diff --git a/latency-aware/extreme-parkour-go2/vla/starvla-qwenoft-h1/parkour-qwenoft-latency-2xrtx6000pro-20260919/README.md b/latency-aware/extreme-parkour-go2/vla/starvla-qwenoft-h1/parkour-qwenoft-latency-2xrtx6000pro-20260919/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d7d44e4c1e97885402bf00ce32f12a9986a6e140 --- /dev/null +++ b/latency-aware/extreme-parkour-go2/vla/starvla-qwenoft-h1/parkour-qwenoft-latency-2xrtx6000pro-20260919/README.md @@ -0,0 +1,4 @@ +# qwenoft — extreme_parkour_go2 + +RGB + continuous state, action horizon 1, VLA 10 Hz. +See task_contract.json for normalization, eval_l0.json for zero-latency results, and provenance.json for source references and dataset publication revisions. diff --git a/latency-aware/extreme-parkour-go2/vla/starvla-qwenoft-h1/parkour-qwenoft-latency-2xrtx6000pro-20260919/checkpoints/model.pt b/latency-aware/extreme-parkour-go2/vla/starvla-qwenoft-h1/parkour-qwenoft-latency-2xrtx6000pro-20260919/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..530effd1abc6ffa170742fa332c010403a91715f --- /dev/null +++ b/latency-aware/extreme-parkour-go2/vla/starvla-qwenoft-h1/parkour-qwenoft-latency-2xrtx6000pro-20260919/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17339d4309ace0acbae1ad7cb96dec0716e6e4843cad31a0eb6f9a36eba9c22a +size 9785613793 diff --git a/latency-aware/extreme-parkour-go2/vla/starvla-qwenoft-h1/parkour-qwenoft-latency-2xrtx6000pro-20260919/config.yaml b/latency-aware/extreme-parkour-go2/vla/starvla-qwenoft-h1/parkour-qwenoft-latency-2xrtx6000pro-20260919/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3ff2c79476751fec8937108a9b3912fe479ffe3a --- /dev/null +++ b/latency-aware/extreme-parkour-go2/vla/starvla-qwenoft-h1/parkour-qwenoft-latency-2xrtx6000pro-20260919/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: 34 + state_dim: 53 + 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: 34 + 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 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