diff --git a/zero-latency/haic-pull-cart/vla/starvla-qwengr00t-h16/haic-h16-10hz-20260919/exchange/dagger-round-04/policy/checkpoints/model.pt b/zero-latency/haic-pull-cart/vla/starvla-qwengr00t-h16/haic-h16-10hz-20260919/exchange/dagger-round-04/policy/checkpoints/model.pt
new file mode 100644
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--- /dev/null
+++ b/zero-latency/haic-pull-cart/vla/starvla-qwengr00t-h16/haic-h16-10hz-20260919/exchange/dagger-round-04/policy/checkpoints/model.pt
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5c44dc4bdcf3483838370544f8c4e89ceae35b716d8e983f81a5956b674eecd7
+size 9978961699
diff --git a/zero-latency/haic-pull-cart/vla/starvla-qwengr00t-h16/haic-h16-10hz-20260919/exchange/dagger-round-04/policy/config.yaml b/zero-latency/haic-pull-cart/vla/starvla-qwengr00t-h16/haic-h16-10hz-20260919/exchange/dagger-round-04/policy/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ce9af4e54e60dfbaf5d1ce2e7c0f25fe7a0414c3
--- /dev/null
+++ b/zero-latency/haic-pull-cart/vla/starvla-qwengr00t-h16/haic-h16-10hz-20260919/exchange/dagger-round-04/policy/config.yaml
@@ -0,0 +1,58 @@
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: false
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 256
+    state_dim: 605
+    task_objective: null
+    action_horizon: 16
+    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: 256
+    future_action_window_size: 15
+    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/zero-latency/haic-pull-cart/vla/starvla-qwengr00t-h16/haic-h16-10hz-20260919/exchange/dagger-round-04/policy/dataset_statistics.json b/zero-latency/haic-pull-cart/vla/starvla-qwengr00t-h16/haic-h16-10hz-20260919/exchange/dagger-round-04/policy/dataset_statistics.json
new file mode 100644
index 0000000000000000000000000000000000000000..25bb4d44db7bdf0cf8227206aba4036028e7fa42
--- /dev/null
+++ b/zero-latency/haic-pull-cart/vla/starvla-qwengr00t-h16/haic-h16-10hz-20260919/exchange/dagger-round-04/policy/dataset_statistics.json
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+  }
+}
\ No newline at end of file
diff --git a/zero-latency/haic-pull-cart/vla/starvla-qwengr00t-h16/haic-h16-10hz-20260919/exchange/dagger-round-04/policy/task_contract.json b/zero-latency/haic-pull-cart/vla/starvla-qwengr00t-h16/haic-h16-10hz-20260919/exchange/dagger-round-04/policy/task_contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebc2a94f475476e7727b0fc2bde991c01868ef24
--- /dev/null
+++ b/zero-latency/haic-pull-cart/vla/starvla-qwengr00t-h16/haic-h16-10hz-20260919/exchange/dagger-round-04/policy/task_contract.json
@@ -0,0 +1,6104 @@
+{
+  "format": "latency_bench_starvla_h16_v1",
+  "task": "haic_pull_cart",
+  "robot_type": "latency_haic_h16",
+  "state_dim": 605,
+  "action_dim": 256,
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+      "column": "termination"
+    },
+    "action_loss_mask": {
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+      "column": "action_loss_mask"
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