Publish global128 walker2d gr00t l0 checkpoint and evaluations

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/README.md

@@ -1,31 +1,5 @@
-# walker2d / qwengr00t
+# walker2d gr00t l0
 
-Training condition: `zero-latency`. Run: `walker2d_l0_gr00t_h1_5fps_2h200_20260917`.
-
-Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/zero_latency/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
-
-- Checkpoint: `checkpoints/model.pt`
-- Selection: only published VLA checkpoint
-- Checkpoint SHA256: `5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1`
-- Configuration, FPS, actions, normalization and latency semantics retain their source values.
-- This import does not run evaluations or change training/evaluation/acceptance status.
-
-Action horizon is 1. Use `config.yaml` and `dataset_statistics.json` with the matching
-prepared backbone. `task_contract.json` is extracted from the original training configuration.
-Original machine paths in historical configurations are provenance: bind checkpoint,
-backbone, manifest and profile paths to downloaded local files when running inference.
-
-See [the original model notes](source/README.md) for experiment results and limitations.
-
-[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
-
-## Download
-
-```python
-from huggingface_hub import snapshot_download
-prefix = "zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917"
-snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
-                  allow_patterns=[prefix + "/**"])
-```
-
-Use the verified import commit listed in the repository's import report.
+Global batch128, seed42, 5000 optimizer updates. Gradient checkpointing True.
+Evaluation: simulated IID, 100 episodes, seeds42-141, latency seed0, parallel32, 5 FPS, cap1000, per-environment capacity1.
+See config.full.yaml, training.complete.json, results.json and evaluation evidence.

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d3d9664ffafed40b8f77b03cbc56e269f8bacb3d91d4a3b27f8c4f958178889
+size 9976860963

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.full.yaml

@@ -1,7 +1,7 @@
 framework:
   name: QwenGR00T
   qwenvl:
-    base_vlm: ${oc.env:GR00T_BACKBONE_DIR}
+    base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
     attn_implementation: flash_attention_2
     vl_hidden_dim: 2048
     enable_gradient_checkpointing: true
@@ -13,7 +13,6 @@ framework:
     max_seq_len: 1024
     action_dim: 6
     state_dim: 17
-    task_objective: null
     action_horizon: 1
     repeated_diffusion_steps: 8
     noise_beta_alpha: 1.5
@@ -31,6 +30,7 @@ framework:
       num_layers: 16
       output_dim: 1024
       positional_embeddings: null
+    task_objective: null
     action_env_dim: 6
     future_action_window_size: 0
     past_action_window_size: 0
@@ -41,7 +41,7 @@ datasets:
     data_root_dir: /
     data_mix: train
     eval_data_mix: validation
-    custom_mixtures_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/vla/mixture.json
+    custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/mixture.json
     action_type: continuous
     sequential_step_sampling: true
     eval_sequential_step_sampling: null
@@ -72,7 +72,7 @@ datasets:
       eval_at_phase_end: false
       save_at_phase_end: false
       computed_plan: null
-    per_device_batch_size: 32
+    per_device_batch_size: 64
     load_all_data_for_training: true
     num_obs_frames: 1
     image_mode: single
@@ -157,6 +157,7 @@ datasets:
         - left_foot_angular_velocity
       task_name: walker2d_rgb_state
     active_action_dim: 6
+    robot_type: rl_games_gymnasium
 dataset:
   source_hf: ''
   config_name: null
@@ -232,20 +233,20 @@ trainer:
     weight_decay: 1.0e-08
     fused: true
   save_format: pt
-run_id: walker2d_l0_gr00t_h1_5fps_2h200_20260917
-run_root_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/vla/training
+run_id: walker2d_gr00t_l0_issued_iid_g128_s42_20261010
+run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/training
 seed: 42
 is_debug: false
 version_id: '0.21'
 wandb_project: latency-sensitive-bench
-wandb_entity: dongqianyu99-zhejiang-university
-wandb_name: walker2d_l0_gr00t_h1_5fps_2h200_20260917
-wandb_group: gr00t-six-env-h1-5fps
+wandb_entity: saberrr-zju
+wandb_name: walker2d_gr00t_l0_issued_iid_g128_s42_20261010
+wandb_group: continuous-control-issued-iid-20261010
 wandb_tags:
 - walker2d
-- zero_latency
-- GR00T
-- h1
+- gr00t
+- issued-action
+- iid
 training_latency_condition: zero_latency
 backbone:
   repo_id: Qwen/Qwen3-VL-4B-Instruct
@@ -257,5 +258,5 @@ checkpoint:
   save_training_state: true
   local:
     keep_last_n: 1
-config_yaml: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/train.yaml
-output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/vla/training/walker2d_l0_gr00t_h1_5fps_2h200_20260917
+config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/train.yaml
+output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/training/walker2d_gr00t_l0_issued_iid_g128_s42_20261010

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.yaml

@@ -1,7 +1,7 @@
 framework:
   name: QwenGR00T
   qwenvl:
-    base_vlm: ${oc.env:GR00T_BACKBONE_DIR}
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
     attn_implementation: flash_attention_2
     vl_hidden_dim: 2048
     enable_gradient_checkpointing: true
@@ -117,6 +117,7 @@ datasets:
         - left_leg_angular_velocity
         - left_foot_angular_velocity
       task_name: walker2d_rgb_state
+    robot_type: rl_games_gymnasium
 trainer:
   pretrained_checkpoint: null
   profile_timing:

