diff --git a/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/qwenpi-prefix-formal-20260918-qwenoft_h8_profile_conditioned_formal/README.md b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/qwenpi-prefix-formal-20260918-qwenoft_h8_profile_conditioned_formal/README.md new file mode 100644 index 0000000000000000000000000000000000000000..0605e4dfe5722be36865ed695259bc4ec2969244 --- /dev/null +++ b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/qwenpi-prefix-formal-20260918-qwenoft_h8_profile_conditioned_formal/README.md @@ -0,0 +1,3 @@ +# qwenoft — HumanoidBench Balance Simple + +DAgger with profile_conditioned supervision, action horizon 8, and a 50 Hz H1 teacher queried every physical frame. diff --git a/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/qwenpi-prefix-formal-20260918-qwenoft_h8_profile_conditioned_formal/checkpoints/model.pt b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/qwenpi-prefix-formal-20260918-qwenoft_h8_profile_conditioned_formal/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..abb03f937c286194125a4dc1c04d8ec1ed00885b --- /dev/null +++ b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/qwenpi-prefix-formal-20260918-qwenoft_h8_profile_conditioned_formal/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2abdcff8df9e0703f886f5d42760b2d2c11acdcd43ad4596cc2c65a41911e2ed +size 9788250593 diff --git a/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/qwenpi-prefix-formal-20260918-qwenoft_h8_profile_conditioned_formal/config.yaml b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/qwenpi-prefix-formal-20260918-qwenoft_h8_profile_conditioned_formal/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f4f60836a0b4711a76310ca7d256a1663ef949ad --- /dev/null +++ b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/qwenpi-prefix-formal-20260918-qwenoft_h8_profile_conditioned_formal/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: true + action_model: + action_model_type: MLP + action_dim: 43 + state_dim: 550 + action_hidden_dim: 2560 + future_action_window_size: 7 + past_action_window_size: 0 + loss_type: l1 + state_encoding: continuous_projector + task_objective: null + action_env_dim: 43 + action_horizon: 8 +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-qwenoft-h8/qwenpi-prefix-formal-20260918-qwenoft_h8_profile_conditioned_formal/dataset_statistics.json b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/qwenpi-prefix-formal-20260918-qwenoft_h8_profile_conditioned_formal/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..e6931059c5e909737d209f2e556abf023871b6b0 --- /dev/null +++ b/latency-aware/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/qwenpi-prefix-formal-20260918-qwenoft_h8_profile_conditioned_formal/dataset_statistics.json @@ -0,0 +1,3637 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + -0.4916682243347168, + -0.5761300325393677, + -0.0772392749786377, + -0.40431734919548035, + 0.4979217052459717, + 0.1570977419614792, + -0.7799580693244934, + 0.5256353616714478, + -0.22807101905345917, + 0.8241150379180908, + 0.6966201066970825, + 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