Publish zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z

zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/README.md

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+# qwenoft — haic_pull_cart
+
+RGB + continuous state, action horizon 1, 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/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/checkpoints/model.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c8db625f8a14cf906c648b694d9e0148218c41c99ba8fe1267108fa6e5659421
+size 9790713761

zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/config.yaml

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+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: 256
+    state_dim: 605
+    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: 256
+    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'

zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/provenance.json

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+{
+  "task": "haic",
+  "model": "qwenoft",
+  "run_id": "haic-qwenoft-50hz-fresh-20260913T035850Z",
+  "smoke": false,
+  "teacher": {
+    "repo_id": "latency-sensitive-bench/benchmark-models",
+    "path": "zero-latency/haic-pull-cart/small-policy/ppo-v1/checkpoint_final.pt"
+  },
+  "backbone": {
+    "repo_id": "Qwen/Qwen3-VL-4B-Instruct",
+    "allow_patterns": [
+      "*.json",
+      "*.safetensors",
+      "*.txt",
+      "*.jinja",
+      "*.model"
+    ]
+  },
+  "code_revisions": {
+    "benchmark": {
+      "revision": "6d6276fbf42d92f2b726a13eed5d75e3761bbe41",
+      "dirty": true
+    },
+    "starvla": {
+      "revision": "73cd1e6175d8c6e5896e742b6a8c8ca3aef52dca",
+      "dirty": true
+    },
+    "haic": {
+      "revision": "686d597020ea412b0c89757d28ed6019e601220b",
+      "dirty": true
+    },
+    "parkour": {
+      "revision": "60ff9ce2ac26605c244a637363fd5b2d99b49f2b",
+      "dirty": true
+    },
+    "mikasa": {
+      "revision": "57ec9c5b77c83e54aa4c25f37a4b6851090ab1fd",
+      "dirty": false
+    },
+    "gr00t": {
+      "revision": "aa0c592853102010080e4f61609db8e3dc0779d4",
+      "dirty": true
+    }
+  },
+  "datasets": [
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/haic-pull-cart/teacher-rollouts-h1-state-v1",
+      "revision": "8261034dcb5974ff0fe52cf89523ce36d24d413b"
+    },
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/haic-pull-cart/dagger/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/round-00",
+      "revision": "2edda0d180d704eb07186e5fa9973b277987be85"
+    },
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/haic-pull-cart/dagger/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/round-01",
+      "revision": "c0f4f6723bd1b17a5a7c22ca19f39fcc3a25c518"
+    },
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/haic-pull-cart/dagger/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/round-02",
+      "revision": "80ab855bcd631a7448c4572486f2a596500d1541"
+    },
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/haic-pull-cart/dagger/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/round-03",
+      "revision": "b1344bfb806a48ec26dbf38c40b8e75f7d3aa3c4"
+    },
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/haic-pull-cart/dagger/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/round-04",
+      "revision": "775ebf71a666c631317ae3b92724f90793a9f068"
+    },
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/haic-pull-cart/dagger/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/round-05",
+      "revision": "e5979fa28a6486eb92cd2c2dfcbd2263c605371f"
+    },
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/haic-pull-cart/dagger/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/round-06",
+      "revision": "53675632ea5398b2abfa0f54c872d2a98d8501f4"
+    },
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/haic-pull-cart/dagger/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/round-07",
+      "revision": "53e5bfc4325c525ae4b88061b70cb63d8a0d6124"
+    },
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/haic-pull-cart/dagger/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/round-08",
+      "revision": "113525179d2a12a75fdb08bbf065da092e0b6817"
+    },
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/haic-pull-cart/dagger/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/round-09",
+      "revision": "9ea2de08e51dbe54079356ed6898e1ee8fe8088d"
+    }
+  ],
+  "seed": 0,
+  "training": {
+    "sft_updates": 5000,
+    "dagger_updates": 5000,
+    "global_batch": 128,
+    "bootstrap_weight": 0.5,
+    "dagger_weight": 0.5,
+    "micro_batch": 32,
+    "num_gpus": 1,
+    "gradient_accumulation_steps": 4,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08,
+      "fused": true
+    },
+    "learning_rate": {
+      "base": 3e-05,
+      "action_model": 0.0001
+    },
+    "scheduler": "cosine_with_min_lr",
+    "scheduler_kwargs": {
+      "min_lr": 1e-06
+    },
+    "warmup_updates": 100
+  }
+}