Star Vision Language Action Models

Model · Robotics

Wan2.2-5B-PI-SIMPLE

Star Vision Language Action Models

This model is a StarVLA StarVLA-WM-Wan-PI (WanPI) policy jointly trained on 12 SIMPLE Unitree G1 humanoid tasks. It uses one shared checkpoint across all tasks; there is no task-specific fine-tuning or task-specific checkpoint selection. The training job was configured through 120,000 steps. Results in this card refer specifically to the 100,000-step checkpoint, not finalmodel or the 120,000-step checkpoint. The image is encoded by the Wan VAE and the instruction by UMT5. Hidden features from all 30 Wan transformer blocks are projected to 1,024 dimensions and paired layer by layer with the Action DiT. Even-indexed Action-DiT blocks cross-attend to the matching Wan features; odd-indexed…

Model · Robotics

Qwen3-VL-4B-PI-SIMPLE

Star Vision Language Action Models

This repository contains the 100,000-step StarVLA QwenPIv3 checkpoint for the SIMPLE humanoid simulation benchmark. A single policy is jointly trained on all ten tasks and is evaluated on every task without task-specific fine-tuning. The result below uses SIMPLE's task-native episode limits and success thresholds. The ten jointly trained tasks are: - G1WholebodyXMovePickTeleop-v0 - G1WholebodyBendPickMP-v0 - G1WholebodyHandoverTeleop-v0 - G1WholebodyLocomotionPickBetweenTablesTeleop-v0 - G1WholebodyTabletopGraspMP-v0 - G1WholebodyXMoveBendPickTeleop-v0 - G1WholebodyCloseDoorTeleop-v0 - G1WholebodyOpenOvenTeleop-v0 - G1WholebodyOpenFaucetTeleop-v0…