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json

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zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/episode_metrics.jsonl

@@ -1,20 +0,0 @@
-{"episode_id": 0, "episode_return": 3808.226836737725, "episode_return_env": 3808.226836737725, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 42, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000}
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zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/verification.json

@@ -1,95 +0,0 @@
-{
-  "task": "walker2d",
-  "state": "L0_SIM20_COMPLETED_AND_VERIFIED",
-  "verified_at": "2026-09-17T15:02:36.902285+00:00",
-  "evaluation_finished_at": "2026-09-17T14:44:50.630321+00:00",
-  "episodes": 20,
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-  "env_fps": 5,
-  "obs_fps": 5,
-  "latency": "zero",
-  "mode": "simulated",
-  "max_raw_steps": 1000,
-  "returns": [
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-    3659.760759472817,
-    4185.446772066988
-  ],
-  "mean_return": 3527.99396416023,
-  "population_std_return": 945.2656326298496,
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-  "mean_length": 901.45,
-  "total_raw_steps": 18029,
-  "raw_step_rewards_match_episode_returns": true,
-  "raw_step_indices_contiguous": true,
-  "dropped_actions": 0,
-  "dropped_observations": 0,
-  "invalid_actions": 0,
-  "action_events": 18029,
-  "all_action_latencies_zero": true,
-  "training_steps": 5000,
-  "global_batch": 64,
-  "checkpoint_sha256": "5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1",
-  "command_semantics": "Generic adapter applied_action may be preclip; native environment clipping unchanged. No preclip-bound assertion was imposed.",
-  "remaining": "RTX3090 P/B, actual-profile teacher/data/profile-VLA, F; not yet complete",
-  "acceptance": "Full pipeline acceptance not established"
-}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/{issued_action_iid_20261010 → g128_iid_20261010/iid}/config.yaml

@@ -117,7 +117,7 @@ datasets:
         - left_leg_angular_velocity
         - left_foot_angular_velocity
       task_name: walker2d_rgb_state
-    robot_type: rl_games_gymnasium_native
+    robot_type: rl_games_gymnasium
 trainer:
   pretrained_checkpoint: null
   profile_timing:

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/{issued_action_iid_20261010 → g128_iid_20261010/iid}/dataset_statistics.json

@@ -34,12 +34,12 @@
         -1.0
       ],
       "q01": [
+        -0.5243898153305053,
         -1.0,
         -1.0,
+        -0.5588397586345673,
         -1.0,
-        -1.0,
-        -1.0,
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+        0.5681399703025818
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       "q99": [
         1.0,
@@ -60,42 +60,42 @@
     },
     "state": {
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@@ -136,45 +136,45 @@
         -10.0
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     "num_transitions": 85160,
     "num_trajectories": 90
   }
-}
+}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/{issued_action_iid_20261010 → g128_iid_20261010/iid}/eval_config.yaml

@@ -94,7 +94,7 @@ env:
 latency:
   method: iid
   sync_cuda: false
-  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json
+  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/profile/profile.json
   profile_worker_slot: 0
   seed: 0
 scheduler:
@@ -102,12 +102,12 @@ scheduler:
   ordering_policy: issue_order_fifo
 policy:
   type: starvla
-  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt
-  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/config.yaml
+  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/new_bundle/config.yaml
   backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
   device: cuda:0
-  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/manifest.json
-  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/latency_prompt_map.json
+  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/new_bundle/latency_prompt_map.json
   latency_prompt_key: 0
 training:
   train_for_env_steps: 10000000
@@ -156,7 +156,7 @@ evaluation:
   eval_latency_values: null
   episode_seed_offset: 0
 logging:
-  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32
+  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/evaluation/iid_parallel32_ib8
   video:
     enabled: false
     num_bins: 1

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/{issued_action_iid_20261010/source_manifest.json → g128_iid_20261010/iid/manifest.json}

@@ -1,5 +1,5 @@
 {
-  "dataset_name": "walker2d_h1_5fps_l0",
+  "dataset_name": "lerobot",
   "env_name": "walker2d_rgb_state",
   "episodes": 90,
   "frames": 85160,
@@ -7,7 +7,7 @@
     "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
   ],
   "format": "lerobot_v2_image_parquet",
-  "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/raw_5fps",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/raw",
   "integration_name": "gymnasium",
   "task_name": "walker2d_rgb_state",
   "action_layout": "gymnasium_continuous_v1",
@@ -96,8 +96,8 @@
     ]
   },
   "robot_type": "rl_games_gymnasium",
-  "latency_prompt_map_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/walker2d_h1_5fps_l0/latency_prompt_map.json",
-  "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/_generated_mixtures/walker2d_h1_5fps_l0.json",
+  "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/_generated_mixtures/lerobot.json",
   "gymnasium_task": {
     "action_space": {
       "dtype": "float32",
@@ -178,7 +178,7 @@
     },
     "task_name": "walker2d_rgb_state"
   },
-  "validation_dataset_name": "walker2d_h1_5fps_l0__val",
+  "validation_dataset_name": "lerobot__val",
   "validation_episodes": 10,
   "validation_frames": 9664
 }

