Add BridgeWAM model card

README.md

@@ -114,8 +114,88 @@ python experiments/libero/run_libero_manager.py \
 ```
 
 The default manager evaluates all 40 tasks across LIBERO-Spatial, LIBERO-Object,
-LIBERO-Goal and LIBERO-Long (`libero_10`). LIBERO-Plus and LIBERO-Pro have separate
-environment setup instructions and evaluation entrypoints in the code repository.
+LIBERO-Goal and LIBERO-Long (`libero_10`).
+
+### LIBERO-Plus
+
+Use the same `libero/model.pt` and `libero/dataset_stats.json` for LIBERO-Plus;
+no separate Plus checkpoint is required. Install the external LIBERO-Plus
+environment, its extra dependencies and simulator assets. Sensor-noise tasks
+also require ImageMagick. Replace `/path/to/LIBERO-plus` below with that checkout.
+
+The full protocol evaluates **10,030 task variants with one trial per variant**.
+Each worker loads the model once and evaluates a shard of up to 50 variants.
+
+```bash
+export ROOT_DIR="$PWD"
+export LIBERO_PLUS_REPO=/path/to/LIBERO-plus
+export LIBERO_ROOT="$LIBERO_PLUS_REPO"
+export PYTHONPATH="$PWD/src:$PWD:$LIBERO_PLUS_REPO"
+
+LIBERO_PLUS_DETACH=true \
+bash experiments/libero-plus/run_stage1.sh \
+  task=libero_uncond_2cam224_lbqs_only_2layer_alternating_cross_self_fullfinetune_1e-4 \
+  ckpt=./checkpoints/bridgewam/libero/model.pt \
+  EVALUATION.dataset_stats_path=./checkpoints/bridgewam/libero/dataset_stats.json \
+  EVALUATION.output_dir="./runs/eval/libero-plus/$(date +%Y%m%d_%H%M%S)" \
+  EVALUATION.num_trials=1 \
+  EVALUATION.num_inference_steps=10 \
+  EVALUATION.save_rollout_video=true \
+  LIBERO_PLUS.repo_path="$LIBERO_PLUS_REPO" \
+  LIBERO_PLUS.expected_num_tasks=10030 \
+  model.skip_dit_load_from_pretrain=true \
+  seed=42 \
+  MULTIRUN.tasks_per_worker=50 \
+  MULTIRUN.num_gpus=8 \
+  MULTIRUN.max_tasks_per_gpu=5
+```
+
+This launcher requires `tmux` and detaches the manager by default. It prints the
+session name and log location; returning to the terminal does not mean evaluation
+has finished. Wait for completion before starting another benchmark on the same
+GPUs. Results include `libero_plus_task_results.csv` and
+`libero_plus_summary.json` in the selected output directory.
+
+### LIBERO-Pro
+
+Use the same LIBERO checkpoint and statistics for LIBERO-Pro. Install the external
+LIBERO-PRO checkout with its benchmark task map, BDDL files, initial states and
+simulator assets. The current adapter expects these resources under
+`LIBERO-PRO/libero/libero/{bddl_files,init_files,assets}`. Use the same generated
+resource release and environment variant for comparisons between models.
+
+The full protocol selects **200 tasks across five perturbation categories**
+(environment, position, object, language and task), with **50 trials per task**
+for 10,000 episodes. These are separate perturbation categories, not their runtime
+combinations. A task-count check alone does not verify resource equivalence.
+
+```bash
+export LIBERO_PRO_REPO=/path/to/LIBERO-PRO
+export LIBERO_ROOT="$LIBERO_PRO_REPO"
+export PYTHONPATH="$PWD/src:$PWD:$LIBERO_PRO_REPO"
+
+python experiments/libero-pro/run_libero_pro_manager.py \
+  task=libero_uncond_2cam224_lbqs_only_2layer_alternating_cross_self_fullfinetune_1e-4 \
+  ckpt=./checkpoints/bridgewam/libero/model.pt \
+  EVALUATION.dataset_stats_path=./checkpoints/bridgewam/libero/dataset_stats.json \
+  EVALUATION.output_dir="./runs/eval/libero-pro/$(date +%Y%m%d_%H%M%S)" \
+  EVALUATION.num_trials=50 \
+  EVALUATION.num_inference_steps=10 \
+  EVALUATION.save_rollout_video=true \
+  LIBERO_PRO.repo_path="$LIBERO_PRO_REPO" \
+  'LIBERO_PRO.perturbations=[environment,position,object,language,task]' \
+  LIBERO_PRO.expected_num_tasks=200 \
+  model.skip_dit_load_from_pretrain=true \
+  seed=42 \
+  MULTIRUN.num_gpus=8 \
+  MULTIRUN.max_tasks_per_gpu=5
+```
+
+The Pro manager runs in the foreground and waits for all workers; run it inside
+`tmux` if it must survive a terminal disconnect. Each run writes an isolated
+environment configuration, `task_manifest.jsonl`, task logs, `summary.json` and
+`manager_runtime.json`. Use a fresh output directory and check that the summary
+is complete; an existing summary file alone does not establish completion.
 
 ### RoboTwin