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README.md

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 # vls_calvin_dp_base
 
-Trained with [LeRobot](https://github.com/huggingface/lerobot).
+A Diffusion Policy checkpoint trained on the CALVIN benchmark, released as the
+frozen base policy used in **VLS: Steering Pretrained Robot Policies via
+Vision-Language Models**.
+
+VLS is a training-free, inference-time framework that steers the sampling
+process of a frozen generative robot policy (such as this checkpoint) using
+trajectory-differentiable rewards synthesized by a vision-language model — no
+fine-tuning or weight updates required.
+
+- Paper: <https://arxiv.org/abs/2602.03973>
+- Project page: <https://vision-language-steering.github.io/webpage/>
+- Trained with [LeRobot](https://github.com/huggingface/lerobot).