Publish corrected issued-action walker2d gr00t profile model
Browse files- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-summary.json +0 -163
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-verification.json +0 -6
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/README.md +4 -30
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt +1 -1
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/collection_protocol.json +14 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.full.yaml +15 -14
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.yaml +3 -2
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json +117 -117
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/episode_metrics.jsonl +0 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/eval_config.yaml +166 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/episode_metrics.jsonl +0 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/eval_config.yaml +166 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/manifest.json +27 -27
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/DONE +0 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/hardware.json +40 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/latency_burst_model.json +1308 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/latency_distribution.json +1027 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/latency_profile.png +0 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/profile.json +71 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/provenance.json +6 -31
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/reload-validation.json +0 -23
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/results.json +536 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source.tar.gz +3 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source/README.md +0 -5
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source/provenance.json +0 -172
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source_identity.json +21 -0
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/task_contract.json +0 -80
- latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/training.complete.json +14 -0
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-summary.json
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"protocol": "20 matched seeds42-61;5FPS;cap1000;measured-only;same B/F runtime with model and prompt0\u21921 changes",
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"interpretation": "Compare measured outcomes and realized latencies; no equal-latency causal claim and no teacher gate applied to VLA."
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}
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latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-verification.json
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{
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"state": "F20_AND_MATCHED_COMPARISON_VERIFIED",
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"summary": "/workspace/lzj/latency-sensitive-bench/runs/walker2d/gr00t_h1_5fps_20260917/F-summary.json",
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"steps": 5012,
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"verified_at": "2026-09-17T21:54:00.894032+00:00"
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}
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latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/README.md
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# walker2d
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- Checkpoint: `checkpoints/model.pt`
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- Selection: only published VLA checkpoint
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- Checkpoint SHA256: `1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b`
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- Configuration, FPS, actions, normalization and latency semantics retain their source values.
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- This import does not run evaluations or change training/evaluation/acceptance status.
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Action horizon is 1. Use `config.yaml` and `dataset_statistics.json` with the matching
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prepared backbone. `task_contract.json` is extracted from the original training configuration.
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Original machine paths in historical configurations are provenance: bind checkpoint,
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backbone, manifest and profile paths to downloaded local files when running inference.
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See [the original model notes](source/README.md) for experiment results and limitations.
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[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
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## Download
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```python
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from huggingface_hub import snapshot_download
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prefix = "latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917"
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snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
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allow_patterns=[prefix + "/**"])
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```
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Use the verified import commit listed in the repository's import report.
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# walker2d gr00t corrected profile checkpoint
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Teacher-issued action labels, step 5000, seed 42.
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Evaluation: simulated IID, 100 episodes per condition, seeds 42–141, latency seed 0, cap 1000, simulated capacity 1.
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Training parameters and model-specific FPS are recorded in config.full.yaml and results.json.
