Publish zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal
Browse files- zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/README.md +3 -0
- zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/checkpoints/model.pt +3 -0
- zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/config.yaml +63 -0
- zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/dataset_statistics.json +0 -0
- zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/eval_l0.json +1986 -0
- zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/provenance.json +125 -0
- zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/task_contract.json +0 -0
zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/README.md
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# qwenpi_v3 — HumanoidBench Balance Simple
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DAgger with zero_full supervision, action horizon 16, and a 50 Hz H1 teacher queried every physical frame.
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zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/checkpoints/model.pt
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version https://git-lfs.github.com/spec/v1
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oid sha256:66ced780d63ce87500091d1bc1096168f3968a79d767fe0c046e0d1115116f4a
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+
size 10924618013
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zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/config.yaml
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@@ -0,0 +1,63 @@
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framework:
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name: QwenPI_v3
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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: 2560
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num_vl_layers: 36
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enable_gradient_checkpointing: false
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action_model:
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action_model_type: LayerwiseFM
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action_dim: 43
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state_dim: 902
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state_encoding: continuous_projector
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task_objective: null
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action_horizon: 16
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repeated_diffusion_steps: 2
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condition_action_prefix: true
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num_inference_timesteps: 4
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add_pos_embed: true
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max_seq_len: 1024
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num_target_vision_tokens: 32
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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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diffusion_model_cfg:
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action_dit_hidden_dim: 1024
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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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positional_embeddings: null
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attention_head_dim: 64
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num_layers: 36
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input_embedding_dim: 1024
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cross_attention_dim: 1024
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output_dim: 1024
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num_attention_heads: 16
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action_env_dim: 43
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future_action_window_size: 15
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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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zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/dataset_statistics.json
ADDED
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The diff for this file is too large to render.
See raw diff
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zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/eval_l0.json
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zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/provenance.json
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+
810028,
|
| 44 |
+
810029,
|
| 45 |
+
810030,
|
| 46 |
+
810031,
|
| 47 |
+
810032
|
| 48 |
+
],
|
| 49 |
+
"heldout_seeds": [
|
| 50 |
+
820001,
|
| 51 |
+
820002,
|
| 52 |
+
820003,
|
| 53 |
+
820004,
|
| 54 |
+
820005,
|
| 55 |
+
820006,
|
| 56 |
+
820007,
|
| 57 |
+
820008,
|
| 58 |
+
820009,
|
| 59 |
+
820010,
|
| 60 |
+
820011,
|
| 61 |
+
820012,
|
| 62 |
+
820013,
|
| 63 |
+
820014,
|
| 64 |
+
820015,
|
| 65 |
+
820016,
|
| 66 |
+
820017,
|
| 67 |
+
820018,
|
| 68 |
+
820019,
|
| 69 |
+
820020,
|
| 70 |
+
820021,
|
| 71 |
+
820022,
|
| 72 |
+
820023,
|
| 73 |
+
820024,
|
| 74 |
+
820025,
|
| 75 |
+
820026,
|
| 76 |
+
820027,
|
| 77 |
+
820028,
|
| 78 |
+
820029,
|
| 79 |
+
820030,
|
| 80 |
+
820031,
|
| 81 |
+
820032,
|
| 82 |
+
820033,
|
| 83 |
+
820034,
|
| 84 |
+
820035,
|
| 85 |
+
820036,
|
| 86 |
+
820037,
|
| 87 |
+
820038,
|
| 88 |
+
820039,
|
| 89 |
+
820040,
|
| 90 |
+
820041,
|
| 91 |
+
820042,
|
| 92 |
+
820043,
|
| 93 |
+
820044,
|
| 94 |
+
820045,
|
| 95 |
+
820046,
|
| 96 |
+
820047,
|
| 97 |
+
820048,
|
| 98 |
+
820049,
|
| 99 |
+
820050,
|
| 100 |
+
820051,
|
| 101 |
+
820052,
|
| 102 |
+
820053,
|
| 103 |
+
820054,
|
| 104 |
+
820055,
|
| 105 |
+
820056,
|
| 106 |
+
820057,
|
| 107 |
+
820058,
|
| 108 |
+
820059,
|
| 109 |
+
820060,
|
| 110 |
+
820061,
|
| 111 |
+
820062,
|
| 112 |
+
820063,
|
| 113 |
+
820064
|
| 114 |
+
],
|
| 115 |
+
"wandb_runs": {
|
| 116 |
+
"bootstrap": {
|
| 117 |
+
"id": "qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal-bootstrap",
|
| 118 |
+
"url": "https://wandb.ai/saberrr-zju/starvla_tasks/runs/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal-bootstrap"
|
| 119 |
+
},
|
| 120 |
+
"dagger": {
|
| 121 |
+
"id": "qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal-dagger",
|
| 122 |
+
"url": "https://wandb.ai/saberrr-zju/starvla_tasks/runs/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal-dagger"
|
| 123 |
+
}
|
| 124 |
+
}
|
| 125 |
+
}
|
zero-latency/humanoidbench-balance-simple/vla/starvla-qwenpi_v3-h16/qwenpi-prefix-formal-20260918-qwenpi_v3_h16_zero_full_formal/task_contract.json
ADDED
|
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|
|
|