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/result.json

@@ -0,0 +1,213 @@
+{
+  "episodes": 100,
+  "seeds": [
+    42,
+    43,
+    44,
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+  ],
+  "mean_return": 93.98936098462639,
+  "population_std_return": 46.69300756422081,
+  "mean_length": 74.68,
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+  "primary_evidence": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/evaluation/iid_parallel32_ib8/episode_metrics.jsonl",
+  "eval_config": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/eval_iid_parallel32_ib8.yaml",
+  "inference_batch_size": 8
+}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/{issued_action_iid_20261010 → g128_iid_20261010/iid}/source_identity.json

@@ -17,5 +17,13 @@
     "?? lagen/",
     "?? scripts/experiments/sim2real/campaign.py",
     "?? servers.md"
-  ]
+  ],
+  "runtime_patches": [
+    {
+      "path": "third_party/starVLA/starVLA/training/train_starvla.py",
+      "change": "Full DeepSpeed state-directory resume loads config/statistics from owning run directory without resolving a standalone model file.",
+      "validation": "6 existing resume/statistics tests passed; see previous campaign resume_fix_tests.log"
+    }
+  ],
+  "frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010"
 }

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/config.yaml

@@ -0,0 +1,139 @@
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 6
+    state_dim: 17
+    task_objective: null
+    action_horizon: 1
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    action_env_dim: 6
+    future_action_window_size: 0
+    past_action_window_size: 0
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size:
+    - 224
+    - 224
+    image_mode: single
+    stitch_grid:
+    - 2
+    - 2
+    num_obs_frames: 1
+    gymnasium_task_contract: &id001
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - right_thigh_torque
+        - right_leg_torque
+        - right_foot_torque
+        - left_thigh_torque
+        - left_leg_torque
+        - left_foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Walker2d robot forward while keeping its torso upright.
+        Predict six continuous torques in [-1, 1] ordered as right thigh, right leg,
+        right foot, left thigh, left leg, and left foot.
+      env_fps: 5
+      env_id: LatencyBench/Walker2dContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Walker2d-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5
+      registration_imports:
+      - latency_bench.envs.gymnasium_walker2d
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - right_thigh_angle
+        - right_leg_angle
+        - right_foot_angle
+        - left_thigh_angle
+        - left_leg_angle
+        - left_foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - right_thigh_angular_velocity
+        - right_leg_angular_velocity
+        - right_foot_angular_velocity
+        - left_thigh_angular_velocity
+        - left_leg_angular_velocity
+        - left_foot_angular_velocity
+      task_name: walker2d_rgb_state
+    robot_type: rl_games_gymnasium
+trainer:
+  pretrained_checkpoint: null
+  profile_timing:
+    enabled: false
+    log_interval: 10
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+rl_games:
+  model_alias: gr00t
+  task: gymnasium
+  action_carrier: native
+  gymnasium:
+    task_contract: *id001
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/{issued_action_iid_20261010/original_training_statistics.json → g128_iid_20261010/zero/dataset_statistics.json}

@@ -60,118 +60,118 @@
     },
     "state": {
       "mean": [
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       "std": [
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     "num_transitions": 85160,

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/{evaluation/l0_sim20/config.yaml → evaluations/g128_iid_20261010/zero/eval_config.yaml}

@@ -1,5 +1,5 @@
 experiment:
-  name: gr00t_walker2d_zero
+  name: walker2d_gr00t_l0_zero_100ep
   seed: 42
 backend:
   type: sample_factory
@@ -12,7 +12,8 @@ executor:
   mode: simulated
   inference_devices:
   - cuda:0
-  inference_batch_size: 1
+  - cuda:1
+  inference_batch_size: 8
   simulated_inference_pool: true
   simulated_worker_capacity: 1
 env:
@@ -20,7 +21,7 @@ env:
   task_name: walker2d
   env_id: LatencyBench/Walker2dContinuous-v0
   registration_imports:
-  - latency_bench.envs.gymnasium_walker2d
+  - latency_bench.envs.tasks.walker2d
   make_kwargs:
     base_env_id: Walker2d-v4
     base_make_kwargs:
@@ -98,12 +99,12 @@ scheduler:
   ordering_policy: issue_order_fifo
 policy:
   type: starvla
-  checkpoint_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt
-  model_config_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/config.yaml
-  backbone_path: /mnt/local/lzj/latency-sensitive-bench/models/Qwen3-VL-4B-Instruct
+  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/new_bundle/config.yaml
+  backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
   device: cuda:0
-  task_manifest_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/manifest.json
-  latency_prompt_map_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/latency_prompt_map.json
+  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/new_bundle/latency_prompt_map.json
   latency_prompt_key: 0
 training:
   train_for_env_steps: 10000000
@@ -145,13 +146,14 @@ training:
   shuffle_minibatches: false
   value_bootstrap: true
 evaluation:
-  eval_episodes: 20
-  eval_parallel_envs: 1
+  eval_episodes: 100
+  eval_parallel_envs: 32
   eval_max_steps: 1000
   eval_deterministic: true
   eval_latency_values: null
+  episode_seed_offset: 0
 logging:
-  output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20
+  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/evaluation/zero_parallel32_ib8
   video:
     enabled: false
     num_bins: 1

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "0": {
+    "prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "latency_raw_frames": 0,
+    "latency_ms": 0.0
+  }
+}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/{issued_action_iid_20261010 → g128_iid_20261010/zero}/manifest.json

