+      "cursor": 0,
+      "shuffle_perm": [],
+      "shuffle_cursor": 0,
+      "last_task_idx": -1
+    }
+  ],
+  "task_pool": [
+    "put ketchup bottle on yellow_plate",
+    "put ketchup bottle on cloth",
+    "put kitchen shovel on yellow_plate",
+    "put kitchen shovel on cloth",
+    "put bread on newspaper",
+    "put bread on carpet",
+    "put 7up can on newspaper",
+    "put 7up can on carpet",
+    "put carrot on sheet metal",
+    "put carrot on flat bowl",
+    "put banana on sheet metal",
+    "put banana on flat bowl",
+    "put hamburger on frying pan",
+    "put hamburger on cutting board",
+    "put plastic bottle on frying pan",
+    "put plastic bottle on cutting board"
+  ]
+}

Q6/ckpt/spatial_noCL/s1__p2/episode_0017/training_state.pt

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