| --- |
| license: mit |
| library_name: pytorch |
| pipeline_tag: robotics |
| tags: |
| - uav |
| - visual-navigation |
| - starvla |
| - qwen3-vl |
| --- |
| |
| # MapFly-Agent |
|
|
| Reference policy of the [MapFly](https://github.com/GuYan66/MapFly) benchmark: |
| Qwen3-VL-4B with starVLA's QwenOFT action head, plus a stop and progress head. |
| Code is `starVLA/examples/uav/` in that repository. |
|
|
| ## Checkpoint |
|
|
| P1-R0 on OSM maps, 80k steps (main rows of Tables I–III): |
|
|
| | Folder | Head | Test Seen SR | Test Unseen SR | |
| |---|---|---|---| |
| | `mapfly_agent_oft_p1r0/` | QwenOFT | 86.6 | 62.7 | |
|
|
| ```text |
| mapfly_agent_oft_p1r0/ |
| config.yaml |
| dataset_statistics.json |
| checkpoints/steps_80000_pytorch_model.pt |
| ``` |
|
|
| Download into `$PLAYGROUND/Checkpoints/` (default `starVLA/playground/Checkpoints`): |
|
|
| ```bash |
| huggingface-cli download EzGuYan/MapFly-Agent mapfly_agent_oft_p1r0 --local-dir playground/Checkpoints/mapfly_agent_oft_p1r0 |
| ``` |
|
|
| Serve and evaluate from the MapFly checkout: |
|
|
| ```bash |
| CKPT=$PLAYGROUND/Checkpoints/mapfly_agent_oft_p1r0/checkpoints/steps_80000_pytorch_model.pt \ |
| bash starVLA/examples/uav/eval_files/run_policy_server.sh |
| ROLE=unseen TAG=oft_p1r0 bash starVLA/examples/uav/eval_files/run_eval_split.sh |
| ``` |
|
|
| The other paper rows (QwenGR00T, other tracks) are trained with `HEAD` / |
| `VARIANT` in `starVLA/examples/uav/README.md`; those checkpoints are not |
| released here. |
|
|
| `config.yaml` names the base VLM as `Qwen/Qwen3-VL-4B-Instruct`. Put a copy under |
| `playground/Pretrained_models/` if your serving setup still expects a local tree. |
|
|
| ## License |
|
|
| MIT. The Qwen3-VL weights inside the checkpoint follow Qwen's license. |
|
|
