README: run naming + restore layout
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README.md
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---
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license: mit
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---
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# Pref-VLA / SPT — Stage-B checkpoints (backup 2026-06-11)
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Stage-B = pseudo-label-conditioned SFT on unlabeled taskB demos (QwenOFT, L1,
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14-D joint, chunk 50), warm-started from the Stage-A ckpts in
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[`kaiwen2/prefvla-ckpts-stagea`](https://huggingface.co/kaiwen2/prefvla-ckpts-stagea).
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Code/docs: GitHub `Kaiwen-Hong/starVLA` branch `opd`, tag `backup-0611`
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(see `r-preference/doc/0611-hf-backup-restore.md` for the restore runbook).
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## Run naming
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| prefix | meaning |
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|---|---|
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| `pref_stageb_main_<cat>` | SPT arm: token-Stage-A init + pseudo-label suffix (token-VQA labels) |
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| `pref_stageb_main_<cat>_geom` | SPT arm with geometric/trajectory pseudo-labels (place/contact/hvlv 1.00/1.00/0.92; orient_geom 1.00) |
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| `pref_stageb_b0_<cat>` | Naive-FT control: baseline-Stage-A init, NO preference suffix |
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| `pref_stageb_yn_place` | ablation: token init + NO suffix ("VQA-only") |
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| `pref_stageb_ny_place` | ablation: baseline init + vanilla-VLM labels (0.61 acc) |
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`steps_1500` = the evaluated checkpoint everywhere; `steps_2500` additionally
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for `main_contact_geom`, `main_hvlv_geom`, `b0_contact`, `b0_hvlv` (the
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"more steps" experiment). Each run ships `config.yaml`,
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`dataset_statistics.json` (denorm q01/q99 — required for serving), `summary.jsonl`.
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Layout to restore: `results/Checkpoints/<run>/checkpoints/steps_N_pytorch_model.pt`
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with sidecars at `<run>/` root. Serving: `deployment/model_server/server_policy.py`
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+ the `starvla_joint` bridge (identity reorder, `chunk_step=50`).
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Integrity: `SHA256_MANIFEST.txt` (`OK <sha256> <bytes> <path>`).
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