arc-camode-ft

Archived EMA-only weights for the six camera-mode (camode) LIBERO finetunes — the geoA and geoB backbones each finetuned under three camera regimes: random, side, wrist. Full checkpoint directories (~46 GiB/step, optimizer state included) were deleted from the cluster after this upload verified.

What each file is

<run_dir>/config.yaml                                  training config
<run_dir>/dataset_stats.json                           normalizer stats
<run_dir>/<ckpt>.ckpt.shards.step000020000/state.pt    EMA weights ONLY
<run_dir>/<ckpt>.ckpt.shards.step000020000/engine_meta.pt

state.pt holds {"extra": {"ema": {name -> fp32 CPU tensor}}}, the payload methods/lafm/vla_flow_ft.py:load_pretrain_trainables() reads. Load with model.init_use_ema=true. No "model" key, no optimizer state — init / eval only, not resumable. Each engine_meta.pt is the original and its ema_fingerprint matches the archived tensors (rel < 1e-6).

Contents — all at step000020000

run dir	arm	camera mode	off-mode	with-R
lafm_vla_flow_neo2b_camArft_camAr0816	A	random	12.10	97.65
lafm_vla_flow_neo2b_camAsft_camAs0817	A	side	not run	97.50
lafm_vla_flow_neo2b_camAwft_camAw0817	A	wrist	not run	98.20
lafm_vla_flow_neo2b_camBrft_camBr0816	B	random	95.75	97.75
lafm_vla_flow_neo2b_camBsft_camBs0817	B	side	95.75	98.50
lafm_vla_flow_neo2b_camBwft_camBw0817	B	wrist	95.60	98.35

Full 4-suite LIBERO (spatial / object / goal / long; 10 tasks x 50 trials x 4 = 2000 rollouts per cell), NA12 decode: replan 12, horizon 20, NFE 10, control_rate 20, use_ema: true, render 256, pinned mujoco 3.2.3 / robosuite 1.4.1. Single seed per cell.

Reading the two columns. "with-R" supplies the camera-mode conditioning at eval; "off-mode" withholds it. Arm A collapses without conditioning (12.10) because arm A has no text fallback path — that is by design, not a regression. Arm B degrades gracefully (~95.6–95.8). Off-mode was never run for camA side/wrist.

Not included

Only step000020000 is archived per run. Steps 2500–17500 were deleted and are not recoverable. Two extra evaluated points that are now gone: camArft @15000 off-mode 14.35, camBrft @15000 off-mode 95.55.