Update checkpoint: achieve the success rates of 89.4 and 89.6 in the Easy and Hard settings.

README.md

@@ -25,7 +25,7 @@ datasets:
 
 Building upon InternVL3 and Qwen3-VL, we instantiate InternVLA-A1 at 2B and 3B parameter scales. Covering different model scales and pre-training data configurations, we release the InternVLA-A1 series:
 
-- [x]  [InternVLA-A1-3B](https://huggingface.co/InternRobotics/InternVLA-A1-3B): pretrained on the large-scale, high-fidelity simulation data [InternData-A1](https://huggingface.co/datasets/InternRobotics/InternData-A1), together with open-source robot data (e.g. Agibot-World)
+- [x]  [InternVLA-A1-3B](https://huggingface.co/InternRobotics/InternVLA-A1-3B): pretrained on heterogeneous data sources over real-robot data, synthetic simulation data, and human videos
 - [x]  [InternVLA-A1-3B-RoboTwin](https://huggingface.co/InternRobotics/InternVLA-A1-3B-RoboTwin): finetuned on RoboTwin 2.0 benchmark
 - [ ] [InternVLA-A1-3B-Pretrain-InternData-A1](https://huggingface.co/InternRobotics/InternVLA-A1-3B-Pretrain-InternData-A1): pretrained on InternData-A1 only
 - [ ] [InternVLA-A1-2B-Pretrain-InternData-A1](https://huggingface.co/InternRobotics/InternVLA-A1-2B-Pretrain-InternData-A1): pretrained on InternData-A1 only
@@ -38,8 +38,8 @@ Building upon InternVL3 and Qwen3-VL, we instantiate InternVLA-A1 at 2B and 3B p
 
 | Metric | pi0 | pi0.5 | **InternVLA-A1-3B** |
 | :--- | :---: | :---: | :---: |
-| Avg. Success (Easy) | 79.98% | 86.76% | **88.30%** |
-| Avg. Success (Hard) | 79.50% | 86.96% | **88.48%** |
+| Avg. Success (Easy) | 79.98% | 86.76% | **89.40%** |
+| Avg. Success (Hard) | 79.50% | 86.96% | **89.64%** |
 
 ## 🔑 Key Features
 

config.json

@@ -24,7 +24,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "/mnt/shared-storage-user/internvla/Users/caijunhao/lerobot/outputs/qwena1/2026_01_16_20_15_44-qwena1-a1_robotwin-delta-pretrain/checkpoints/01050000/pretrained_model",
+    "pretrained_path": "/mnt/shared-storage-user/internvla/Users/caijunhao/lerobot/outputs/qwena1/2026_01_27_19_50_57-qwena1-a1_robotwin_egodex_agibotworld_robomind-delta-pretrain-agibotworld_robomind_wo_act_loss/checkpoints/01420000/pretrained_model",
     "qwen3_vl_variant": "qwen3_vl_28l",
     "action_expert_variant": "qwen3_28l",
     "dtype": "bfloat16",

model.safetensors

@@ -1,3 +1,3 @@
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 size 6721209208

train_config.json

@@ -178,7 +178,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "/mnt/shared-storage-user/internvla/Users/caijunhao/lerobot/outputs/qwena1/2026_01_16_20_15_44-qwena1-a1_robotwin-delta-pretrain/checkpoints/01050000/pretrained_model",
+        "pretrained_path": "/mnt/shared-storage-user/internvla/Users/caijunhao/lerobot/outputs/qwena1/2026_01_27_19_50_57-qwena1-a1_robotwin_egodex_agibotworld_robomind-delta-pretrain-agibotworld_robomind_wo_act_loss/checkpoints/01420000/pretrained_model",
         "qwen3_vl_variant": "qwen3_vl_28l",
         "action_expert_variant": "qwen3_28l",
         "dtype": "bfloat16",
@@ -224,8 +224,8 @@
         "scale_factor": 8,
         "lambda_gen": 0.01
     },
-    "output_dir": "/mnt/shared-storage-user/internvla/Users/mahaoxiang/lerobot_exp/qwena1_sim_full_1050k/2026_01_20_16_01_40",
-    "job_name": "2026_01_20_16_30_25-qwena1-robotwin-full-remix-delta",
+    "output_dir": "/mnt/shared-storage-user/internvla/Users/mahaoxiang/lerobot_exp/qwena1_robotwin_a1_agibotworld_robomind_wo_act_loss/2026_01_29_11_13_13",
+    "job_name": "2026_01_29_11_14_18-qwena1-robotwin-full-remix-delta",
     "resume": false,
     "seed": 42,
     "num_workers": 8,
@@ -265,7 +265,7 @@
         "project": "lerobot_qwena1_robotwin_full",
         "entity": null,
         "notes": null,
-        "run_id": "fj1c8atu",
+        "run_id": "uu88o32c",
         "mode": "offline"
     },
     "checkpoint_path": null,