disentangled-vla/libero-island-ablation-v11-dual-sigreg-only

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.

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