Publish zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0
Browse files- zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/README.md +3 -0
- zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/checkpoints/model.pt +3 -0
- zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/config.yaml +63 -0
- zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/dataset_statistics.json +127 -0
- zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/eval_l0.json +2498 -0
- zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/eval_profile.json +2550 -0
- zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/provenance.json +114 -0
- zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/task_contract.json +138 -0
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/README.md
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# qwenpi_v3 — MIKASA InterceptGrabFast H8
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Step-5,000 zero-latency teacher baseline with action horizon 8. Zero success: 34/50; RTX 3090 profile success: 14/50. The environment starts at reset; initial profile noops consume the transition budget.
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zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/checkpoints/model.pt
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version https://git-lfs.github.com/spec/v1
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oid sha256:6e3ad938ac57ed10dac6eeeeda93b9d3a2d71ec0c512b579f6d5b755440ebbd0
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size 10922637469
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zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/config.yaml
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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: true
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action_model:
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action_model_type: LayerwiseFM
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action_dim: 7
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state_dim: 7
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state_encoding: continuous_projector
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task_objective: null
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action_horizon: 8
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repeated_diffusion_steps: 2
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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: 7
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future_action_window_size: 7
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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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revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
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zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/dataset_statistics.json
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{
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| 2 |
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"new_embodiment": {
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"action": {
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| 4 |
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"mean": [
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],
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"std": [
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],
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"max": [
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],
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"min": [
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],
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true,
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true,
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true,
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true,
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true,
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true,
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true
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]
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},
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"state": {
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"mean": [
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],
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"std": [
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0.18586333096027374,
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],
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"max": [
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"min": [
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],
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"q01": [
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],
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"q99": [
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]
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},
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"num_transitions": 8911,
|
| 125 |
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"num_trajectories": 250
|
| 126 |
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}
|
| 127 |
+
}
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zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/eval_l0.json
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zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/eval_profile.json
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@@ -0,0 +1,2550 @@
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| 68 |
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|
| 69 |
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|
| 70 |
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| 71 |
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|
| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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| 97 |
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|
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| 103 |
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| 111 |
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|
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|
| 114 |
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}
|
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-zero-latency-seed0/task_contract.json
ADDED
|
@@ -0,0 +1,138 @@
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| 1 |
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{
|
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| 3 |
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