SPIRAL round 1 as Algorithm 1 stage 2b defines it (π₁'s own fine-tuning data, labelled by RM1), repeated at four values of betabc, one run per beta, everything else fixed. A residual actor and a 5-critic ensemble on top of a FROZEN π₀.₅ + RLT policy; actor and critics both start fresh. Not robot-evaluated; the offline critic probes have not been run. All four are identical except betabc (checked in each rlconfig.json). Caveat for beta 70 and 100: with a fresh actor the residual starts large (random init) and has to shrink to the value set by the critic. At beta 5 and 15 it settles (residual × beta ≈ 0.035, the critic's slope on this data), but at beta 70 and 100 it was still falling at step…
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Nadeem Shoukath
Nadeem-Shoukath115113
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Models on Hugging Face16
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