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starvla: add Qwen3-VL and Qwen2.5-VL policy support - #11

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lxsy-xcy merged 10 commits into
Robot-cpp:mainfrom
JJJYmmm:starvla
Sep 2, 2026
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starvla: add Qwen3-VL and Qwen2.5-VL policy support#11
lxsy-xcy merged 10 commits into
Robot-cpp:mainfrom
JJJYmmm:starvla

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@JJJYmmm

@JJJYmmm JJJYmmm commented Sep 1, 2026

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Add StarVLA support for seven Qwen3-VL and Qwen2.5-VL policy variants, including GGUF conversion and model-server integration.

Variant Backbone PyTorch eager avg / p50 (ms) torch.compile avg / p50 (ms) Robot.cpp avg / p50 (ms) Speedup vs compile
oft Qwen3-VL 68.13 / 65.14 66.84 / 66.18 48.54 / 47.75 1.39x
groot Qwen3-VL 105.92 / 107.02 83.90 / 83.21 53.64 / 53.05 1.57x
pi_v3 Qwen3-VL 174.73 / 176.74 115.58 / 114.33 108.05 / 107.59 1.06x
qwen25_oft Qwen2.5-VL 66.75 / 66.23 62.91 / 62.52 41.31 / 41.06 1.52x
qwen25_groot Qwen2.5-VL 120.79 / 117.84 78.73 / 77.91 50.21 / 49.98 1.56x
qwen25_pi Qwen2.5-VL 144.89 / 144.95 138.83 / 137.64 98.72 / 98.04 1.40x
qwen25_fast Qwen2.5-VL 1538.20 / 1542.58 818.18 / 815.56 388.51 / 387.87 2.10x

A100-PCIE-40GB, one 224x224 image, 5 warmup iterations. Validation: CUDA build, model test, patch check, and converter/shell syntax checks.

@lxsy-xcy
lxsy-xcy merged commit ac9861f into Robot-cpp:main Sep 2, 2026
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