diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/README.md b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/README.md index a35ce8bf10ed15665f9f5e45603498f278f92e94..0e8a8ba1dde446b22076f3f9a40d381591c87656 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/README.md +++ b/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="", - 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. diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..331c54e570cada6b392e2f4abc577dce2f158c70 --- /dev/null +++ b/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 diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.full.yaml b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.full.yaml index 3f211f346f0058c288528b5d535d5440083d25b1..c964f08c0164d89d286a287de042486b8679087b 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.full.yaml +++ b/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 diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.yaml b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.yaml index d3e418e22db02a97577e775f225a3d7c0f9a1525..beb47f16739208629b2971ddbfaba9f955b5b012 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.yaml +++ b/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: diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json index bfb9e72f511b15f1aba80c6eb1faa007fa88cee2..9d5a6e36d25920896d29bf51a8e2eb5778f25a67 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json @@ -60,118 +60,118 @@ }, "state": { "mean": [ - 0.38908126950263977, - -0.06854692101478577, - 0.5603042840957642, - 0.295283704996109, - 0.20391421020030975, - 0.7933022975921631, - 0.32835325598716736, - 0.7283809781074524, - -0.11274679005146027, - 0.36438047885894775, - -0.041566070169210434, - -0.006785172037780285, - -0.21467362344264984, - -0.2302139699459076, - -0.008182121440768242, - -0.19842907786369324, - -0.0016649218741804361 + 1.238454818725586, + -0.06925152242183685, + 0.013844254426658154, + -0.643065333366394, + 0.2552712857723236, + -0.005795903038233519, + -0.6064881682395935, + 0.8155102133750916, + 3.271153211593628, + -0.01893916167318821, + -0.4156621992588043, + -0.06785181909799576, + -2.146728992462158, + -2.3021345138549805, + 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85160, diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/episode_metrics.jsonl b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/episode_metrics.jsonl deleted file mode 100644 index 321a65c0faf5701a60533e322fa9a0071b625b46..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/episode_metrics.jsonl +++ /dev/null @@ -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} -{"episode_id": 1, "episode_return": 3853.1032959767176, "episode_return_env": 3853.1032959767176, "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": 43, "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} -{"episode_id": 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"survival_steps": 1000} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/verification.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/verification.json deleted file mode 100644 index a6535a1ea57c992b17b8636dc939f4b899db2432..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/verification.json +++ /dev/null @@ -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, - "seeds": [ - 42, - 43, - 44, - 45, - 46, - 47, - 48, - 49, - 50, - 51, - 52, - 53, - 54, - 55, - 56, - 57, - 58, - 59, - 60, - 61 - ], - "env_fps": 5, - "obs_fps": 5, - "latency": "zero", - "mode": "simulated", - "max_raw_steps": 1000, - "returns": [ - 3808.226836737725, - 3853.1032959767176, - 1723.999349832787, - 4140.340620286889, - 4096.512537306539, - 3788.9854100645875, - 4156.574688705178, - 3251.442409375431, - 4033.286305383909, - 4025.248397336756, - 4105.286382644159, - 4124.8478277361955, - 1718.3891440521081, - 773.3146074280513, - 3239.1715436786335, - 3784.661174823245, - 3999.8377210951776, - 4091.4434992007014, - 3659.760759472817, - 4185.446772066988 - ], - "mean_return": 3527.99396416023, - "population_std_return": 945.2656326298496, - "lengths": [ - 1000, - 1000, - 514, - 1000, - 972, - 890, - 1000, - 1000, - 1000, - 1000, - 1000, - 1000, - 519, - 282, - 1000, - 1000, - 1000, - 1000, - 852, - 1000 - ], - "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" -} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/config.yaml b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/config.yaml similarity index 98% rename from zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/config.yaml rename to zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/config.yaml index 8f1cf5ace97923996f9e7e3c27c32459163ec708..beb47f16739208629b2971ddbfaba9f955b5b012 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/config.yaml +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/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: diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/dataset_statistics.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/dataset_statistics.json similarity index 53% rename from zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/dataset_statistics.json rename to zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/dataset_statistics.json index 41f73f174c884b22cd712665498cadce4864d15b..9d5a6e36d25920896d29bf51a8e2eb5778f25a67 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/dataset_statistics.json +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/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, - -1.0 + 0.5681399703025818 ], "q99": [ 1.0, @@ -60,42 +60,42 @@ }, "state": { "mean": [ - 1.238466842895141, - -0.06925228012199014, - 0.013843682985346106, - 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"profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 69, "workload_id": "walker2d"}, "num_actions": 69, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.41496011301678, "p99_latency_ms": 119.39762833696483, "return_raw": null, "survival_steps": 69} +{"episode_id": 98, "episode_return": 106.99499837620348, "episode_return_env": 106.99499837620348, "game_score": null, "mean_latency_ms": 111.56787397013377, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/new_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 140, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/evaluation/iid_parallel32_ib8", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 80, "workload_id": "walker2d"}, "num_actions": 80, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.30029566589346, "p99_latency_ms": 119.48130567177654, "return_raw": null, "survival_steps": 80} +{"episode_id": 