@@ -1,5 +1,5 @@
 {
-  "dataset_name": "walker2d_h1_5fps_l0",
+  "dataset_name": "lerobot",
   "env_name": "walker2d_rgb_state",
   "episodes": 90,
   "frames": 85160,
@@ -7,7 +7,7 @@
     "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
   ],
   "format": "lerobot_v2_image_parquet",
-  "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/raw_5fps",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/raw",
   "integration_name": "gymnasium",
   "task_name": "walker2d_rgb_state",
   "action_layout": "gymnasium_continuous_v1",
@@ -95,9 +95,9 @@
       10.0
     ]
   },
-  "robot_type": "rl_games_gymnasium_native",
-  "latency_prompt_map_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/walker2d_h1_5fps_l0/latency_prompt_map.json",
-  "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/_generated_mixtures/walker2d_h1_5fps_l0.json",
+  "robot_type": "rl_games_gymnasium",
+  "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/_generated_mixtures/lerobot.json",
   "gymnasium_task": {
     "action_space": {
       "dtype": "float32",
@@ -178,7 +178,7 @@
     },
     "task_name": "walker2d_rgb_state"
   },
-  "validation_dataset_name": "walker2d_h1_5fps_l0__val",
+  "validation_dataset_name": "lerobot__val",
   "validation_episodes": 10,
   "validation_frames": 9664
-}
+}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/result.json

@@ -0,0 +1,213 @@
+{
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+  "mean_return": 3716.5167289591604,
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+  "mean_length": 888.38,
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+  "primary_evidence": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/evaluation/zero_parallel32_ib8/episode_metrics.jsonl",
+  "eval_config": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/eval_zero_parallel32_ib8.yaml",
+  "inference_batch_size": 8
+}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/source_identity.json

@@ -0,0 +1,29 @@
+{
+  "revision": "a7001d2227fa8b0cbcd58b7b0e32db3dba147810",
+  "source": "current worktree snapshot",
+  "dirty_paths": [
+    " M AGENTS.md",
+    " M configs/experiments/memory/small_model/flappy_capped.yaml",
+    " M configs/experiments/memory/small_model/flappy_extended.yaml",
+    " M configs/experiments/observation_stride/flappy_capped.yaml",
+    " M configs/experiments/observation_stride/flappy_extended.yaml",
+    " M configs/experiments/sim2real.yaml",
+    " M scripts/experiments/memory/small_model/run.sh",
+    " M scripts/experiments/observation_stride/run.sh",
+    " M scripts/experiments/sim2real/study.py",
+    " M tests/scripts/test_sim2real.py",
+    "?? configs/experiments/sim2real/five_gpu.yaml",
+    "?? docs/cleanup-refactor/",
+    "?? lagen/",
+    "?? scripts/experiments/sim2real/campaign.py",
+    "?? servers.md"
+  ],
+  "runtime_patches": [
+    {
+      "path": "third_party/starVLA/starVLA/training/train_starvla.py",
+      "change": "Full DeepSpeed state-directory resume loads config/statistics from owning run directory without resolving a standalone model file.",
+      "validation": "6 existing resume/statistics tests passed; see previous campaign resume_fix_tests.log"
+    }
+  ],
+  "frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010"
+}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0_metadata_source.json

@@ -1,43 +0,0 @@
-[
-  {
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-    "repo": "MLL-Lab/LAGEN-datasets",
-    "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc",
-    "path": "experiments/benchmark-training/archive/standard-pipeline/ant/zero_latency/OpenVLA/legacy/vla/provenance/dataset_contract/manifest.json"
-  },
-  {
-    "task": "hopper",
-    "file": "manifest.json",
-    "repo": "MLL-Lab/LAGEN-datasets",
-    "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc",
-    "path": "experiments/benchmark-training/archive/standard-pipeline/hopper/evidence/legacy/zero_latency/OpenVLA/provenance/dataset_contract/manifest.json"
-  },
-  {
-    "task": "hopper",
-    "file": "latency_prompt_map.json",
-    "repo": "MLL-Lab/LAGEN-datasets",
-    "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc",
-    "path": "experiments/benchmark-training/archive/standard-pipeline/hopper/evidence/legacy/zero_latency/OpenVLA/provenance/dataset_contract/latency_prompt_map.json"
-  },
-  {
-    "task": "walker2d",
-    "file": "manifest.json",
-    "repo": "MLL-Lab/LAGEN-datasets",
-    "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc",
-    "path": "experiments/benchmark-training/archive/standard-pipeline/walker2d/evidence/legacy/zero_latency/source_contract/manifest.json"
-  },
-  {
-    "task": "walker2d",
-    "file": "latency_prompt_map.json",
-    "repo": "MLL-Lab/LAGEN-datasets",
-    "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc",
-    "path": "experiments/benchmark-training/archive/standard-pipeline/walker2d/evidence/legacy/zero_latency/source_contract/latency_prompt_map.json"
-  },
-  {
-    "task": "ant",
-    "file": "latency_prompt_map.json",
-    "source": "manifest.task_prompts[0]",
-    "latency_raw_frames": 0
-  }
-]

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/legacy_normalization_verification.json

@@ -1,74 +0,0 @@
-[
-  {
-    "task": "hopper",
-    "model": "openvla",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "hopper",
-    "model": "gr00t",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "hopper",
-    "model": "pi05",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "walker2d",
-    "model": "openvla",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "walker2d",
-    "model": "gr00t",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "walker2d",
-    "model": "pi05",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "ant",
-    "model": "openvla",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "ant",
-    "model": "gr00t",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "ant",
-    "model": "pi05",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "hopper",
-    "model": "pi05_profile",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "walker2d",
-    "model": "pi05_profile",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "ant",
-    "model": "pi05_profile",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  }
-]

