Publish zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/balance-qwenoft-h8-25m-sft5k-20260915T040718Z-zero

zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/balance-qwenoft-h8-25m-sft5k-20260915T040718Z-zero/README.md

@@ -0,0 +1,4 @@
+# qwenoft — humanoidbench_balance_simple
+
+RGB + continuous state, action horizon 8, VLA 50 Hz.
+See task_contract.json for normalization, eval_l0.json for zero-latency results, and provenance.json for source references and dataset publication revisions.

zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/balance-qwenoft-h8-25m-sft5k-20260915T040718Z-zero/checkpoints/model.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d1ec33168ceb89b018f014d6e9f78266b3443f066b3d499634d6af78ed3ba1c6
+size 9786448353

zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/balance-qwenoft-h8-25m-sft5k-20260915T040718Z-zero/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: 198
+    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'

zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/balance-qwenoft-h8-25m-sft5k-20260915T040718Z-zero/dataset_statistics.json

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zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/balance-qwenoft-h8-25m-sft5k-20260915T040718Z-zero/provenance.json

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+  }
+}

zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h8/balance-qwenoft-h8-25m-sft5k-20260915T040718Z-zero/task_contract.json

@@ -0,0 +1,1760 @@
+{
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