99, "episode_return": 71.28638856365087, "episode_return_env": 71.28638856365087, "game_score": null, "mean_latency_ms": 111.51971030033742, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/new_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 141, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/evaluation/iid_parallel32_ib8", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 70, "workload_id": "walker2d"}, "num_actions": 70, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.9373226692984, "p99_latency_ms": 119.12733454481469, "return_raw": null, "survival_steps": 70} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/eval_config.yaml b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/eval_config.yaml similarity index 87% rename from zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/eval_config.yaml rename to zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/eval_config.yaml index 493cd34a1ee1ab8833a967cfc8c0a2c947a9c2a8..cc6dbf0913338eee4061e84f643c0875bab437ae 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/eval_config.yaml +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/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 diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/latency_prompt_map.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/latency_prompt_map.json similarity index 100% rename from zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/latency_prompt_map.json rename to zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/latency_prompt_map.json diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/source_manifest.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/manifest.json similarity index 89% rename from zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/source_manifest.json rename to zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/manifest.json index ebb173fb91b2996519c2692aceb8ee656c35b8d1..c156c4cb69d95de7ca31e88eb755aa9d8b12b81b 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/source_manifest.json +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/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 } \ No newline at end of file diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/result.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/result.json new file mode 100644 index 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zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/source_identity.json rename to zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/source_identity.json index c0e158e6b25321833422ba92f5635774e81f5fae..f6be50aac65296bb6389a26f1408ab6dfbb9fcac 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/source_identity.json +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/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" } diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/config.yaml b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..beb47f16739208629b2971ddbfaba9f955b5b012 --- /dev/null +++ b/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 diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/dataset_statistics.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..9d5a6e36d25920896d29bf51a8e2eb5778f25a67 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/dataset_statistics.json @@ -0,0 +1,180 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.8840610980987549, + 0.34449484944343567, + 0.11654752492904663, + 0.8480036854743958, + 0.32758569717407227, + 0.9875396490097046 + ], + "std": [ + 0.32312333583831787, + 0.7096099853515625, + 0.9048961400985718, + 0.343753844499588, + 0.7393367886543274, + 0.11781969666481018 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.5243898153305053, + -1.0, + -1.0, + -0.5588397586345673, + -1.0, + 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"metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/new_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_zero_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 140, "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": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/evaluation/zero_parallel32_ib8", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_zero_100ep", "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 605, "workload_id": null}, "num_actions": 605, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 605} +{"episode_id": 99, "episode_return": 3157.8847593228566, "episode_return_env": 3157.8847593228566, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/new_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_zero_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 141, "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": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t_l0/evaluation/zero_parallel32_ib8", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_zero_100ep", "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 761, "workload_id": null}, "num_actions": 761, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 761} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/config.yaml b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/eval_config.yaml similarity index 73% rename from zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/config.yaml rename to zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/eval_config.yaml index 6a76b63f577ea32bb5e3a4106782c3ada18759a8..d36cfb8308c3d2c262f2f12e90c60830efb79630 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/config.yaml +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/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 diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/latency_prompt_map.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..727b2dd7642ac6926aa0451c1859cfa4ed29d397 --- /dev/null +++ b/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 + } +} \ No newline at end of file diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/manifest.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/manifest.json similarity index 88% rename from zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/manifest.json rename to zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/manifest.json index 7627f415c140b0e9670294f11806a4389db03464..c156c4cb69d95de7ca31e88eb755aa9d8b12b81b 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/manifest.json +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/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 -} +} \ No newline at end of file diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/result.