diff --git a/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/README.md b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6823aadf64f16be4883b393f98a3bb7e1cf95ce5
--- /dev/null
+++ b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/README.md
@@ -0,0 +1,3 @@
+# qwenpi_v3 — HumanoidBench Balance Simple
+
+DAgger with profile_conditioned supervision, action horizon 16, and a 50 Hz H1 teacher queried every physical frame.
diff --git a/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/checkpoints/model.pt b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/checkpoints/model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..48959ae537c3dcf79a6cf5884966681bfe4479ea
--- /dev/null
+++ b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/checkpoints/model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b403c62904efee641733c1549d6bf594a259b70c6833317b828b63fea8c8201
+size 10924618013
diff --git a/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/config.yaml b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..12a274cdf6e0303fd10985c1e2efc79e2d141d83
--- /dev/null
+++ b/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'
diff --git a/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/dataset_statistics.json b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/dataset_statistics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dfec9df59b9d7d9931795914917073a7debc3b7
--- /dev/null
+++ b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/dataset_statistics.json
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diff --git a/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/eval_profile.json b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/eval_profile.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7727fa315f0ae9baf7307cf3294cdbdfd3fa23
--- /dev/null
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diff --git a/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/provenance.json b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/provenance.json
new file mode 100644
index 0000000000000000000000000000000000000000..cca51d5675b91e4964989c3be62c27e5fe7e8950
--- /dev/null
+++ b/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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diff --git a/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/task_contract.json b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_profile_conditioned_formal/task_contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..97425539a0300428e0d5895dda29d8cde491e330
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+  ],
+  "action_labels": [
+    "left_hip_pitch_joint",
+    "right_hip_pitch_joint",
+    "waist_yaw_joint",
+    "left_hip_roll_joint",
+    "right_hip_roll_joint",
+    "waist_roll_joint",
+    "left_hip_yaw_joint",
+    "right_hip_yaw_joint",
+    "waist_pitch_joint",
+    "left_knee_joint",
+    "right_knee_joint",
+    "left_shoulder_pitch_joint",
+    "right_shoulder_pitch_joint",
+    "left_ankle_pitch_joint",
+    "right_ankle_pitch_joint",
+    "left_shoulder_roll_joint",
+    "right_shoulder_roll_joint",
+    "left_ankle_roll_joint",
+    "right_ankle_roll_joint",
+    "left_shoulder_yaw_joint",
+    "right_shoulder_yaw_joint",
+    "left_elbow_joint",
+    "right_elbow_joint",
+    "left_wrist_roll_joint",
+    "right_wrist_roll_joint",
+    "left_wrist_pitch_joint",
+    "right_wrist_pitch_joint",
+    "left_wrist_yaw_joint",
+    "right_wrist_yaw_joint",
+    "left_hand_thumb_0_joint",
+    "left_hand_thumb_1_joint",
+    "left_hand_thumb_2_joint",
+    "left_hand_middle_0_joint",
+    "left_hand_middle_1_joint",
+    "left_hand_index_0_joint",
+    "left_hand_index_1_joint",
+    "right_hand_thumb_0_joint",
+    "right_hand_thumb_1_joint",
+    "right_hand_thumb_2_joint",
+    "right_hand_index_0_joint",
+    "right_hand_index_1_joint",
+    "right_hand_middle_0_joint",
+    "right_hand_middle_1_joint"
+  ]
+}