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
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|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
size 9976860963
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:982a63823b14d69732a40adad64a6a3ca8976b8b70dc9ab6ec80744f2d7ff2f0
|
| 3 |
size 9976860963
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/collection_protocol.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"teacher_source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/historical/latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1",
|
| 3 |
+
"teacher_seed": 0,
|
| 4 |
+
"gate": 3000,
|
| 5 |
+
"max_episodes": 100,
|
| 6 |
+
"train_episodes": 90,
|
| 7 |
+
"validation_episodes": 10,
|
| 8 |
+
"split_seed": 0,
|
| 9 |
+
"env_fps": 5.0,
|
| 10 |
+
"obs_fps": 5.0,
|
| 11 |
+
"checkpoint": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/teacher/checkpoint.pth",
|
| 12 |
+
"profile": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json",
|
| 13 |
+
"label_semantics": "teacher_issued_command"
|
| 14 |
+
}
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.full.yaml
CHANGED
|
@@ -1,7 +1,7 @@
|
|
| 1 |
framework:
|
| 2 |
name: QwenGR00T
|
| 3 |
qwenvl:
|
| 4 |
-
base_vlm:
|
| 5 |
attn_implementation: flash_attention_2
|
| 6 |
vl_hidden_dim: 2048
|
| 7 |
enable_gradient_checkpointing: true
|
|
@@ -13,7 +13,6 @@ framework:
|
|
| 13 |
max_seq_len: 1024
|
| 14 |
action_dim: 6
|
| 15 |
state_dim: 17
|
| 16 |
-
task_objective: null
|
| 17 |
action_horizon: 1
|
| 18 |
repeated_diffusion_steps: 8
|
| 19 |
noise_beta_alpha: 1.5
|
|
@@ -31,6 +30,7 @@ framework:
|
|
| 31 |
num_layers: 16
|
| 32 |
output_dim: 1024
|
| 33 |
positional_embeddings: null
|
|
|
|
| 34 |
action_env_dim: 6
|
| 35 |
future_action_window_size: 0
|
| 36 |
past_action_window_size: 0
|
|
@@ -41,7 +41,7 @@ datasets:
|
|
| 41 |
data_root_dir: /
|
| 42 |
data_mix: train
|
| 43 |
eval_data_mix: validation
|
| 44 |
-
custom_mixtures_path: /
|
| 45 |
action_type: continuous
|
| 46 |
sequential_step_sampling: true
|
| 47 |
eval_sequential_step_sampling: null
|
|
@@ -135,7 +135,7 @@ datasets:
|
|
| 135 |
- 0.0
|
| 136 |
obs_fps: 5.0
|
| 137 |
registration_imports:
|
| 138 |
-
- latency_bench.envs.
|
| 139 |
state_space:
|
| 140 |
labels:
|
| 141 |
- torso_height
|
|
@@ -157,6 +157,7 @@ datasets:
|
|
| 157 |
- left_foot_angular_velocity
|
| 158 |
task_name: walker2d
|
| 159 |
active_action_dim: 6
|
|
|
|
| 160 |
dataset:
|
| 161 |
source_hf: ''
|
| 162 |
config_name: null
|
|
@@ -232,20 +233,20 @@ trainer:
|
|
| 232 |
weight_decay: 1.0e-08
|
| 233 |
fused: true
|
| 234 |
save_format: pt
|
| 235 |
-
run_id:
|
| 236 |
-
run_root_dir: /
|
| 237 |
seed: 42
|
| 238 |
is_debug: false
|
| 239 |
version_id: '0.21'
|
| 240 |
wandb_project: latency-sensitive-bench
|
| 241 |
-
wandb_entity:
|
| 242 |
-
wandb_name:
|
| 243 |
-
wandb_group:
|
| 244 |
wandb_tags:
|
| 245 |
- walker2d
|
| 246 |
-
-
|
| 247 |
-
-
|
| 248 |
-
-
|
| 249 |
training_latency_condition: profile_latency
|
| 250 |
backbone:
|