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/normalization_binding.json

@@ -1,7 +0,0 @@
-{
-  "source_robot_type": "rl_games_gymnasium",
-  "robot_type": "rl_games_gymnasium_native",
-  "weights": "unchanged",
-  "state": "clipped source converter min/max",
-  "action": "identity q99 bounds [-1,1]"
-}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/result.json

@@ -1,216 +0,0 @@
-{
-  "episodes": 100,
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-  "checkpoint": {
-    "repo": "MLL-Lab/LAGEN-models",
-    "revision": "bdf24c844c29a2caa29ab6292ce6f63a9d8ace83",
-    "path": "zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt"
-  }
-}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/l0_data_source.json

@@ -0,0 +1,8 @@
+{
+  "repo": "MLL-Lab/LAGEN-datasets",
+  "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc",
+  "path": "experiments/benchmark-training/archive/standard-pipeline/walker2d/zero_latency/GR00T/h1_5fps_20260917/demonstrations/raw",
+  "source_obs_fps": 5,
+  "label_semantics": "zero latency: issued and applied actions coincide",
+  "original_contract": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/historical/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/manifest.json"
+}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/manifest.json

@@ -1,5 +1,5 @@
 {
-  "dataset_name": "walker2d_h1_5fps_l0",
+  "dataset_name": "lerobot",
   "env_name": "walker2d_rgb_state",
   "episodes": 90,
   "frames": 85160,
@@ -7,7 +7,7 @@
     "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
   ],
   "format": "lerobot_v2_image_parquet",
-  "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/raw_5fps",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/raw",
   "integration_name": "gymnasium",
   "task_name": "walker2d_rgb_state",
   "action_layout": "gymnasium_continuous_v1",
@@ -96,8 +96,8 @@
     ]
   },
   "robot_type": "rl_games_gymnasium",
-  "latency_prompt_map_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/walker2d_h1_5fps_l0/latency_prompt_map.json",
-  "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/_generated_mixtures/walker2d_h1_5fps_l0.json",
+  "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/_generated_mixtures/lerobot.json",
   "gymnasium_task": {
     "action_space": {
       "dtype": "float32",
@@ -178,7 +178,7 @@
     },
     "task_name": "walker2d_rgb_state"
   },
-  "validation_dataset_name": "walker2d_h1_5fps_l0__val",
+  "validation_dataset_name": "lerobot__val",
   "validation_episodes": 10,
   "validation_frames": 9664
 }

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/provenance.json

@@ -1,34 +1,9 @@
 {
   "task": "walker2d",
-  "model": "qwengr00t",
-  "training_condition": "zero-latency",
-  "training_run_id": "walker2d_l0_gr00t_h1_5fps_2h200_20260917",
-  "source": {
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-    "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
-    "path": "walker2d/zero_latency/GR00T",
-    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/zero_latency/GR00T"
-  },
-  "hf_repo_id": "latency-sensitive-bench/benchmark-models",
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-  "checkpoint": {
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-    "source_bytes": 9976860963,
-    "file": "checkpoints/model.pt",
-    "selection_rule": "only published VLA checkpoint",
-    "method": "copy",
-    "sha256": "5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1",
-    "bytes": 9976860963
-  },
-  "config_source": "walker2d/zero_latency/GR00T/config.yaml",
-  "task_contract_file": "task_contract.json",
-  "missing_source_files": [],
-  "migration": {
-    "operation": "copy_selected_inference_bundle",
-    "source_modified": false,
-    "evaluation_performed": false,
-    "experiment_status": "preserved_in_source_evidence"
-  },
-  "action_horizon": 1
+  "model": "gr00t",
+  "training_run_id": "walker2d_gr00t_l0_issued_iid_g128_s42_20261010",
+  "steps": 5000,
+  "seed": 42,
+  "source_identity": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/source_identity.json",
+  "data_source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/l0_data_source.json"
 }

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/results.json

@@ -0,0 +1,436 @@
+{
+  "task": "walker2d",
+  "model": "gr00t",
+  "condition": "l0",
+  "method": "iid",
+  "parallel_envs": 32,
+  "fps": 5,
+  "latency_seed": 0,
+  "eval_max_steps": 1000,
+  "iid": {
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zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source.tar.gz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:243de1df8298a262fed9f20fc794bf4a8c784b8754aa29c36e06280b3e9b8e2c
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zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/README.md

@@ -1,7 +0,0 @@
-# walker2d: GR00T H1, 5 FPS
-
-Fresh zero-latency training completed5000 updates. Final checkpoint SHA256: `5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1`.
-
-L0 simulated zero-latency evaluation is now complete and audited:20episodes, seeds42–61,5FPS, cap1000rawsteps. Return mean 3527.993964, population SD 945.265633; mean length 901.45. Dropped actions 0, dropped observations 0, invalid actions 0. Raw step rewards and lengths match episode metrics.
-
-See `evaluation/l0_sim20/verification.json` and `episode_metrics.jsonl` for final evidence. Earlier training/load receipts remain historical snapshots. P/B and subsequent profile pipeline/F are pending; full pipeline acceptance is not established. Set GR00T_BACKBONE_DIR to Qwen/Qwen3-VL-4B-Instruct revision ebb281ec70b05090aa6165b016eac8ec08e71b17 before inference.

