Create README.md

README.md

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+---
+library_name: lerobot
+license: apache-2.0
+language:
+  - en
+base_model:
+  - SberRoboticsCenter/GreenVLA-5b-base
+pipeline_tag: robotics
+tags:
+  - robotics
+  - vla
+  - vision-language-action
+  - manipulation
+  - flow-matching
+  - action-prediction
+  - green-vla
+  - bridge
+  - widowx
+  - reinforcement-learning
+datasets:
+  - IPEC-COMMUNITY/bridge_orig_lerobot
+model-index:
+  - name: GreenVLA-5b-R2-bridge
+    results:
+      - task:
+          type: robotics
+          name: SimplerEnv WidowX (Bridge)
+        dataset:
+          type: IPEC-COMMUNITY/bridge_orig_lerobot
+          name: Bridge
+        metrics:
+          - type: success_rate
+            name: Partial Average
+            value: 91.7
+          - type: success_rate
+            name: Entire Average
+            value: 79.1
+---
+
+<div align="center">
+
+# GreenVLA-5b-R2-bridge
+
+### RL-Aligned VLA for Bridge (WidowX)
+
+**Sber Robotics Center &middot; Manipulation Team**
+
+[![arXiv](https://img.shields.io/badge/arXiv-2602.00919-b31b1b?style=for-the-badge&logo=arxiv&logoColor=white)](https://arxiv.org/abs/2602.00919)
+[![Project Page](https://img.shields.io/badge/Project-Page-blue?style=for-the-badge&logo=github&logoColor=white)](https://greenvla.github.io/)
+[![Code](https://img.shields.io/badge/Code-GitHub-181717?style=for-the-badge&logo=github&logoColor=white)](https://github.com/greenvla/GreenVLA)
+
+</div>
+
+---
+
+## Overview
+
+**GreenVLA-5b-R2-bridge** is the R2 (RL-aligned) 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 joined with additional trajectories collected in SimplerEnv Bridge environments. Trajectory collection and RL fine-tuning were conducted according to the Trajectory Optimization approach described in the [technical report](https://arxiv.org/abs/2602.00919).
+
+Starting from [GreenVLA-5b-base](https://huggingface.co/SberRoboticsCenter/GreenVLA-5b-base), this model went through both R1 (supervised fine-tuning) and R2 (RL policy alignment) stages, resulting in significant performance gains over behavior cloning alone.
+
+## Evaluation
+
+Evaluated on **SimplerEnv WidowX (Bridge)** benchmark.
+
+> **Note:** Bridge benchmark results can vary up to ±6% between runs. We recommend averaging over multiple evaluation runs for reliable comparisons.
+
+### Partial Success Rate
+
+| Task | Success Rate |
+|------|:---:|
+| Put Spoon on Towel | 87.5% |
+| Stack Blocks (Cubes) | 95.8% |
+| Put Eggplant in Basket | 91.7% |
+| Put Carrot on Plate | 91.6% |
+| **Average** | **91.7%** |
+
+### Entire Success Rate
+
+| Task | Success Rate |
+|------|:---:|
+| Put Spoon on Towel | 90.1% |
+| Stack Blocks (Cubes) | 52.6% |
+| Put Eggplant in Basket | 84.8% |
+| Put Carrot on Plate | 89.0% |
+| **Average** | **79.1%** |
+
+## Training
+
+| | Details |
+|---|---|
+| **Base checkpoint** | [GreenVLA-5b-base](https://huggingface.co/SberRoboticsCenter/GreenVLA-5b-base) |
+| **Stage** | R2 — RL policy alignment |
+| **Method** | Trajectory optimization (SFT + RL on collected trajectories) |
+| **Dataset** | [IPEC-COMMUNITY/bridge_orig_lerobot](https://huggingface.co/datasets/IPEC-COMMUNITY/bridge_orig_lerobot) + SimplerEnv rollouts |
+| **Robot** | WidowX (Bridge) |
+| **Parameters** | ~5B |
+
+## Quick Start
+
+### Installation
+
+```bash
+git clone https://github.com/greenvla/GreenVLA.git
+cd GreenVLA
+uv sync  # or: pip install -e .
+```
+
+### Inference
+
+```python
+import numpy as np
+import torch
+from lerobot.common.policies.factory import load_pretrained_policy
+from lerobot.common.utils.torch_observation import (
+    move_dict_to_batch_for_inference,
+    torch_preprocess_dict_inference,
+)
+
+# 1. Load policy and transforms.
+policy, input_transforms, output_transforms = load_pretrained_policy(
+    "SberRoboticsCenter/GreenVLA-5b-R2-bridge",
+    data_config_name="bridge",
+)
+policy.to("cuda").eval()
+
+# 2. Build an observation (replace with real sensor data).
+raw_obs = {
+    "observation/state": np.random.rand(8).astype(np.float32),  # x y z roll pitch yaw _pad_ gripper
+    "observation/image": np.random.randint(0, 256, size=(224, 224, 3), dtype=np.uint8),
+    "prompt": "pick up the green block and place it on the plate",
+}
+
+# 3. Transform, preprocess, and batch.
+obs = input_transforms(raw_obs)
+obs = torch_preprocess_dict_inference(obs)
+batch = move_dict_to_batch_for_inference(obs, device="cuda")
+
+# 4. Predict actions and post-process.
+with torch.inference_mode():
+    raw_actions = policy.select_action(batch).cpu().numpy()
+
+actions = output_transforms(
+    {"actions": raw_actions, "state": batch["state"].cpu().numpy()}
+)["actions"]
+# actions shape: (action_horizon, 7) — [x, y, z, roll, pitch, yaw, gripper]
+```
+
+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) | [Hub](https://huggingface.co/SberRoboticsCenter/GreenVLA-5b-R1-bridge) |
+| **GreenVLA-5b-R2-bridge** | R2 | 5B | RL-aligned on Bridge (WidowX) | You are here |
+| **GreenVLA-5b-R1-fractal** | R1 | 5B | Fine-tuned on Fractal (Google Robot) | [Hub](https://huggingface.co/SberRoboticsCenter/GreenVLA-5b-R1-fractal) |
+
+## Citation
+
+```bibtex
+@misc{greenvla,
+    title   = {Green-VLA: Staged Vision-Language-Action Model for Generalist Robots},
+    author  = {I. Apanasevich and M. Artemyev and R. Babakyan and P. Fedotova and
+               D. Grankin and E. Kupryashin and A. Misailidi and D. Nerus and
+               A. Nutalapati and G. Sidorov and I. Efremov and M. Gerasyov and
+               D. Pikurov and Y. Senchenko and S. Davidenko and D. Kulikov and
+               M. Sultankin and K. Askarbek and O. Shamanin and D. Statovoy and
+               E. Zalyaev and I. Zorin and A. Letkin and E. Rusakov and
+               A. Silchenko and V. Vorobyov and S. Sobolnikov and A. Postnikov},
+    year    = {2026},
+    eprint  = {2602.00919},
+    archivePrefix = {arXiv},
+    primaryClass  = {cs.RO},
+    url     = {https://arxiv.org/abs/2602.00919},
+}
+```
+
+<div align="center">
+
+&copy; 2026 Sber Robotics Center &middot; Manipulation Team
+
+</div>