| 251 |
repo_id: Qwen/Qwen3-VL-4B-Instruct
|
|
@@ -257,5 +258,5 @@ checkpoint:
|
|
| 257 |
save_training_state: true
|
| 258 |
local:
|
| 259 |
keep_last_n: 1
|
| 260 |
-
config_yaml: /
|
| 261 |
-
output_dir: /
|
|
|
|
| 1 |
framework:
|
| 2 |
name: QwenGR00T
|
| 3 |
qwenvl:
|
| 4 |
+
base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
|
| 5 |
attn_implementation: flash_attention_2
|
| 6 |
vl_hidden_dim: 2048
|
| 7 |
enable_gradient_checkpointing: true
|
|
|
|
| 13 |
max_seq_len: 1024
|
| 14 |
action_dim: 6
|
| 15 |
state_dim: 17
|
|
|
|
| 16 |
action_horizon: 1
|
| 17 |
repeated_diffusion_steps: 8
|
| 18 |
noise_beta_alpha: 1.5
|
|
|
|
| 30 |
num_layers: 16
|
| 31 |
output_dim: 1024
|
| 32 |
positional_embeddings: null
|
| 33 |
+
task_objective: null
|
| 34 |
action_env_dim: 6
|
| 35 |
future_action_window_size: 0
|
| 36 |
past_action_window_size: 0
|
|
|
|
| 41 |
data_root_dir: /
|
| 42 |
data_mix: train
|
| 43 |
eval_data_mix: validation
|
| 44 |
+
custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/mixture.json
|
| 45 |
action_type: continuous
|
| 46 |
sequential_step_sampling: true
|
| 47 |
eval_sequential_step_sampling: null
|
|
|
|
| 135 |
- 0.0
|
| 136 |
obs_fps: 5.0
|
| 137 |
registration_imports:
|
| 138 |
+
- latency_bench.envs.tasks.walker2d
|
| 139 |
state_space:
|
| 140 |
labels:
|
| 141 |
- torso_height
|
|
|
|
| 157 |
- left_foot_angular_velocity
|
| 158 |
task_name: walker2d
|
| 159 |
active_action_dim: 6
|
| 160 |
+
robot_type: rl_games_gymnasium
|
| 161 |
dataset:
|
| 162 |
source_hf: ''
|
| 163 |
config_name: null
|
|
|
|
| 233 |
weight_decay: 1.0e-08
|
| 234 |
fused: true
|
| 235 |
save_format: pt
|
| 236 |
+
run_id: walker2d_qwengr00t_issued_action_iid_s42_20261010
|
| 237 |
+
run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/training
|
| 238 |
seed: 42
|
| 239 |
is_debug: false
|
| 240 |
version_id: '0.21'
|
| 241 |
wandb_project: latency-sensitive-bench
|
| 242 |
+
wandb_entity: saberrr-zju
|
| 243 |
+
wandb_name: walker2d_qwengr00t_issued_action_iid_s42_20261010
|
| 244 |
+
wandb_group: continuous-control-issued-iid-20261010
|
| 245 |
wandb_tags:
|
| 246 |
- walker2d
|
| 247 |
+
- gr00t
|
| 248 |
+
- issued-action
|
| 249 |
+
- iid
|
| 250 |
training_latency_condition: profile_latency
|
| 251 |
backbone:
|
| 252 |
repo_id: Qwen/Qwen3-VL-4B-Instruct
|
|
|
|
| 258 |
save_training_state: true
|
| 259 |
local:
|
| 260 |
keep_last_n: 1
|
| 261 |
+
config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/train.yaml
|
| 262 |
+
output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/training/walker2d_qwengr00t_issued_action_iid_s42_20261010
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.yaml
CHANGED
|
@@ -1,7 +1,7 @@
|
|
| 1 |
framework:
|
| 2 |
name: QwenGR00T
|
| 3 |
qwenvl:
|
| 4 |
-
base_vlm:
|
| 5 |
attn_implementation: flash_attention_2
|
| 6 |
vl_hidden_dim: 2048
|
| 7 |
enable_gradient_checkpointing: true
|
|
@@ -96,7 +96,7 @@ datasets:
|
|
| 96 |
- 0.0
|
| 97 |
obs_fps: 5.0
|
| 98 |
registration_imports:
|
| 99 |
-
- latency_bench.envs.
