diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/README.md b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d4562a7d9cbdfadc86474b505f0287806c805066 --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/README.md @@ -0,0 +1,3 @@ +# qwenoft — MIKASA InterceptGrabFast H1 + +Latency-aware SFT with the matched RTX 3090 temporal profile. The 200-episode evaluation uses hold_last_chunk_action: true and seeds 4242424242–4242424441. See eval_profile.json and provenance.json for the corrected evaluation and sources. diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/checkpoints/model.pt b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..830a92f8553b24301cb822838fbf930746716422 --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c98a7895a68788343533ddf2e09a3a4aa5bc29207abee10e096cc1cd9dbad890 +size 9785101729 diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/config.yaml b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9e9403269dbe90e77e29f65ce00a79aa61896725 --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/config.yaml @@ -0,0 +1,40 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: Qwen/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: false + action_model: + action_model_type: MLP + action_dim: 7 + state_dim: 7 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_encoding: continuous_projector + task_objective: null + action_env_dim: 7 + action_horizon: 1 +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/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/dataset_statistics.json b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..8912194b9a7663bd1c20eba30d7184971411584b --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/dataset_statistics.json @@ -0,0 +1,127 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + -0.05790707468986511, + 0.03112231194972992, + -0.17511922121047974, + -0.12289424985647202, + -0.5770576596260071, + -0.13129055500030518, + 0.1644829362630844 + ], + "std": [ + 0.22525864839553833, + 0.5513959527015686, + 0.2601189911365509, + 0.31455758213996887, + 0.4568418562412262, + 0.09929453581571579, + 0.7760053277015686 + ], + "max": [ + 0.37479931116104126, + 1.0, + 0.26873481273651123, + 0.7951485514640808, + 0.7517688274383545, + 0.28373175859451294, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -0.9187151193618774, + -0.906037449836731, + -1.0, + -0.5637427568435669, + -1.0 + ], + "q01": [ + -0.8459740281105042, + -1.0, + -0.8455526828765869, + -0.6494171619415283, + -1.0, + -0.393965482711792, + -1.0 + ], + "q99": [ + 0.2987605035305023, + 0.8557698130607605, + 0.21682067215442657, + 0.5484099388122559, + 0.356411337852478, + 0.14417223632335663, + 1.0 + ], + "mask": [ + true, + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + -0.17069831490516663, + -0.0742788314819336, + 0.1063804030418396, + -1.5082567930221558, + 0.5474341511726379, + 0.15987944602966309, + 0.0586647130548954 + ], + "std": [ + 0.08330926299095154, + 0.14175531268119812, + 0.09774160385131836, + 2.604391574859619, + 0.33217111229896545, + 0.11704037338495255, + 0.01839354634284973 + ], + "max": [ + -0.002650737762451172, + 0.28699302673339844, + 0.3558541536331177, + 3.141549825668335, + 1.161203145980835, + 0.9059255719184875, + 0.07999999821186066 + ], + "min": [ + -0.3921546936035156, + -0.41436100006103516, + 0.013755835592746735, + -3.141571044921875, + -0.10707132518291473, + -0.13081370294094086, + 0.03526599705219269 + ], + "q01": [ + -0.33845293521881104, + -0.3660251200199127, + 0.01732698082923889, + -3.1392648220062256, + -0.049377378076314926, + -0.0459904782474041, + 0.03552554175257683 + ], + "q99": [ + -0.03408023342490196, + 0.18891364336013794, + 0.33724573254585266, + 3.139533281326294, + 1.0821659564971924, + 0.5248527526855469, + 0.07999999821186066 + ] + }, + "num_transitions": 5248, + "num_trajectories": 250 + } +} \ No newline at end of file diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/eval_profile.json b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/eval_profile.json new file mode 100644 index 0000000000000000000000000000000000000000..d493e9121e3979925aca6bee9f872e75a6007e61 --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/eval_profile.json @@ -0,0 +1,9828 @@ +{ + "n_episodes": 200, + "mean_return": 17.77506406483916, + "std_return": 15.435502189258187, + "min_return": 0.47545633594654646, + "max_return": 37.66841985943029, + "mean_length": 60.0, + "std_length": 0.0, + "min_length": 60.0, + "max_length": 60.0, + "return_field": "episode_return_env", + "length_field": "survival_steps", + "mode": "simulated", + "policy_id": "starvla", + "env_id": 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