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1117_BEHAVIOR_challenge_QwenDual_task1
StarVLA/1117_BEHAVIOR_challenge_QwenDual_task1
1117_BEHAVIOR_challenge_QwenDual_task1 is a robotics model from StarVLA. Use it for the robotics task on the model card, and read the license before you ship it in a product.
This repository contains the 100,000-step checkpoint from the 1117BEHAVIORchallengeQwenDualtask1 run. The packaged configuration limits the BEHAVIORchallenge mixture to taskid: 1 and uses state-conditioned StarVLA Qwe…
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At a glance
- Task
- Robotics
- Access
- Public
- Created
- Nov 22, 2025
- Updated
- Sep 4, 2026
- SHA
- 0ec99192
Base models
Model card
From the Hugging Face model README
StarVLA QwenDual for the BEHAVIOR Challenge, task 1 (100K)
This repository contains the 100,000-step checkpoint from the
1117_BEHAVIOR_challenge_QwenDual_task1 run. The packaged configuration limits
the BEHAVIOR_challenge mixture to task_id: 1 and uses state-conditioned
StarVLA QwenDual inference.
Model details
| Item | Published configuration |
|---|---|
| Framework | StarVLA QwenDual |
| VLM | Local training snapshot named Qwen3-VL-4B-Instruct; revision not recorded |
| Auxiliary visual encoder | dinov2_vits14 |
| Action model | 16-layer DiT-B flow head: 768 latent width, 12 heads (64 dimensions/head); state/action decoder MLP width 1,024 |
| Action / state dimension | 23 / 44 |
| Predicted action chunk | 50 steps |
| Inference diffusion steps | 4 |
| Image resolution | 224 x 224 |
| State input | Enabled |
| Dataset mixture / task | BEHAVIOR_challenge, task_id: 1 |
| Normalization key | R1Pro |
| Uploaded checkpoint | checkpoints/steps_100000_pytorch_model.pt |
The repository does not record the number or ordering of camera views. The
44D state and 23D action contracts must be reproduced through the StarVLA data
adapter and dataset_statistics.json; they should not be inferred only from
the checkpoint tensor shapes.
Training details
| Setting | Value in config.yaml |
|---|---|
| Maximum / released step | 100,000 / 100,000 |
| Per-device VLA batch size | 32 |
| Gradient accumulation | 1 |
| Warm-up steps | 5,000 |
| Base / interface / action LR | 4e-5 / 1e-5 / 1e-4 |
| Optimizer | AdamW, betas (0.9, 0.95), epsilon 1e-8 |
| Scheduler | Cosine with minimum LR 1e-6 |
| VLA / VLM loss scale | 1.0 / 0.1 |
freeze_modules | Packaged boolean true; the public trainer expects module paths as a string, so this value names/selects no modules |
| Gradient checkpointing / mixed precision | Enabled / enabled |
| Seed | 42 |
Files
config.yaml
dataset_statistics.json
summary.jsonl
checkpoints/
└── steps_100000_pytorch_model.pt
summary.jsonl enumerates checkpoints from 2K through 100K, but contains no
evaluation metrics.
Evaluation status
No challenge submission identifier, episode-level output, success rate, or aggregate score is included in this repository. This card therefore makes no claim that the 100K checkpoint corresponds to an official BEHAVIOR Challenge submission. A result should be added only with a public evaluation artifact that identifies this exact checkpoint and task protocol.
Loading and evaluation
huggingface-cli download StarVLA/1117_BEHAVIOR_challenge_QwenDual_task1 \
--local-dir 1117_BEHAVIOR_challenge_QwenDual_task1
export CKPT=$PWD/1117_BEHAVIOR_challenge_QwenDual_task1/checkpoints/steps_100000_pytorch_model.pt
python deployment/model_server/server_policy.py \
--ckpt_path "$CKPT" \
--port 10093 \
--use_bf16
Run the simulator from the maintained
BEHAVIOR example.
Use the R1Pro normalization key and confirm the 44D state, 23D action, and
camera ordering reported by the policy-server metadata.
Intended use and limitations
The checkpoint is scoped to BEHAVIOR task 1 with the R1Pro observation/action mapping. Results are not published, the exact upstream VLM revision is absent, and transfer to other BEHAVIOR tasks is unverified. Simulator execution is GPU- and Vulkan-dependent, and real-robot use has not been established. This checkpoint is not safety-tuned.
- Task
- Robotics
- Created
- Nov 22, 2025
- Updated
- Sep 4, 2026