|
| 100 |
state_space:
|
| 101 |
labels:
|
| 102 |
- torso_height
|
|
@@ -117,6 +117,7 @@ datasets:
|
|
| 117 |
- left_leg_angular_velocity
|
| 118 |
- left_foot_angular_velocity
|
| 119 |
task_name: walker2d
|
|
|
|
| 120 |
trainer:
|
| 121 |
pretrained_checkpoint: null
|
| 122 |
profile_timing:
|
|
|
|
| 1 |
framework:
|
| 2 |
name: QwenGR00T
|
| 3 |
qwenvl:
|
| 4 |
+
base_vlm: Qwen/Qwen3-VL-4B-Instruct
|
| 5 |
attn_implementation: flash_attention_2
|
| 6 |
vl_hidden_dim: 2048
|
| 7 |
enable_gradient_checkpointing: true
|
|
|
|
| 96 |
- 0.0
|
| 97 |
obs_fps: 5.0
|
| 98 |
registration_imports:
|
| 99 |
+
- latency_bench.envs.tasks.walker2d
|
| 100 |
state_space:
|
| 101 |
labels:
|
| 102 |
- torso_height
|
|
|
|
| 117 |
- left_leg_angular_velocity
|
| 118 |
- left_foot_angular_velocity
|
| 119 |
task_name: walker2d
|
| 120 |
+
robot_type: rl_games_gymnasium
|
| 121 |
trainer:
|
| 122 |
pretrained_checkpoint: null
|
| 123 |
profile_timing:
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json
CHANGED
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@@ -2,20 +2,20 @@
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1.0516990423202515,
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1.1106691360473633,
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3.520151376724243,
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4.076098442077637,
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6.112624645233154
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| 99 |
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| 100 |
"max": [
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1.5055254697799683,
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0.9924107789993286,
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0.14722543954849243,
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10.0,
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| 119 |
"min": [
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| 120 |
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0.9314286708831787,
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| 138 |
"q01": [
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| 139 |
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1.0236294615268706,
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0.31672064185142523,
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|
| 154 |
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-10.0,
|
| 155 |
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-10.0
|
| 156 |
],
|
| 157 |
"q99": [
|
| 158 |
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1.484803569316864,
|
| 159 |
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0.6431242507696152,
|
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0.0642573992162943,
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0.05488147411495456,
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1.0959160935878753,
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0.1113615243136883,
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0.21102572441101078,
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1.2509192967414855,
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5.354423475265503,
