diff --git a/zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/README.md b/zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/README.md new file mode 100644 index 0000000000000000000000000000000000000000..199b6541112c87b880d5f1cf3b6d3343bfdb210d --- /dev/null +++ b/zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/README.md @@ -0,0 +1,4 @@ +# 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. diff --git a/zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/checkpoints/model.pt b/zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..3627856e8dca3b4de52c8c8fdb0d3c460cc29800 --- /dev/null +++ b/zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8db625f8a14cf906c648b694d9e0148218c41c99ba8fe1267108fa6e5659421 +size 9790713761 diff --git a/zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/config.yaml b/zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3306b787e01b4545131ed4131f2f37076e206db0 --- /dev/null +++ b/zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/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: 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' diff --git a/zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/dataset_statistics.json b/zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..9ba157a0d0d2282e144d7a4ff970c13e8d84852b --- /dev/null +++ b/zero-latency/haic-pull-cart/vla/starvla-qwenoft-h1/haic-qwenoft-50hz-fresh-20260913T035850Z/dataset_statistics.json @@ -0,0 +1,5458 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.2646932303905487, + 0.2747708261013031, + 0.6436558365821841, + 0.5268923640251157, + -0.2689990699291229, + -0.30355921387672413, + -0.18295985460281378, + 0.19593214988708488, + -0.28562936186790466, + -0.539419412612915, + -0.06216548010706899, + 0.6038125157356264, + -0.23441587388515478, + 0.03969517350196837, + -0.9882076978683467, + 0.17928153276443481, + 0.19289053976535797, + -0.2389758676290511, + -0.5748938918113708, + -0.4432216584682466, + -0.5956005454063414, + 0.18739980459213262, + 0.2322312444448471, + 0.06838376820087433, + 0.04248413816094397, + -0.3397114276885985, + -0.1775409877300262, + -0.15797859430313108, + 0.1288433223962784, + 0.3469601571559907, + 0.24688844382762914, + 0.25045251846313465, + -0.005526613909751179, + 0.3071313500404359, + -0.2116300016641616, + 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