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Publish MIKASA H8 dagger fixed-2 qwengr00t

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  1. fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/README.md +3 -0
  2. fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/checkpoints/model.pt +3 -0
  3. fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/config.yaml +59 -0
  4. fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/dataset_statistics.json +511 -0
  5. fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/eval_fixed_2f.json +223 -0
  6. fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/eval_matrix.json +671 -0
  7. fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/provenance.json +20 -0
  8. fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/task_contract.json +552 -0
fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/README.md ADDED
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1
+ # MIKASA H8 fixed-2 qwengr00t DAgger
2
+
3
+ Selected development checkpoint: step 5000. The independent 200-episode results are in eval_matrix.json.
fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/checkpoints/model.pt ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:002988f015c2fd0a94343bf80aae4da3488f3c18fe5d412c4f6b4b016ad16fa2
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+ size 9976975139
fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/config.yaml ADDED
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+ framework:
2
+ name: QwenGR00T
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+ qwenvl:
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+ base_vlm: Qwen/Qwen3-VL-4B-Instruct
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+ attn_implementation: flash_attention_2
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+ vl_hidden_dim: 2048
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+ enable_gradient_checkpointing: true
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+ action_model:
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+ action_model_type: DiT-B
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+ action_hidden_dim: 1024
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+ hidden_size: 1024
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+ add_pos_embed: true
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+ max_seq_len: 1024
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+ action_dim: 7
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+ state_dim: 71
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+ task_objective: null
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+ action_horizon: 8
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+ repeated_diffusion_steps: 8
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+ noise_beta_alpha: 1.5
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+ noise_beta_beta: 1.0
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+ noise_s: 0.999
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+ num_timestep_buckets: 1000
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+ num_inference_timesteps: 4
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+ num_target_vision_tokens: 32
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+ diffusion_model_cfg:
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+ cross_attention_dim: 2560
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+ dropout: 0.2
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+ final_dropout: true
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+ interleave_self_attention: true
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+ norm_type: ada_norm
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+ num_layers: 16
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+ output_dim: 1024
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+ positional_embeddings: null
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+ action_env_dim: 7
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+ future_action_window_size: 7
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+ past_action_window_size: 0
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+ version_id: '0.21'
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+ datasets:
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+ vla_data:
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+ include_state: true
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+ obs_image_size:
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+ - 224
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+ - 224
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+ image_mode: single
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+ stitch_grid:
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+ - 1
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+ - 2
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+ num_obs_frames: 1
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+ trainer:
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+ pretrained_checkpoint: null
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+ backbone:
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+ repo_id: Qwen/Qwen3-VL-4B-Instruct
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+ allow_patterns:
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+ - '*.json'
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+ - '*.safetensors'
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+ - '*.txt'
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+ - '*.jinja'
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+ - '*.model'
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+ revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
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