|
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2.6472057247161866,
|
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6.149501338005067,
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7.868442373275757,
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6.547581486701967,
|
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10.0,
|
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10.0,
|
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10.0,
|
| 174 |
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10.0
|
| 175 |
]
|
| 176 |
},
|
| 177 |
+
"num_transitions": 89918,
|
| 178 |
"num_trajectories": 90
|
| 179 |
}
|
| 180 |
}
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/episode_metrics.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/eval_config.yaml
ADDED
|
@@ -0,0 +1,166 @@
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|
| 1 |
+
experiment:
|
| 2 |
+
name: walker2d_gr00t_l0_iid_100ep
|
| 3 |
+
seed: 42
|
| 4 |
+
backend:
|
| 5 |
+
type: sample_factory
|
| 6 |
+
algo: APPO
|
| 7 |
+
device: cuda
|
| 8 |
+
train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/walker2d
|
| 9 |
+
restart_behavior: overwrite
|
| 10 |
+
run_mode: eval
|
| 11 |
+
executor:
|
| 12 |
+
mode: simulated
|
| 13 |
+
inference_devices:
|
| 14 |
+
- cuda:0
|
| 15 |
+
- cuda:1
|
| 16 |
+
inference_batch_size: 8
|
| 17 |
+
simulated_inference_pool: true
|
| 18 |
+
simulated_worker_capacity: 1
|
| 19 |
+
env:
|
| 20 |
+
name: gymnasium
|
| 21 |
+
task_name: walker2d
|
| 22 |
+
env_id: LatencyBench/Walker2dContinuous-v0
|
| 23 |
+
registration_imports:
|
| 24 |
+
- latency_bench.envs.tasks.walker2d
|
| 25 |
+
make_kwargs:
|
| 26 |
+
base_env_id: Walker2d-v4
|
| 27 |
+
base_make_kwargs:
|
| 28 |
+
ctrl_cost_weight: 0.001
|
| 29 |
+
exclude_current_positions_from_observation: true
|
| 30 |
+
forward_reward_weight: 1.0
|
| 31 |
+
healthy_reward: 1.0
|
| 32 |
+
reset_noise_scale: 0.005
|
| 33 |
+
terminate_when_unhealthy: true
|
| 34 |
+
render_mode: rgb_array
|
| 35 |
+
env_fps: 5
|
| 36 |
+
obs_fps: 5
|
| 37 |
+
frame_stack: 1
|
| 38 |
+
action_space:
|
| 39 |
+
dtype: float32
|
| 40 |
+
high:
|
| 41 |
+
- 1.0
|
| 42 |
+
- 1.0
|
| 43 |
+
- 1.0
|
| 44 |
+
- 1.0
|
| 45 |
+
- 1.0
|
| 46 |
+
- 1.0
|
| 47 |
+
labels:
|
| 48 |
+
- right_thigh_torque
|
| 49 |
+
- right_leg_torque
|
| 50 |
+
- right_foot_torque
|
| 51 |
+
- left_thigh_torque
|
| 52 |
+
- left_leg_torque
|
| 53 |
+
- left_foot_torque
|
| 54 |
+
low:
|
| 55 |
+
- -1.0
|
| 56 |
+
- -1.0
|
| 57 |
+
- -1.0
|
| 58 |
+
- -1.0
|
| 59 |
+
- -1.0
|
| 60 |
+
- -1.0
|
| 61 |
+
type: box
|
| 62 |
+
noop_action:
|
| 63 |
+
- 0.0
|
| 64 |
+
- 0.0
|
| 65 |
+
- 0.0
|
| 66 |
+
- 0.0
|
| 67 |
+
- 0.0
|
| 68 |
+
- 0.0
|
| 69 |
+
base_prompt: Move the Walker2d robot forward while keeping its torso upright. Predict
|
| 70 |
+
six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot,
|
| 71 |
+
left thigh, left leg, and left foot.
|
| 72 |
+
state_space:
|
| 73 |
+
labels:
|
| 74 |
+
- torso_height
|
| 75 |
+
- torso_angle
|
| 76 |
+
- right_thigh_angle
|
| 77 |
+
- right_leg_angle
|
| 78 |
+
- right_foot_angle
|
| 79 |
+
- left_thigh_angle
|
| 80 |
+
- left_leg_angle
|
| 81 |
+
- left_foot_angle
|
| 82 |
