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README.md

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+# SERF-VLA BEHAVIOR-1K Checkpoints
+
+Official checkpoint release for:
+
+**SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulation**
+
+[[arXiv](https://arxiv.org/abs/2606.12956)] [[Website](https://existentialrobotics.org/serf/)] [[Code](https://github.com/ExistentialRobotics/SERF-VLA)]
+
+## Overview
+
+This repository contains PI0.5 baseline and SERF-VLA policy checkpoints for BEHAVIOR-1K experiments.
+
+It includes:
+
+* PI0.5 baseline checkpoints fine-tuned on individual BEHAVIOR-1K tasks
+* SERF-VLA checkpoints conditioned on 4D spatiotemporal environment and robot feature maps
+
+These checkpoints are for the policy learning component only. The SERF mapping component is not included in this repository.
+
+## Checkpoint Initialization
+
+All released checkpoints were initialized from the PI0.5 checkpoint pretrained on 50 BEHAVIOR-1K tasks:
+
+* [`IliaLarchenko/behavior_50t_checkpoint`](https://huggingface.co/IliaLarchenko/behavior_50t_checkpoint)
+
+This checkpoint was released by the first-place solution of the 2025 BEHAVIOR Challenge and was used as the initialization for both the PI0.5 baseline checkpoints and the SERF-VLA checkpoints in this repository.
+
+## Checkpoints
+
+| Folder                                                                  | Model          | Representation                       | Task        |
+| ----------------------------------------------------------------------- | -------------- | ------------------------------------ | ----------- |
+| `pi_behavior_b1k_fast--50t_lora--task-0021`                             | PI0.5 baseline | 2D image observation                 | 21 |
+| `pi_behavior_b1k_fast--50t_lora--task-0022`                             | PI0.5 baseline | 2D image observation                 | 22 |
+| `pi_behavior_b1k_fast--50t_lora--task-0026`                             | PI0.5 baseline | 2D image observation                 | 26 |
+| `pi_serf_behavior_b1k_fast--4d_env_robot_feat_map--50t_lora--task-0021` | SERF-VLA       | 4D environment and robot feature map | 21 |
+| `pi_serf_behavior_b1k_fast--4d_env_robot_feat_map--50t_lora--task-0022` | SERF-VLA       | 4D environment and robot feature map | 22 |
+| `pi_serf_behavior_b1k_fast--4d_env_robot_feat_map--50t_lora--task-0026` | SERF-VLA       | 4D environment and robot feature map | 26 |
+
+Each checkpoint follows the original policy checkpoint structure:
+
+```text
+checkpoint_name/
+├── assets/
+└── params/
+```
+
+## Usage
+
+Download all checkpoints with `huggingface_hub`:
+
+```python
+from huggingface_hub import snapshot_download
+
+snapshot_download(
+    repo_id="byeonghyunpak/SERF-VLA",
+    repo_type="model",
+    local_dir="checkpoints/serf-vla-behavior-b1k",
+)
+```
+
+To download a specific checkpoint folder only:
+
+```python
+from huggingface_hub import snapshot_download
+
+snapshot_download(
+    repo_id="byeonghyunpak/SERF-VLA",
+    repo_type="model",
+    local_dir="checkpoints/serf-vla-behavior-b1k",
+    allow_patterns=[
+        "pi_serf_behavior_b1k_fast--4d_env_robot_feat_map--50t_lora--task-0021/**"
+    ],
+)
+```
+
+For installation, data preparation, training, and evaluation instructions, please refer to the official code repository:
+
+https://github.com/ExistentialRobotics/SERF-VLA
+
+## Note
+
+BEHAVIOR-1K evaluation is non-deterministic; results can differ across repeated runs due to variability in the underlying physics simulation and error accumulation over long execution time.
+
+## Citation
+
+If you find these checkpoints useful, please cite our paper:
+
+```bibtex
+@article{kim2026serf,
+  title = {SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulation},
+  author = {Kim, Sunghwan and Pak, Byeonghyun and Long, Kehan and Tian, Yulun and Atanasov, Nikolay},
+  journal = {arXiv preprint arXiv:2606.12956},
+  year = {2026}
+}
+```
+
+## Acknowledgements
+
+This release builds on behavior-1k-solution, openpi, and BEHAVIOR-1K. We thank the authors and maintainers of these projects.