File size: 1,808 Bytes
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"schema": "parallelvla.factorized_router_vs_skillvla_r4.v1",
"conclusion": "The successful r4 policy is teacher-driven; the per-arm student was not the deployed action source.",
"skillvla_r4": {
"initialization": "adapted full-vision all-actions step-2000 joint anchor",
"trainable": "router/semantic/student auxiliaries only",
"deployed_action_source": "joint teacher because student_mix=0.0",
"inactive_action_weight": 1,
"cadence": {
"async": 50,
"sync": 10,
"threshold": 0.53,
"confirmations": 2,
"boundary": 20
},
"data": {
"episodes": 50,
"frames": 10414,
"distribution": "canonical dynamic-current-frame"
},
"transplant": {
"recipient_step": 500,
"donor_step": 500,
"parameters": [
"action_out_proj/kernel",
"action_out_proj/bias"
],
"donor_weight": 0.6875
},
"fixed100": {
"suite": "parallelvla_eval_pcd",
"success": 57,
"collision": 8,
"matched_control_success": 55
}
},
"factorized_router": {
"initialization": "raw PI0.5 base",
"trainable": "full 3.35B backbone",
"inactive_arm_loss": "excluded static-arm action dimensions",
"cadence": "server returned 50 actions for every request; failed rollouts were 14x50=700",
"router": "independent left/right stage prediction with observed reach/hold oscillation",
"data": {
"episodes": 100,
"rows": 21645,
"distribution": "50 canonical plus 50 random-delay"
}
},
"controlled_reproduction": {
"principle": "restore the known-successful training and deployment chain before changing one factor",
"max_updates": 2000,
"first_native_gate": 500,
"continue_condition": ">=1/5 real native fixed-seed successes"
}
}
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