Starlord
Dual system training framework for robotics.
The overall structure borrowed from GR00T, with these modifications:
- Simplifer VLM model, introduced more advanced VLM and larger slow system;
- Connecting fast system without cross-attention, using text encoder instead;
Slow thought system
will goes starlord/model/backbone contains various VLMs. Provides a unified interface connect with fast system (action expert)
Fast action system
Currently support:
- DiT: diffusion transformer
- QwenFlow: flowmatching based action expert
Training
training scripts goes to scripts/xxx.sh
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