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
@@ -20,7 +20,7 @@ tags:
 datasets:
   - IPEC-COMMUNITY/bridge_orig_lerobot
 model-index:
-  - name: GreenVLA-5b-R2-bridge
+  - name: GreenVLA-5b-stride-1-R2-bridge
     results:
       - task:
           type: robotics
@@ -39,7 +39,7 @@ model-index:
 
 <div align="center">
 
-# GreenVLA-5b-R2-bridge
+# GreenVLA-5b-stride-1-R2-bridge
 
 ### RL-Aligned VLA for Bridge (WidowX)
 
@@ -55,9 +55,9 @@ model-index:
 
 ## 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).
+**GreenVLA-5b-stride-1-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.
+Starting from [GreenVLA-5b-base-stride-1](https://huggingface.co/SberRoboticsCenter/GreenVLA-5b-base-stride-1), 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
 
@@ -89,7 +89,7 @@ Evaluated on **SimplerEnv WidowX (Bridge)** benchmark.
 
 | | 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** | 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 |
@@ -119,7 +119,7 @@ from lerobot.common.utils.torch_observation import (
 
 # 1. Load policy and transforms.
 policy, input_transforms, output_transforms = load_pretrained_policy(
-    "SberRoboticsCenter/GreenVLA-5b-R2-bridge",
+    "SberRoboticsCenter/GreenVLA-5b-stride-1-R2-bridge",
     data_config_name="bridge",
 )
 policy.to("cuda").eval()
@@ -148,16 +148,6 @@ 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) | [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