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/zero/result.json new file mode 100644 index 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index b13da1b6b17f8255c042deeb3dc4beab4a87aba9..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/legacy_normalization_verification.json +++ /dev/null @@ -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 - }, - { - 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b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/result.json deleted file mode 100644 index e88cad1b4fb0f153a141747a4e8136d2be01cf77..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/result.json +++ /dev/null @@ -1,216 +0,0 @@ -{ - "episodes": 100, - "seeds": [ - 42, - 43, - 44, - 45, - 46, - 47, - 48, - 49, - 50, - 51, - 52, - 53, - 54, - 55, - 56, - 57, - 58, - 59, - 60, - 61, - 62, - 63, - 64, - 65, - 66, - 67, - 68, - 69, - 70, - 71, - 72, - 73, - 74, - 75, - 76, - 77, - 78, - 79, - 80, - 81, - 82, - 83, - 84, - 85, - 86, - 87, - 88, - 89, - 90, - 91, - 92, - 93, - 94, - 95, - 96, - 97, - 98, - 99, - 100, - 101, - 102, - 103, - 104, - 105, - 106, - 107, - 108, - 109, - 110, - 111, - 112, - 113, - 114, - 115, - 116, - 117, - 118, - 119, - 120, - 121, - 122, - 123, - 124, - 125, - 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b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/l0_data_source.json new file mode 100644 index 0000000000000000000000000000000000000000..db19523d010e1dcc25372ff84d504eb7bb62c11e --- /dev/null +++ b/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" +} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/manifest.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/manifest.json index ebb173fb91b2996519c2692aceb8ee656c35b8d1..c156c4cb69d95de7ca31e88eb755aa9d8b12b81b 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/manifest.json +++ b/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 } \ No newline at end of file diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/DONE b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/profile/DONE similarity index 100% rename from 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similarity index 100% rename from zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/profile.json rename to zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/profile/profile.json diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/provenance.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/provenance.json index d36ec6d6d14dfb9bcf10b50fccc045c10d9e557d..d7e2c7abb90a5ea321fe494c91f73a57c8823ce0 100644 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/provenance.json +++ b/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": 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b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/README.md deleted file mode 100644 index 078612fe671b3bafcf2dda820744bd26857f7c9a..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/README.md +++ /dev/null @@ -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. diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/provenance.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/provenance.json deleted file mode 100644 index c6ba98f5de0b2ff924f7a9467cb84f771b8a0b5b..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/provenance.json +++ /dev/null @@ -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" -} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source_identity.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source_identity.json new file mode 100644 index 0000000000000000000000000000000000000000..f6be50aac65296bb6389a26f1408ab6dfbb9fcac --- /dev/null +++ b/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" +} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/task_contract.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/task_contract.json deleted file mode 100644 index 7567af8871901a6d8a45081d77c7b0ca38924e72..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/task_contract.json +++ /dev/null @@ -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" -} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/training.complete.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/training.complete.json new file mode 100644 index 0000000000000000000000000000000000000000..63924a1fd5a36eab3d57787c1433ce345efc8a8e --- /dev/null +++ b/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" + } + ] +} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/first_completed_reload_episode.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/first_completed_reload_episode.json deleted file mode 100644 index 19e9bd8366793a2da347ad65fe06f34f3846a6c7..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/first_completed_reload_episode.json +++ /dev/null @@ -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" -} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/formal.status.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/formal.status.json deleted file mode 100644 index ef75c4cd2020e4a82b917fd0ed186fddf0950765..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/formal.status.json +++ /dev/null @@ -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" -} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/l0_sim20.yaml b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/l0_sim20.yaml deleted file mode 100644 index 6a76b63f577ea32bb5e3a4106782c3ada18759a8..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/l0_sim20.yaml +++ /dev/null @@ -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 diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/loader_check.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/loader_check.json deleted file mode 100644 index a7654eac51342e16210ff75ad7537f0cf61f5a5c..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/loader_check.json +++ /dev/null @@ -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 -} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/preparation.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/preparation.json deleted file mode 100644 index b7359d6a26051030fe60af6ea06832397fc6b9c7..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/preparation.json +++ /dev/null @@ -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" -} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/publication_state.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/publication_state.json deleted file mode 100644 index a485a2ff422efd4f051f1445cf2199ab43077a5e..0000000000000000000000000000000000000000 --- a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/publication_state.json +++ /dev/null @@ -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" - } -}