+
- torso_x_velocity
|
| 83 |
+
- torso_z_velocity
|
| 84 |
+
- torso_angular_velocity
|
| 85 |
+
- right_thigh_angular_velocity
|
| 86 |
+
- right_leg_angular_velocity
|
| 87 |
+
- right_foot_angular_velocity
|
| 88 |
+
- left_thigh_angular_velocity
|
| 89 |
+
- left_leg_angular_velocity
|
| 90 |
+
- left_foot_angular_velocity
|
| 91 |
+
obs_resize:
|
| 92 |
+
- 224
|
| 93 |
+
- 224
|
| 94 |
+
latency:
|
| 95 |
+
method: iid
|
| 96 |
+
sync_cuda: false
|
| 97 |
+
profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json
|
| 98 |
+
profile_worker_slot: 0
|
| 99 |
+
seed: 0
|
| 100 |
+
scheduler:
|
| 101 |
+
hold_policy: hold
|
| 102 |
+
ordering_policy: issue_order_fifo
|
| 103 |
+
policy:
|
| 104 |
+
type: starvla
|
| 105 |
+
checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt
|
| 106 |
+
model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/config.yaml
|
| 107 |
+
backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
|
| 108 |
+
device: cuda:0
|
| 109 |
+
task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/manifest.json
|
| 110 |
+
latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/latency_prompt_map.json
|
| 111 |
+
latency_prompt_key: 0
|
| 112 |
+
training:
|
| 113 |
+
train_for_env_steps: 10000000
|
| 114 |
+
num_workers: 8
|
| 115 |
+
num_envs_per_worker: 8
|
| 116 |
+
worker_num_splits: 2
|
| 117 |
+
num_policies: 1
|
| 118 |
+
batch_size: 1024
|
| 119 |
+
rollout: 64
|
| 120 |
+
recurrence: 1
|
| 121 |
+
num_epochs: 2
|
| 122 |
+
num_batches_per_epoch: 4
|
| 123 |
+
max_policy_lag: 300
|
| 124 |
+
learning_rate: 0.00295
|
| 125 |
+
gamma: 0.99
|
| 126 |
+
gae_lambda: 0.95
|
| 127 |
+
ppo_clip_ratio: 0.2
|
| 128 |
+
ppo_clip_value: 0.2
|
| 129 |
+
value_loss_coeff: 1.3
|
| 130 |
+
max_grad_norm: 3.5
|
| 131 |
+
exploration_loss_coeff: 0.0
|
| 132 |
+
async_rl: false
|
| 133 |
+
batched_sampling: false
|
| 134 |
+
use_rnn: false
|
| 135 |
+
encoder_mlp_layers:
|
| 136 |
+
- 64
|
| 137 |
+
- 64
|
| 138 |
+
normalize_input: true
|
| 139 |
+
normalize_returns: true
|
| 140 |
+
save_every_sec: 600
|
| 141 |
+
keep_checkpoints: 5
|
| 142 |
+
lr_schedule: linear_decay
|
| 143 |
+
kl_loss_coeff: 0.1
|
| 144 |
+
serial_mode: false
|
| 145 |
+
nonlinearity: tanh
|
| 146 |
+
adaptive_stddev: false
|
| 147 |
+
policy_initialization: torch_default
|
| 148 |
+
initial_stddev: 1.0
|
| 149 |
+
shuffle_minibatches: false
|
| 150 |
+
value_bootstrap: true
|
| 151 |
+
evaluation:
|
| 152 |
+
eval_episodes: 100
|
| 153 |
+
eval_parallel_envs: 32
|
| 154 |
+
eval_max_steps: 1000
|
| 155 |
+
eval_deterministic: true
|
| 156 |
+
eval_latency_values: null
|
| 157 |
+
episode_seed_offset: 0
|
| 158 |
+
logging:
|
| 159 |
+
output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32
|
| 160 |
+
video:
|
| 161 |
+
enabled: false
|
| 162 |
+
num_bins: 1
|
| 163 |
+
save_step_records: true
|
| 164 |
+
save_action_records: true
|
| 165 |
+
save_latency_records: true
|
| 166 |
+
realtime_pipeline_profile: false
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/episode_metrics.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/eval_config.yaml
ADDED
|
@@ -0,0 +1,166 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment:
|
| 2 |
+
name: walker2d_gr00t_profile_iid_100ep
