diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_qwengr00t_latency_3090_2xh200_20260922/README.md b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_qwengr00t_latency_3090_2xh200_20260922/README.md new file mode 100644 index 0000000000000000000000000000000000000000..f49932fc8dd49986efa89c1503299b47969ca218 --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_qwengr00t_latency_3090_2xh200_20260922/README.md @@ -0,0 +1,3 @@ +# qwengr00t — MIKASA InterceptGrabFast H1 + +Latency-aware SFT with the matched RTX 3090 temporal profile. See `eval_profile.json` and `provenance.json` for the 200-episode protocol and sources. diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_qwengr00t_latency_3090_2xh200_20260922/checkpoints/model.pt b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_qwengr00t_latency_3090_2xh200_20260922/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..5087af7557285aa10f98830eda33da970cb10b6d --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_qwengr00t_latency_3090_2xh200_20260922/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26e7217bde9e107c5005a2d0c06dfb223ca467e25cbb23d11a2e3b703bb325b9 +size 9976844067 diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_qwengr00t_latency_3090_2xh200_20260922/config.yaml b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_qwengr00t_latency_3090_2xh200_20260922/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2e103f8111e7c4e219de0e76b22294678086ea96 --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_qwengr00t_latency_3090_2xh200_20260922/config.yaml @@ -0,0 +1,58 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: Qwen/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: true + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 7 + state_dim: 7 + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 8 + 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: 7 + future_action_window_size: 0 + 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/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_qwengr00t_latency_3090_2xh200_20260922/dataset_statistics.json b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_qwengr00t_latency_3090_2xh200_20260922/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..0af125f37610cb6b94869b42007918dffe26be92 --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_qwengr00t_latency_3090_2xh200_20260922/dataset_statistics.json @@ -0,0 +1,127 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + -0.0060146828182041645, + -0.08396289497613907, + -0.14443539083003998, + -0.1585700809955597, + -0.5373545289039612, + 0.20395350456237793, + 0.12195716053247452 + ], + "std": [ + 0.1542195975780487, + 0.49906960129737854, + 0.21210762858390808, + 0.3737642765045166, + 0.479498028755188, + 0.25875648856163025, + 0.6631379127502441 + ], + "max": [ + 0.38565897941589355, + 1.0, + 0.12312248349189758, + 0.7614468932151794, + 0.19766733050346375, + 0.8561887145042419, + 1.0 + ], + "min": [ + -0.7512476444244385, + -1.0, + -0.8660241961479187, + -1.0, + -1.0, + -0.5006266832351685, + -0.8477058410644531 + ], + "q01": [ + -0.5698421001434326, + -1.0, + -0.8085647821426392, + 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