arc-layermap-ft

Archived EMA-only weights for the layer-map LIBERO finetunes (m323 protocol): the full-layer full-FT arm, the first-28 full-FT arm, and the first-28 frozen arm. Full checkpoint directories (32–44 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.step0000NNNNN/state.pt    EMA weights ONLY
<run_dir>/<ckpt>.ckpt.shards.step0000NNNNN/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).

Note the frozen run archives only its trainable set; the two full-FT runs carry the whole trunk.

Contents

run dir	step	EMA tensors	params	LIBERO	why this step
lafm_vla_flow_neo2b_fulllayer_libero_fullft_m323_flft0815r	step000020000	1049	2.92 B	94.80	grid peak
lafm_vla_flow_neo2b_first28_libero_fullft_m323_f28ft0811	step000017500	737	2.13 B	94.55	grid peak
lafm_vla_flow_neo2b_first28_libero_fullft_m323_f28ft0811	step000020000	737	2.13 B	94.25	originally requested
lafm_vla_flow_neo2b_first28_libero_m323_f28ft0811	step000030000	376	0.44 B	93.15	grid peak and last step

Full 4-suite LIBERO (spatial / object / goal / long; 10 tasks x 50 trials x 4 = 2000 rollouts per point), m323 decode: replan 4, action horizon 8, NFE 10, no control_rate, use_ema: true, render 256, pinned mujoco 3.2.3 / robosuite 1.4.1. Single seed per point.

Do not compare these against the GEO or camera-mode archives — those use the NA12 decode protocol (replan 12 / horizon 20 / control_rate 20) and the two protocols are not interchangeable.

Two step choices deserve a note:

• first-28 full-FT — the peak is 94.55 at step000017500, not at 20000 (94.25). Both are archived so the peak is not lost.
• first-28 frozen — 93.15 at step000030000 is both the best and the last step. An earlier internal note quoting "92.8" is stale: it is the rounded 92.75 at step 5000, recorded while the grid still stopped at 17500.

Not included

Only the steps above are archived; every other grid step was deleted and is not recoverable. Single-seed grid curves for the record (steps 2500 → 30000 by 2500):

• fulllayer full-FT: 89.80 / 93.35 / 94.35 / 94.25 / 93.30 / 94.20 / 94.20 / 94.80 / 94.45 / 94.55 / (27500 and 30000 were never evaluated)
• first-28 full-FT: 89.35 / 94.50 / 93.50 / 94.25 / 93.65 / 94.50 / 94.55 / 94.25 / 92.90 / 93.50 / 93.75 / 93.30
• first-28 frozen: 85.80 / 92.75 / 91.75 / 92.45 / 92.45 / 92.15 / 91.85 / 92.65 / 92.05 / 92.25 / 92.25 / 93.15