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/provenance.json

@@ -1,26 +0,0 @@
-{
-  "task": "walker2d",
-  "backbone": {
-    "repo_id": "Qwen/Qwen3-VL-4B-Instruct",
-    "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17"
-  },
-  "checkpoint": "steps_5000_pytorch_model.pt",
-  "training_steps": 5000,
-  "seed": 42,
-  "global_batch": 64,
-  "training_run_id": "walker2d_l0_gr00t_h1_5fps_2h200_20260917",
-  "condition": "zero_latency",
-  "source": {
-    "repo": "latency-sensitive-bench/Standard-Pipeline",
-    "revision": "571cb5801720488ed6458b9cfe3f4c595b069cea",
-    "prefix": "walker2d/zero_latency/shared/source_100ep_v1/demonstrations/raw",
-    "sha256": {
-      "metadata.json": "c8ea2669493beabd97d9e7ecd06cc443adcb1760d8e71dd03588ea4adea20ae9",
-      "train.parquet": "6a105846e7def09f10fd2a985413cc9a04b9433f57519d330ce33a1033ba7e65",
-      "val.parquet": "687c1a5d08b3641b5ae76d218dd6afe483f8873b057aa3ab7a81108a6772f424"
-    },
-    "source_tar_sha256": "9847e8924ba7a6446aaa3ce735f4dc2849046c37e21aeb8867f3154ab163ede0"
-  },
-  "training_config_sha256": "d4d71e6e8f2e38ba3b1eaa0499bf1390c6e98c929e77d0aeaecc91896e2bf664",
-  "dataset_manifest_sha256": "5e574c5784420866052fc87140692550c11921af07dd1541064e46d94c499908"
-}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source_identity.json

@@ -0,0 +1,29 @@
+{
+  "revision": "a7001d2227fa8b0cbcd58b7b0e32db3dba147810",
+  "source": "current worktree snapshot",
+  "dirty_paths": [
+    " M AGENTS.md",
+    " M configs/experiments/memory/small_model/flappy_capped.yaml",
+    " M configs/experiments/memory/small_model/flappy_extended.yaml",
+    " M configs/experiments/observation_stride/flappy_capped.yaml",
+    " M configs/experiments/observation_stride/flappy_extended.yaml",
+    " M configs/experiments/sim2real.yaml",
+    " M scripts/experiments/memory/small_model/run.sh",
+    " M scripts/experiments/observation_stride/run.sh",
+    " M scripts/experiments/sim2real/study.py",
+    " M tests/scripts/test_sim2real.py",
+    "?? configs/experiments/sim2real/five_gpu.yaml",
+    "?? docs/cleanup-refactor/",
+    "?? lagen/",
+    "?? scripts/experiments/sim2real/campaign.py",
+    "?? servers.md"
+  ],
+  "runtime_patches": [
+    {
+      "path": "third_party/starVLA/starVLA/training/train_starvla.py",
+      "change": "Full DeepSpeed state-directory resume loads config/statistics from owning run directory without resolving a standalone model file.",
+      "validation": "6 existing resume/statistics tests passed; see previous campaign resume_fix_tests.log"
+    }
+  ],
+  "frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010"
+}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/task_contract.json

@@ -1,80 +0,0 @@
-{
-  "action_space": {
-    "dtype": "float32",
-    "high": [
-      1.0,
-      1.0,
-      1.0,
-      1.0,
-      1.0,
-      1.0
-    ],
-    "labels": [
-      "right_thigh_torque",
-      "right_leg_torque",
-      "right_foot_torque",
-      "left_thigh_torque",
-      "left_leg_torque",
-      "left_foot_torque"
-    ],
-    "low": [
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0
-    ],
-    "type": "box"
-  },
-  "base_prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot.",
-  "env_fps": 5,
-  "env_id": "LatencyBench/Walker2dContinuous-v0",
-  "frame_stack": 1,
-  "make_kwargs": {
-    "base_env_id": "Walker2d-v4",
-    "base_make_kwargs": {
-      "ctrl_cost_weight": 0.001,
-      "exclude_current_positions_from_observation": true,
-      "forward_reward_weight": 1.0,
-      "healthy_reward": 1.0,
-      "reset_noise_scale": 0.005,
-      "terminate_when_unhealthy": true
-    },
-    "render_mode": "rgb_array"
-  },
-  "noop_action": [
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0
-  ],
-  "obs_fps": 5,
-  "registration_imports": [
-    "latency_bench.envs.gymnasium_walker2d"
-  ],
-  "state_space": {
-    "labels": [
-      "torso_height",
-      "torso_angle",
-      "right_thigh_angle",
-      "right_leg_angle",
-      "right_foot_angle",
-      "left_thigh_angle",
-      "left_leg_angle",
-      "left_foot_angle",
-      "torso_x_velocity",
-      "torso_z_velocity",
-      "torso_angular_velocity",
-      "right_thigh_angular_velocity",
-      "right_leg_angular_velocity",
-      "right_foot_angular_velocity",
-      "left_thigh_angular_velocity",
-      "left_leg_angular_velocity",
-      "left_foot_angular_velocity"
-    ]
-  },
-  "task_name": "walker2d_rgb_state"
-}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/training.complete.json

@@ -0,0 +1,14 @@
+{
+  "steps": 5000,
+  "seed": 42,
+  "global_batch": 128,
+  "gradient_checkpointing": true,
+  "gpus": "2,3",
+  "attempts": [
+    {
+      "micro_batch": 64,
+      "accumulation": 1,
+      "state": "COMPLETED"
+    }
+  ]
+}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/first_completed_reload_episode.json

