Publish zero-latency/extreme-parkour-go2/vla/starvla-qwengr00t-h1/20260912T180303

zero-latency/extreme-parkour-go2/vla/starvla-qwengr00t-h1/20260912T180303/README.md

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+# qwengr00t — extreme_parkour_go2
+
+RGB + continuous state, action horizon 1, VLA 10 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/extreme-parkour-go2/vla/starvla-qwengr00t-h1/20260912T180303/checkpoints/model.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2bfd416a14fc9cd676de9d3aa01d503e089b77ceb53ea741236bd5304f0d22a5
+size 9977035107

zero-latency/extreme-parkour-go2/vla/starvla-qwengr00t-h1/20260912T180303/config.yaml

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+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 34
+    state_dim: 53
+    task_objective: null
+    action_horizon: 1
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    action_env_dim: 34
+    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'

zero-latency/extreme-parkour-go2/vla/starvla-qwengr00t-h1/20260912T180303/dataset_statistics.json

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zero-latency/extreme-parkour-go2/vla/starvla-qwengr00t-h1/20260912T180303/provenance.json

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zero-latency/extreme-parkour-go2/vla/starvla-qwengr00t-h1/20260912T180303/task_contract.json

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+}