Update card for the BridgeVLA++ release

README.md

@@ -1,5 +1,78 @@
 ---
 license: apache-2.0
+tags:
+  - robotics
+  - vision-language-action
+  - manipulation
 ---
-The pre-training data and checkpoints of BridgeVLA.
-arxiv:  https://arxiv.org/abs/2506.07961
+
+# BridgeVLA++
+
+Pre-training data and checkpoints for **BridgeVLA++** and its predecessor **BridgeVLA**.
+
+BridgeVLA++ is a 3D vision-language-action framework that preserves the input-output
+alignment of a pre-trained VLM during 3D action learning — point clouds are projected
+into multi-view images and intermediate heatmaps are predicted before actions — and
+extends it with a unified **spatio-temporal memory** modeling persistent spatial
+context and temporal interaction history. It matches or surpasses BridgeVLA on the
+original benchmarks without sacrificing data efficiency or generalization, reaches
+state of the art on two memory-dependent benchmarks, and extends to bimanual
+manipulation and a new real-world embodiment.
+
+BridgeVLA++ 是一个 3D 视觉-语言-动作框架:沿用 BridgeVLA「把点云投影成多视角图像、
+先预测热力图再生成动作」的输入输出对齐设计,并引入统一的**时空记忆**,同时建模持久的
+空间上下文与时序交互历史。它在原有基准上追平或超过 BridgeVLA(数据效率与泛化性不降),
+在两个记忆依赖基准上达到 SOTA,并可扩展到双臂操作与新的真机本体。
+
+## Contents 内容
+
+```
+checkpoints/
+├── pretrain/              # grounding pre-training weights, shared by both models
+│                          #   两代共用的 grounding 预训练权重(finetune 暖启点)
+├── bridgevla/             # BridgeVLA (original) 原版权重
+│   └── rlbench/ colosseum/ gembench/
+└── bridgevla_plus/        # BridgeVLA++ 权重
+    ├── rlbench/ colosseum/ gembench/ memorybench/
+    └── rmbench/<task>/    # per-task, 9 tasks 每任务一个目录,共 9 个
+pretrain_data/
+├── coco.tar.gz            # COCO images 图像
+└── detection_data.json    # RoboPoint grounding annotations 标注
+```
+
+Every checkpoint directory holds `model_<epoch>.pth` together with `exp_cfg.yaml` and
+`mvt_cfg.yaml`; the two configs define the network architecture and must stay next to
+the weights.
+
+每个权重目录都是 `model_<epoch>.pth` + `exp_cfg.yaml` + `mvt_cfg.yaml`;后两者决定网络
+结构,必须与权重放在一起。
+
+| epoch | RLBench | COLOSSEUM | GemBench | memoryBench | RMBench |
+|---|---|---|---|---|---|
+| BridgeVLA++ | 130 | 200 | 200 | 160 | per-task 每任务不同 |
+| BridgeVLA | 80 | 80 | 40 | – | – |
+
+The `bridgevla/` checkpoints belong to the original BridgeVLA codebase and are **not**
+loadable by BridgeVLA++; run them with that codebase. Only `pretrain/` is shared by both.
+
+`bridgevla/` 下的权重属于原版 BridgeVLA 代码库,**无法**被 BridgeVLA++ 加载,
+请配合原版代码库使用。两代共用的只有 `pretrain/`。
+
+## Papers 论文
+
+- **BridgeVLA++: A Data-Efficient, Generalizable, and Memory-Augmented Vision-Language-Action Framework for 3D Manipulation** — arXiv coming soon.
+- **BridgeVLA: Input-Output Alignment for Efficient 3D Manipulation Learning with Vision-Language Models** — [arXiv:2506.07961](https://arxiv.org/abs/2506.07961)
+
+Usage instructions live in the code repository.
+使用方法见代码仓库。
+
+## Provenance 出处
+
+`pretrain/`, `bridgevla/` and `pretrain_data/` are the artifacts released with
+BridgeVLA. `pretrain_data/` builds on COCO images and RoboPoint-style grounding
+annotations, which remain subject to their original terms; the Apache-2.0 license above
+applies to the model weights.
+
+`pretrain/`、`bridgevla/` 与 `pretrain_data/` 来自 BridgeVLA 的发布内容。
+`pretrain_data/` 基于 COCO 图像与 RoboPoint 形式的 grounding 标注,仍受其原始条款约束;
+上方的 Apache-2.0 许可适用于模型权重。