@@ -1,15 +0,0 @@
-{
-  "evidence": "existingL0sim20log",
-  "completed_episodes": 7,
-  "checkpoint": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt",
-  "completed_episode_log_lines": [
-    "[bench] sweep 1/1 episode 1/20 done",
-    "[bench] sweep 1/1 episode 2/20 done",
-    "[bench] sweep 1/1 episode 3/20 done",
-    "[bench] sweep 1/1 episode 4/20 done",
-    "[bench] sweep 1/1 episode 5/20 done",
-    "[bench] sweep 1/1 episode 6/20 done",
-    "[bench] sweep 1/1 episode 7/20 done"
-  ],
-  "evaluation": "running; bufferedtracefilesnotyetflushed; nofinalscores"
-}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/formal.status.json

@@ -1,25 +0,0 @@
-{
-  "task": "walker2d",
-  "stage": "formal",
-  "state": "COMPLETED",
-  "started_at": "2026-09-17T12:32:39.124476+00:00",
-  "command": [
-    "taskset",
-    "-c",
-    "28-55,140-167",
-    "/home/ubuntu/miniconda3/envs/starvla_rl_games_gr00t/bin/python",
-    "-m",
-    "accelerate.commands.launch",
-    "--config_file",
-    "/mnt/local/lzj/latency-sensitive-bench/code/h1-5fps-20260917-v2/third_party/starVLA/starVLA/config/deepseeds/deepspeed_zero2.yaml",
-    "--num_processes",
-    "2",
-    "--main_process_port",
-    "29792",
-    "starVLA/training/train_starvla.py",
-    "--config_yaml",
-    "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/train.yaml"
-  ],
-  "exit_code": 0,
-  "ended_at": "2026-09-17T14:19:42.948167+00:00"
-}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/l0_sim20.yaml

@@ -1,161 +0,0 @@
-experiment:
-  name: gr00t_walker2d_zero
-  seed: 42
-backend:
-  type: sample_factory
-  algo: APPO
-  device: cuda
-  train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/walker2d
-  restart_behavior: overwrite
-  run_mode: eval
-executor:
-  mode: simulated
-  inference_devices:
-  - cuda:0
-  inference_batch_size: 1
-  simulated_inference_pool: true
-  simulated_worker_capacity: 1
-env:
-  name: gymnasium
-  task_name: walker2d
-  env_id: LatencyBench/Walker2dContinuous-v0
-  registration_imports:
-  - latency_bench.envs.gymnasium_walker2d
-  make_kwargs:
-    base_env_id: Walker2d-v4
-    base_make_kwargs:
-      ctrl_cost_weight: 0.001
-      exclude_current_positions_from_observation: true
-      forward_reward_weight: 1.0
-      healthy_reward: 1.0
-      reset_noise_scale: 0.005
-      terminate_when_unhealthy: true
-    render_mode: rgb_array
-  env_fps: 5
-  obs_fps: 5
-  frame_stack: 1
-  action_space:
-    dtype: float32
-    high:
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    labels:
-    - right_thigh_torque
-    - right_leg_torque
-    - right_foot_torque
-    - left_thigh_torque
-    - left_leg_torque
-    - left_foot_torque
-    low:
-    - -1.0
-    - -1.0
-    - -1.0
-    - -1.0
-    - -1.0
-    - -1.0
-    type: box
-  noop_action:
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  base_prompt: Move the Walker2d robot forward while keeping its torso upright. Predict
-    six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot,
-    left thigh, left leg, and left foot.
-  state_space:
-    labels:
-    - torso_height
-    - torso_angle
-    - right_thigh_angle
-    - right_leg_angle
-    - right_foot_angle
-    - left_thigh_angle
-    - left_leg_angle
-    - left_foot_angle
-    - torso_x_velocity
-    - torso_z_velocity
-    - torso_angular_velocity
-    - right_thigh_angular_velocity
-    - right_leg_angular_velocity
-    - right_foot_angular_velocity
-    - left_thigh_angular_velocity
-    - left_leg_angular_velocity
-    - left_foot_angular_velocity
-  obs_resize:
-  - 224
-  - 224
-latency:
-  method: zero
-  sync_cuda: false
-scheduler:
-  hold_policy: hold
-  ordering_policy: issue_order_fifo
-policy:
-  type: starvla
-  checkpoint_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt
-  model_config_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/config.yaml
-  backbone_path: /mnt/local/lzj/latency-sensitive-bench/models/Qwen3-VL-4B-Instruct
-  device: cuda:0
-  task_manifest_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/manifest.json
-  latency_prompt_map_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/latency_prompt_map.json
-  latency_prompt_key: 0
-training:
-  train_for_env_steps: 10000000
-  num_workers: 8
-  num_envs_per_worker: 8
-  worker_num_splits: 2
-  num_policies: 1
-  batch_size: 1024
-  rollout: 64
-  recurrence: 1
-  num_epochs: 2
-  num_batches_per_epoch: 4
-  max_policy_lag: 300
-  learning_rate: 0.00295
-  gamma: 0.99
-  gae_lambda: 0.95
-  ppo_clip_ratio: 0.2
-  ppo_clip_value: 0.2
-  value_loss_coeff: 1.3
-  max_grad_norm: 3.5
-  exploration_loss_coeff: 0.0
-  async_rl: false
-  batched_sampling: false
-  use_rnn: false
-  encoder_mlp_layers:
-  - 64
-  - 64
-  normalize_input: true
-  normalize_returns: true
-  save_every_sec: 600
-  keep_checkpoints: 5
-  lr_schedule: linear_decay
-  kl_loss_coeff: 0.1
-  serial_mode: false
-  nonlinearity: tanh
-  adaptive_stddev: false
-  policy_initialization: torch_default
-  initial_stddev: 1.0
-  shuffle_minibatches: false
-  value_bootstrap: true
-evaluation:
-  eval_episodes: 20
-  eval_parallel_envs: 1
-  eval_max_steps: 1000
-  eval_deterministic: true
-  eval_latency_values: null
-logging:
-  output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20
-  video:
-    enabled: false
-    num_bins: 1
-  save_step_records: true
-  save_action_records: true
-  save_latency_records: true
-  realtime_pipeline_profile: false

