Publish latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal

latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/README.md

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+# qwenpi_v3 — HumanoidBench Balance Simple
+
+DAgger with profile_conditioned supervision, action horizon 16, and a 50 Hz H1 teacher queried every physical frame.

latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/checkpoints/model.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4b403c62904efee641733c1549d6bf594a259b70c6833317b828b63fea8c8201
+size 10924618013

latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/config.yaml

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+framework:
+  name: QwenPI_v3
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2560
+    num_vl_layers: 36
+    enable_gradient_checkpointing: false
+  action_model:
+    action_model_type: LayerwiseFM
+    action_dim: 43
+    state_dim: 902
+    state_encoding: continuous_projector
+    task_objective: null
+    action_horizon: 16
+    repeated_diffusion_steps: 2
+    condition_action_prefix: true
+    num_inference_timesteps: 4
+    add_pos_embed: true
+    max_seq_len: 1024
+    num_target_vision_tokens: 32
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    diffusion_model_cfg:
+      action_dit_hidden_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      positional_embeddings: null
+      attention_head_dim: 64
+      num_layers: 36
+      input_embedding_dim: 1024
+      cross_attention_dim: 1024
+      output_dim: 1024
+      num_attention_heads: 16
+    action_env_dim: 43
+    future_action_window_size: 15
+    past_action_window_size: 0
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size:
+    - 224
+    - 224
+    image_mode: single
+    stitch_grid:
+    - 1
+    - 2
+    num_obs_frames: 1
+trainer:
+  pretrained_checkpoint: null
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  allow_patterns:
+  - '*.json'
+  - '*.safetensors'
+  - '*.txt'
+  - '*.jinja'
+  - '*.model'

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latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/provenance.json

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