Convert to the alias-free PI0.5 layout (813 tensors)

README.md

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 ---
 # FlashVLA · π0.5 · RoboTwin 2.0
 
-
 A **π0.5** flow-matching vision-language-action policy finetuned on **RoboTwin 2.0**
 (50-task multitask) and served with [**FlashVLA**](https://github.com/z-lab/flashvla)
 streaming action decoding for fast, asynchronous inference.
 
-
 - **Base model:** [`lerobot/pi05_base`](https://huggingface.co/lerobot/pi05_base)
 - **Method:** [FlashVLA](https://github.com/z-lab/flashvla) — streaming action decoding for flow-matching VLAs (async chunk-overlap execution)
 - **Benchmark:** RoboTwin 2.0, 50-task multitask (clean / randomized)
 - **License:** Apache-2.0
 
-
 ## Results
 
-
 RoboTwin 2.0 50-task multitask success rate (%). `d` is the async step delay:
 `d=0` is synchronous, `d=1`/`d=2` overlap the next chunk's inference with execution.
 
-
 | Model | Clean | Random | Avg |
 |:--|:--:|:--:|:--:|
-| π0.5 (base) | 86.1 | 85.8 | 86.0 |
-| **+FlashVLA** (`d=0`) | 90.8 | 90.2 | 90.5 |
-| **+FlashVLA** (`d=1`) | **91.2** | 89.9 | **90.6** |
-| **+FlashVLA** (`d=2`) | 91.0 | **90.2** | **90.6** |
+| π0.5 (base) | 82.74 | 76.76 | 79.75 |
+| **+FlashVLA** (`d=0`) | 90.64 | 90.06 | 90.35 |
+| **+FlashVLA** (`d=1`) | **91.14** | **90.60** | **90.87** |
+| **+FlashVLA** (`d=2`) | 90.20 | 89.66 | 89.93 |
 
 
+## Usage
 
+Install the [FlashVLA](https://github.com/z-lab/flashvla) library.
 
-## Usage
+See [`sim_eval/robotwin/`](https://github.com/z-lab/flashvla/tree/main/sim_eval/robotwin) for evaluation setup.
+
+## Citation
+
+```bibtex
+@article{flashvla2026,
+  title   = {{FlashVLA: Streaming Action Decoding for Fast and Asynchronous VLA Inference}},
+  author  = {Li, Zekai and Tang, Jiaming and Liu, Zhijian},
+  year    = {2026}
+}
+```
 
+## License
 
-Install the [FlashVLA](https://github.com/z-lab/flashvla) library.
+Apache-2.0

model.safetensors

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