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/loader_check.json

@@ -1,27 +0,0 @@
-{
-  "loader_action_shape": [
-    1,
-    6
-  ],
-  "loader_state_shape": [
-    1,
-    17
-  ],
-  "native_action_roundtrip": true,
-  "state_minmax_once": true,
-  "image_pixels_identical": true,
-  "robot_type": "rl_games_gymnasium",
-  "sample_action": [
-    [
-      0.8583984375,
-      -1.0,
-      1.0,
-      1.0,
-      -1.0,
-      1.0
-    ]
-  ],
-  "native_decoder": "box identity slice; unnorm_key unused",
-  "action_dtype": "float16",
-  "loader_float16_rounding_max_abs": 0.00012290477752685547
-}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/preparation.json

@@ -1,42 +0,0 @@
-{
-  "repo": "latency-sensitive-bench/Standard-Pipeline",
-  "revision": "571cb5801720488ed6458b9cfe3f4c595b069cea",
-  "prefix": "walker2d/zero_latency/shared/source_100ep_v1/demonstrations/raw",
-  "sha256": {
-    "metadata.json": "c8ea2669493beabd97d9e7ecd06cc443adcb1760d8e71dd03588ea4adea20ae9",
-    "train.parquet": "6a105846e7def09f10fd2a985413cc9a04b9433f57519d330ce33a1033ba7e65",
-    "val.parquet": "687c1a5d08b3641b5ae76d218dd6afe483f8873b057aa3ab7a81108a6772f424"
-  },
-  "source_tar_sha256": "9847e8924ba7a6446aaa3ce735f4dc2849046c37e21aeb8867f3154ab163ede0",
-  "frames": {
-    "train": 85160,
-    "val": 9664
-  },
-  "episodes": {
-    "train": 90,
-    "val": 10
-  },
-  "return_ranges": {
-    "train": [
-      3019.899699331727,
-      4524.623699762858
-    ],
-    "val": [
-      3668.9183055646718,
-      4558.868211328983
-    ]
-  },
-  "image_size": [
-    224,
-    224
-  ],
-  "state_dim": 17,
-  "action_dim": 6,
-  "action_horizon": 1,
-  "fps": 5,
-  "all_source_returns_gt3000": true,
-  "all_nonprompt_columns_unchanged": true,
-  "normalization": "train-only min_max; same transform in validation",
-  "train_config": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/train.yaml",
-  "dataset": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/walker2d_h1_5fps_l0"
-}

zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/publication_state.json

@@ -1,32 +0,0 @@
-{
-  "task": "walker2d",
-  "verified_at": "2026-09-17T14:30:05.544543+00:00",
-  "training": "COMPLETED5000exit0",
-  "l0_eval_status_snapshot": {
-    "task": "walker2d",
-    "stage": "l0_sim20",
-    "state": "RUNNING",
-    "started_at": "2026-09-17T14:19:53.991430+00:00",
-    "command": [
-      "/home/ubuntu/miniconda3/envs/starvla_rl_games_gr00t/bin/python",
-      "-m",
-      "latency_bench.run",
-      "--config",
-      "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20.yaml"
-    ]
-  },
-  "l0_episodes_completed_at_snapshot": 7,
-  "l0_final_scores": "notreportedwhile20episodeevaluationpending",
-  "reload_forward_evidence": "firstcompletedepisodefromexistingfinalbundleL0evaluation;noextraevaluation",
-  "downstream": "P/B/Fpending;parentmanaged3090queue",
-  "bundle_files": 8,
-  "bundle_sha256": {
-    "checkpoints/model.pt": "5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1",
-    "config.full.yaml": "23a1f179abba3d28587f14b89f99cfbaca0634aa36ab7c78539ee0ed95e0d58a",
-    "config.yaml": "453c0e1175ed33e703476ffbc07b5d3a17e0d89f65d3038d53c8bc6436b537a7",
-    "dataset_statistics.json": "1956e498026db81002e20cb62543ee44c55a82b4bf1a10dce3517483de0ecd83",
-    "latency_prompt_map.json": "03688d51cea9f0ad31aee9666aeb02a58be4099aee9f083271eceaa9139d2871",
-    "manifest.json": "5e574c5784420866052fc87140692550c11921af07dd1541064e46d94c499908",
-    "provenance.json": "3e6427330cd062bd82f60e385c0bb099dba1fa339abaa0c108ae349ea936115c"
-  }
-}