Qwen-GR00T-Bridge

StarVLA QwenGR00T for Bridge (45K)

This repository contains the uploaded 45,000-step checkpoint from the 1019_qwen25_groot_bridge_only run. Unlike the similarly named Bridge + RT-1 repositories, its data_mix is bridge, so the published training statistics contain only the Bridge/WidowX embodiment.

Model details

The 8D raw state statistics and 7D action-head state are reconciled by the packaged data transform. Do not bypass that transform by feeding a guessed flat vector. The YAML's DINO field is inherited configuration, not a runtime component of this QwenGR00T path.

Training details

SimplerEnv WidowX evaluation

Four run logs per task are bundled with the 45K checkpoint. The following values are means of the four published run-level success rates for each task.

This artifact-derived 71.35% rounds to the 71.4 value published for the same repository in the StarVLA Model Zoo.

Files

config.yaml
dataset_statistics.json
checkpoints/
├── steps_45000_pytorch_model.pt
└── steps_45000_pytorch_model_infer_*.log.run{1,2,3,4}

Loading and evaluation

huggingface-cli download StarVLA/Qwen-GR00T-Bridge \
  --local-dir Qwen-GR00T-Bridge

export CKPT=$PWD/Qwen-GR00T-Bridge/checkpoints/steps_45000_pytorch_model.pt
python deployment/model_server/server_policy.py \
  --ckpt_path "$CKPT" \
  --port 10093 \
  --use_bf16

Use the StarVLA SimplerEnv evaluator with normalization key oxe_bridge.

Intended use and limitations

The model is scoped to Bridge/WidowX simulation with one RGB camera and 7D delta-end-effector control. It was not trained on RT-1 according to the packaged YAML, despite nearby similarly named releases. Real-robot performance, safety, and transfer to other observation/action mappings are not established.