---
datasets:
- ShuaiYang03/VLA_Instruction_Tuning
base_model:
- nvidia/Eagle2-2B
pipeline_tag: robotics
---

# Model Card for InstructVLA-SimplerEnv

**Weights**

* `checkpoints/step-034500-epoch-08-loss=0.1167.pt`: Complete model checkpoint for direct evaluation.
* `checkpoints/step-034500-epoch-08_unload_lora.pt`: Model containing only the VLM backbone and action expert. This cannot be used independently; it is intended solely for initializing Stage-2 training.
* `checkpoints/pretrained_action_adapter`: Action LoRA adapter. This cannot be used independently; it is intended solely for initializing Stage-2 training.

**Evaluation Results**

* `results_step-034500-epoch-08-loss=0.1167_instruct_1-3`: Results on **SimplerEnv-Instruct**.
* `results_step-034500-epoch-08-loss=0.1167_1-3`: Results on **SimplerEnv**.