|
| 3 |
+
seed: 42
|
| 4 |
+
backend:
|
| 5 |
+
type: sample_factory
|
| 6 |
+
algo: APPO
|
| 7 |
+
device: cuda
|
| 8 |
+
train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/walker2d
|
| 9 |
+
restart_behavior: overwrite
|
| 10 |
+
run_mode: eval
|
| 11 |
+
executor:
|
| 12 |
+
mode: simulated
|
| 13 |
+
inference_devices:
|
| 14 |
+
- cuda:0
|
| 15 |
+
- cuda:1
|
| 16 |
+
inference_batch_size: 8
|
| 17 |
+
simulated_inference_pool: true
|
| 18 |
+
simulated_worker_capacity: 1
|
| 19 |
+
env:
|
| 20 |
+
name: gymnasium
|
| 21 |
+
task_name: walker2d
|
| 22 |
+
env_id: LatencyBench/Walker2dContinuous-v0
|
| 23 |
+
registration_imports:
|
| 24 |
+
- latency_bench.envs.tasks.walker2d
|
| 25 |
+
make_kwargs:
|
| 26 |
+
base_env_id: Walker2d-v4
|
| 27 |
+
base_make_kwargs:
|
| 28 |
+
ctrl_cost_weight: 0.001
|
| 29 |
+
exclude_current_positions_from_observation: true
|
| 30 |
+
forward_reward_weight: 1.0
|
| 31 |
+
healthy_reward: 1.0
|
| 32 |
+
reset_noise_scale: 0.005
|
| 33 |
+
terminate_when_unhealthy: true
|
| 34 |
+
render_mode: rgb_array
|
| 35 |
+
env_fps: 5
|
| 36 |
+
obs_fps: 5
|
| 37 |
+
frame_stack: 1
|
| 38 |
+
action_space:
|
| 39 |
+
dtype: float32
|
| 40 |
+
high:
|
| 41 |
+
- 1.0
|
| 42 |
+
- 1.0
|
| 43 |
+
- 1.0
|
| 44 |
+
- 1.0
|
| 45 |
+
- 1.0
|
| 46 |
+
- 1.0
|
| 47 |
+
labels:
|
| 48 |
+
- right_thigh_torque
|
| 49 |
+
- right_leg_torque
|
| 50 |
+
- right_foot_torque
|
| 51 |
+
- left_thigh_torque
|
| 52 |
+
- left_leg_torque
|
| 53 |
+
- left_foot_torque
|
| 54 |
+
low:
|
| 55 |
+
- -1.0
|
| 56 |
+
- -1.0
|
| 57 |
+
- -1.0
|
| 58 |
+
- -1.0
|
| 59 |
+
- -1.0
|
| 60 |
+
- -1.0
|
| 61 |
+
type: box
|
| 62 |
+
noop_action:
|
| 63 |
+
- 0.0
|
| 64 |
+
- 0.0
|
| 65 |
+
- 0.0
|
| 66 |
+
- 0.0
|
| 67 |
+
- 0.0
|
| 68 |
+
- 0.0
|
| 69 |
+
base_prompt: Move the Walker2d robot forward while keeping its torso upright. Predict
|
| 70 |
+
six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot,
|
| 71 |
+
left thigh, left leg, and left foot.
|
| 72 |
+
state_space:
|
| 73 |
+
labels:
|
| 74 |
+
- torso_height
|
| 75 |
+
- torso_angle
|
| 76 |
+
- right_thigh_angle
|
| 77 |
+
- right_leg_angle
|
| 78 |
+
- right_foot_angle
|
| 79 |
+
- left_thigh_angle
|
| 80 |
+
- left_leg_angle
|
| 81 |
+
- left_foot_angle
|
| 82 |
+
- torso_x_velocity
|
| 83 |
+
- torso_z_velocity
|
| 84 |
+
- torso_angular_velocity
|
| 85 |
+
- right_thigh_angular_velocity
|
| 86 |
+
- right_leg_angular_velocity
|
| 87 |
+
- right_foot_angular_velocity
|
| 88 |
+
- left_thigh_angular_velocity
|
| 89 |
+
- left_leg_angular_velocity
|
| 90 |
+
- left_foot_angular_velocity
|
| 91 |
+
obs_resize:
|
| 92 |
+
- 224
|
| 93 |
+
- 224
|
| 94 |
+
latency:
|
| 95 |
+
method: iid
|
| 96 |
+
sync_cuda: false
|
| 97 |
+
profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json
|
| 98 |
+
profile_worker_slot: 0
|
| 99 |
+
seed: 0
|
| 100 |
+
scheduler:
|
| 101 |
+
hold_policy: hold
|
| 102 |
+
ordering_policy: issue_order_fifo
|
| 103 |
+
policy:
|
| 104 |
+
type: starvla
|
| 105 |
+
checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/checkpoints/model.pt
|
| 106 |
+
model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/config.yaml
|
| 107 |
+
backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
