Update README.md

README.md

@@ -4,7 +4,7 @@ license: apache-2.0
 language:
   - en
 base_model:
-  - SberRoboticsCenter/GreenVLA-5b-base
+  - SberRoboticsCenter/GreenVLA-5b-base-stride-1
 pipeline_tag: robotics
 tags:
   - robotics
@@ -19,7 +19,7 @@ tags:
 datasets:
   - IPEC-COMMUNITY/bridge_orig_lerobot
 model-index:
-  - name: GreenVLA-5b-R1-bridge
+  - name: GreenVLA-5b-stride-1-R1-bridge
     results:
       - task:
           type: robotics
@@ -38,7 +38,7 @@ model-index:
 
 <div align="center">
 
-# GreenVLA-5b-R1-bridge
+# GreenVLA-5b-stride-1-R1-bridge
 
 ### Embodiment-Adapted VLA for Bridge (WidowX)
 
@@ -54,13 +54,15 @@ model-index:
 
 ## Overview
 
-**GreenVLA-5b-R1-bridge** is the R1 (embodiment-adapted) checkpoint of the [Green-VLA](https://arxiv.org/abs/2602.00919) family, fine-tuned on the [Bridge](https://huggingface.co/datasets/IPEC-COMMUNITY/bridge_orig_lerobot) dataset for the WidowX robot arm.
+**GreenVLA-5b-stride-1-R1-bridge** is the R1 (embodiment-adapted) checkpoint of the [Green-VLA](https://arxiv.org/abs/2602.00919) family, fine-tuned on the [Bridge](https://huggingface.co/datasets/IPEC-COMMUNITY/bridge_orig_lerobot) dataset for the WidowX robot arm.
 
-Starting from the [GreenVLA-5b-base](https://huggingface.co/SberRoboticsCenter/GreenVLA-5b-base) pretrained checkpoint, this model was adapted via supervised fine-tuning (R1 stage) to the Bridge embodiment, achieving strong manipulation performance on the SimplerEnv benchmark.
+Starting from the [GreenVLA-5b-base-stride-1](https://huggingface.co/SberRoboticsCenter/GreenVLA-5b-base-stride-1) pretrained checkpoint, this model was adapted via supervised fine-tuning (R1 stage) to the Bridge embodiment, achieving strong manipulation performance on the SimplerEnv benchmark.
 
 ## Evaluation
 
-Evaluated on **SimplerEnv WidowX (Bridge)** benchmark with default episode length:
+Evaluated on **SimplerEnv WidowX (Bridge)** benchmark with default episode length.
+
+> **Note:** Bridge benchmark results can vary up to ±6% between runs. We recommend averaging over multiple evaluation runs for reliable comparisons.
 
 ### Partial Success Rate
 
@@ -86,7 +88,7 @@ Evaluated on **SimplerEnv WidowX (Bridge)** benchmark with default episode lengt
 
 | | Details |
 |---|---|
-| **Base checkpoint** | [GreenVLA-5b-base](https://huggingface.co/SberRoboticsCenter/GreenVLA-5b-base) |
+| **Base checkpoint** | [GreenVLA-5b-base-stride-1](https://huggingface.co/SberRoboticsCenter/GreenVLA-5b-base-stride-1) |
 | **Stage** | R1 — Embodiment-specific adaptation |
 | **Method** | Supervised fine-tuning |
 | **Dataset** | [IPEC-COMMUNITY/bridge_orig_lerobot](https://huggingface.co/datasets/IPEC-COMMUNITY/bridge_orig_lerobot) |
@@ -116,7 +118,7 @@ from lerobot.common.utils.torch_observation import (
 
 # 1. Load policy and transforms.
 policy, input_transforms, output_transforms = load_pretrained_policy(
-    "SberRoboticsCenter/GreenVLA-5b-R1-bridge",
+    "SberRoboticsCenter/GreenVLA-5b-stride-1-R1-bridge",
     data_config_name="bridge",
 )
 policy.to("cuda").eval()
@@ -145,16 +147,6 @@ actions = output_transforms(
 
 See [`examples/example_inference_bridge.py`](https://github.com/greenvla/GreenVLA/blob/main/examples/example_inference_bridge.py) for the full runnable script with argument parsing.
 
-## Model Family
-
-| Model | Stage | Params | Description | Link |
-|-------|:-----:|:------:|-------------|:----:|
-| **GreenVLA-2b-base** | Base | 2B | Base pretrained (lightweight) | [Hub](https://huggingface.co/SberRoboticsCenter/GreenVLA-2b-base) |
-| **GreenVLA-5b-base** | Base | 5B | Base pretrained (recommended) | [Hub](https://huggingface.co/SberRoboticsCenter/GreenVLA-5b-base) |
-| **GreenVLA-5b-R1-bridge** | R1 | 5B | Fine-tuned on Bridge (WidowX) | You are here |
-| **GreenVLA-5b-R2-bridge** | R2 | 5B | RL-aligned on Bridge (WidowX) | [Hub](https://huggingface.co/SberRoboticsCenter/GreenVLA-5b-R2-bridge) |
-| **GreenVLA-5b-R1-fractal** | R1 | 5B | Fine-tuned on Fractal (Google Robot) | [Hub](https://huggingface.co/SberRoboticsCenter/GreenVLA-5b-R1-fractal) |
-
 ## Citation
 
 ```bibtex