diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/README.md b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/README.md new file mode 100644 index 0000000000000000000000000000000000000000..f19b3bdd6f0f2348a5ed78485ca2cbda97eb68f8 --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/README.md @@ -0,0 +1,3 @@ +# qwenpi_v3 — 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-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/checkpoints/model.pt b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..419e5f36f0ec8b9321c7e8e2823504ea9c60246d --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6938375168dd24e186bbac9fa54268210ba33081116b9c8493a57cf49eecd93a +size 10922637469 diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/config.yaml b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9e6111a8f4879e2b36056dd9b8a5d3075190e2bb --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/config.yaml @@ -0,0 +1,62 @@ +framework: + name: QwenPI_v3 + qwenvl: + base_vlm: Qwen/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + vl_hidden_dim: 2560 + num_vl_layers: 36 + enable_gradient_checkpointing: true + action_model: + action_model_type: LayerwiseFM + action_dim: 7 + state_dim: 7 + state_encoding: continuous_projector + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 2 + num_inference_timesteps: 4 + add_pos_embed: true + max_seq_len: 1024 + num_target_vision_tokens: 32 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + diffusion_model_cfg: + action_dit_hidden_dim: 1024 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + positional_embeddings: null + attention_head_dim: 64 + num_layers: 36 + input_embedding_dim: 1024 + cross_attention_dim: 1024 + output_dim: 1024 + num_attention_heads: 16 + 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-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/dataset_statistics.json b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..004ccb69435ad317c67358f78d6f849d819850bc --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/dataset_statistics.json @@ -0,0 +1,127 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + -0.10215120762586594, + 0.10132476687431335, + -0.2438453733921051, + 0.01111134048551321, + -0.8881415128707886, + -0.10646563768386841, + 0.47470536828041077 + ], + "std": [ + 0.16094739735126495, + 0.5702834725379944, + 0.22946466505527496, + 0.5226696729660034, + 0.2010585218667984, + 0.2854595482349396, + 0.6032779812812805 + ], + "max": [ + 0.38224369287490845, + 1.0, + 0.09058055281639099, + 1.0, + -0.06414948403835297, + 0.760503888130188, + 1.0 + ], + "min": [ + -0.6491771936416626, + -1.0, + -1.0, + -1.0, + 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