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libero-island-ablation-v11-dual-sigreg-only – Dataset by disentangled-vla | AlphaNeural AI
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libero-island-ablation-v11-dual-sigreg-only
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robotics
apache-2.0
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mlcroissant
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libero
shortcut-learning
vla
qwen2.5-vl
ablation
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V11 — Dual head + SIGReg only (no InfoNCE)
Ours architecture (dual head A+B, action head over [z_a; z_b]) but only SIGReg on Head B is active. Head A receives no auxiliary loss. Isolates InfoNCE contribution in dual-head setup.
Architecture
Dual AttentiveLatentHead A + B (each 8 queries, depth 2, 16 heads, proj_dim=4096) ResNetActionHead (hidden 2048, 2 blocks, chunk=16) Backbone: Qwen2.5-VL-3B + LoRA r=32
Loss
1.0·L1_action + 0.1·SIGReg(z_b… See the full description on the dataset page:
https://huggingface.co/datasets/disentangled-vla/libero-island-ablation-v11-dual-sigreg-only
.
