spikefly/SemanticVLA-Bridge

SemanticVLA · Bridge (SimplerEnv WidowX)

🚧 Placeholder. The URL is stable; checkpoints will be uploaded incrementally per the release roadmap.

SemanticVLA finetuned on BridgeData V2, targeting SimplerEnv WidowX evaluation (widowx_spoon_on_towel / widowx_carrot_on_plate / widowx_stack_cube / widowx_put_eggplant_in_basket).

Configuration

Field	Value
Backbone	Qwen3VL-4B (Qwen3VL-GR00T-Bridge-RT-1 init)
Action head	GR00T-style flow-matching expert
Semantic output	trace_latent (trace + LAM latent-action token), none injection
LM loss weight	0.10
Action horizon	16
LAM tokenizer	SemanticVLA-LAM → oxe-bridge-only/v4-step16k
Training data	bridge_orig_1.0.0_lerobot (with dense trace labels via OXE NPY index)
Target	100,000 steps

Headline result

SimplerEnv WidowX numbers will be filled in here once the 100k-step training and the 24-episodes-per-task evaluation complete. Training is in flight on Isambard; see the code repo for the latest training metrics.

Planned layout

SemanticVLA-Bridge/
├── tl-none-lw010-step100k/
│   ├── pytorch_model.pt
│   ├── config.yaml
│   └── model_card.md
└── README.md

Sibling SemanticVLA checkpoint repos

Repo	Purpose
🤗 SemanticVLA-LAM	LAM tokenizers used by this VLA
🤗 SemanticVLA-LIBERO	LIBERO-finetuned VLA

Related resources

• Code: https://github.com/Fei-Ni/SemanticVLA_Offcial
• Datasets · Bridge subset: https://huggingface.co/datasets/spikefly/SemanticVLA-Bridge-LeRobot
• Datasets · all: https://hf.co/collections/spikefly/semanticvla-datasets
• Collection · Model Zoo: https://hf.co/collections/spikefly/semanticvla-model-zoo

How to load (placeholder API)

from huggingface_hub import hf_hub_download
import torch

ckpt = hf_hub_download(
    repo_id="spikefly/SemanticVLA-Bridge",
    filename="tl-none-lw010-step100k/pytorch_model.pt",
)
state = torch.load(ckpt, map_location="cpu")
# loader will be released with the code repo

Citation

@misc{semanticvla2026,
  title  = {SemanticVLA: Semantic Vision-Language-Action Models with Trace-Conditioned Latent Action Tokens},
  author = {SemanticVLA Authors},
  year   = {2026},
  url    = {https://github.com/Fei-Ni/SemanticVLA_Offcial}
}

@inproceedings{walke2023bridgedata,
  title     = {BridgeData V2: A Dataset for Robot Learning at Scale},
  author    = {Walke, Homer and Black, Kevin and others},
  booktitle = {Conference on Robot Learning (CoRL)},
  year      = {2023}
}

License

Released under the MIT License.