Spa-Bench/spa-bench-model-vla-0-epoch-12

VLA-0 — Spa-Bench Epoch 12

This checkpoint is released as an anonymous supplementary artifact for a paper under double-blind review. It was evaluated on a physical SO-101 robot in Spa-Bench.

Model details

Field	Value
Checkpoint	End of epoch 12; 77,246 optimizer updates
Inputs	Middle RGB, wrist RGB, six joint positions, and a text instruction
Action representation	Six joint targets encoded as text with 1,000 bins
Action horizon	8
Adaptation	Full Qwen backbone; no LoRA or QLoRA
Optimizer	AdamW; learning rate 5e-6; weight decay 0.01

Training-data documentation: spa-bench-training-teleoperation-1200.

Physical evaluation

0/72 familiar physical rollouts succeeded. Evaluation stopped before the withheld-composition protocol, so this is a partial result. These are physical rollout results, not simulation metrics.

Rollouts: spa-bench-eval-rollouts-vla-0-partial.

Limitations and safety

Training used a motion-trimmed projection of the 1,200-episode release. Deployment requires the VLA-0 inference stack; this is not a drop-in LeRobot policy. Robot policies can move hardware unexpectedly. Use conservative limits, an accessible emergency stop, a clear workspace, and direct supervision. Do not deploy unattended or in safety-critical settings.

Double-blind release note

Author, institution, source-repository, and archival citation details are intentionally omitted during review. They will be restored in the archival release.