diff --git a/zero-latency/humanoidbench-balance-simple/vla/starvla-qwengr00t-h16/qwenpi-prefix-formal-20260918-qwengr00t_h16_zero_full_formal/README.md b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwengr00t-h16/qwenpi-prefix-formal-20260918-qwengr00t_h16_zero_full_formal/README.md new file mode 100644 index 0000000000000000000000000000000000000000..da6993a8cd249c437c61aff7845923c2c274df01 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwengr00t-h16/qwenpi-prefix-formal-20260918-qwengr00t_h16_zero_full_formal/README.md @@ -0,0 +1,3 @@ +# qwengr00t — HumanoidBench Balance Simple + +DAgger with zero_full supervision, action horizon 16, and a 50 Hz H1 teacher queried every physical frame. diff --git a/zero-latency/humanoidbench-balance-simple/vla/starvla-qwengr00t-h16/qwenpi-prefix-formal-20260918-qwengr00t_h16_zero_full_formal/checkpoints/model.pt b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwengr00t-h16/qwenpi-prefix-formal-20260918-qwengr00t_h16_zero_full_formal/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..762e2a968dce237804bcf50c21c5243d768b6bfc --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwengr00t-h16/qwenpi-prefix-formal-20260918-qwengr00t_h16_zero_full_formal/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33a166344028b0b96726015d47b9ec50255c176ea41a48419e5a7eb3d426c86a +size 9978806115 diff --git a/zero-latency/humanoidbench-balance-simple/vla/starvla-qwengr00t-h16/qwenpi-prefix-formal-20260918-qwengr00t_h16_zero_full_formal/config.yaml b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwengr00t-h16/qwenpi-prefix-formal-20260918-qwengr00t_h16_zero_full_formal/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eae933363265ad4fcb21bec472993158c34d4525 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwengr00t-h16/qwenpi-prefix-formal-20260918-qwengr00t_h16_zero_full_formal/config.yaml @@ -0,0 +1,59 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: Qwen/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: false + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 43 + state_dim: 902 + task_objective: null + action_horizon: 16 + repeated_diffusion_steps: 8 + condition_action_prefix: true + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + num_inference_timesteps: 4 + num_target_vision_tokens: 32 + diffusion_model_cfg: + cross_attention_dim: 2560 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + num_layers: 16 + output_dim: 1024 + positional_embeddings: null + 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/zero-latency/humanoidbench-balance-simple/vla/starvla-qwengr00t-h16/qwenpi-prefix-formal-20260918-qwengr00t_h16_zero_full_formal/dataset_statistics.json b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwengr00t-h16/qwenpi-prefix-formal-20260918-qwengr00t_h16_zero_full_formal/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..ff82232d56f76f1af046f3f94c0fc37774fe1562 --- /dev/null +++ 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