feat(vla): add SmolVLA conditioning and experiment artifacts

2026-07-31 10:11:04 +08:00
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175 changed files with 317471 additions and 70 deletions
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+Paper Banana prompt placeholder: create a 4:3 publication-quality reward-latency comparison for socket peg insertion. Plot methods from experimental_log Table 1 with avg_reward on the y-axis and avg_inference_time_ms or inverse latency on the x-axis. Highlight iMF-AttnRes infer2/infer3 at 1472.62/1513.56 avg_reward and 14.409/15.122 ms, diffusion-style infer100 baselines at 861.53/1019.39 avg_reward and 338.291/397.912 ms, ACT at 289.6 and 100.2116 ms, and SmolVLA at 466.16 and 2.614 ms. Use log-scale latency if helpful and label the speed-quality Pareto frontier.
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				Paper Banana prompt placeholder: create a 4:3 publication-quality reward-latency comparison for socket peg insertion. Plot methods from experimental_log Table 1 with avg_reward on the y-axis and avg_inference_time_ms or inverse latency on the x-axis. Highlight iMF-AttnRes infer2/infer3 at 1472.62/1513.56 avg_reward and 14.409/15.122 ms, diffusion-style infer100 baselines at 861.53/1019.39 avg_reward and 338.291/397.912 ms, ACT at 289.6 and 100.2116 ms, and SmolVLA at 466.16 and 2.614 ms. Use log-scale latency if helpful and label the speed-quality Pareto frontier.