|
| 108 |
+
device: cuda:0
|
| 109 |
+
task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/manifest.json
|
| 110 |
+
latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/latency_prompt_map.json
|
| 111 |
+
latency_prompt_key: 1
|
| 112 |
+
training:
|
| 113 |
+
train_for_env_steps: 10000000
|
| 114 |
+
num_workers: 8
|
| 115 |
+
num_envs_per_worker: 8
|
| 116 |
+
worker_num_splits: 2
|
| 117 |
+
num_policies: 1
|
| 118 |
+
batch_size: 1024
|
| 119 |
+
rollout: 64
|
| 120 |
+
recurrence: 1
|
| 121 |
+
num_epochs: 2
|
| 122 |
+
num_batches_per_epoch: 4
|
| 123 |
+
max_policy_lag: 300
|
| 124 |
+
learning_rate: 0.00295
|
| 125 |
+
gamma: 0.99
|
| 126 |
+
gae_lambda: 0.95
|
| 127 |
+
ppo_clip_ratio: 0.2
|
| 128 |
+
ppo_clip_value: 0.2
|
| 129 |
+
value_loss_coeff: 1.3
|
| 130 |
+
max_grad_norm: 3.5
|
| 131 |
+
exploration_loss_coeff: 0.0
|
| 132 |
+
async_rl: false
|
| 133 |
+
batched_sampling: false
|
| 134 |
+
use_rnn: false
|
| 135 |
+
encoder_mlp_layers:
|
| 136 |
+
- 64
|
| 137 |
+
- 64
|
| 138 |
+
normalize_input: true
|
| 139 |
+
normalize_returns: true
|
| 140 |
+
save_every_sec: 600
|
| 141 |
+
keep_checkpoints: 5
|
| 142 |
+
lr_schedule: linear_decay
|
| 143 |
+
kl_loss_coeff: 0.1
|
| 144 |
+
serial_mode: false
|
| 145 |
+
nonlinearity: tanh
|
| 146 |
+
adaptive_stddev: false
|
| 147 |
+
policy_initialization: torch_default
|
| 148 |
+
initial_stddev: 1.0
|
| 149 |
+
shuffle_minibatches: false
|
| 150 |
+
value_bootstrap: true
|
| 151 |
+
evaluation:
|
| 152 |
+
eval_episodes: 100
|
| 153 |
+
eval_parallel_envs: 32
|
| 154 |
+
eval_max_steps: 1000
|
| 155 |
+
eval_deterministic: true
|
| 156 |
+
eval_latency_values: null
|
| 157 |
+
episode_seed_offset: 0
|
| 158 |
+
logging:
|
| 159 |
+
output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/profile_parallel32
|
| 160 |
+
video:
|
| 161 |
+
enabled: false
|
| 162 |
+
num_bins: 1
|
| 163 |
+
save_step_records: true
|
| 164 |
+
save_action_records: true
|
| 165 |
+
save_latency_records: true
|
| 166 |
+
realtime_pipeline_profile: false
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/manifest.json
CHANGED
|
@@ -1,13 +1,13 @@
|
|
| 1 |
{
|
| 2 |
-
"dataset_name": "
|
| 3 |
"env_name": "walker2d",
|
| 4 |
"episodes": 90,
|
| 5 |
-
"frames":
|
| 6 |
"task_prompts": [
|
| 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 1 raw frames (200.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
|
| 8 |
],
|
| 9 |
"format": "lerobot_v2_image_parquet",
|
| 10 |
-
"source": "/
|
| 11 |
"integration_name": "gymnasium",
|
| 12 |
"task_name": "walker2d",
|
| 13 |
"action_layout": "gymnasium_continuous_v1",
|
|
@@ -57,17 +57,17 @@
|
|
| 57 |
"state_normalization": {
|
| 58 |
"type": "min_max",
|
| 59 |
"min": [
|
| 60 |
-
0.
|
| 61 |
-0.1729077845811844,
|
| 62 |
-
-0.
|
| 63 |
-
-0.
|
| 64 |
-
-1.
|
| 65 |
-
-1.
|
| 66 |
-
-
|
| 67 |
-
-1.
|
| 68 |
-
-1.
|
| 69 |
-
-2.
|
| 70 |
-
-8.
|
| 71 |
-10.0,
|
| 72 |
-10.0,
|
| 73 |
-10.0,
|
|
@@ -76,16 +76,16 @@
|
|
| 76 |
-10.0
|
| 77 |
],
|
| 78 |
"max": [
|
| 79 |
-
1.
|
| 80 |
-
0.
|
| 81 |
-
0.
|
| 82 |
-
0.
|
| 83 |
-
1.
|
| 84 |
-
0.
|
| 85 |
-
0.
|
| 86 |
-
1.
|
| 87 |
-
6.
|
| 88 |
-
3.
|
| 89 |
10.0,
|
| 90 |
10.0,
|
| 91 |
10.0,
|
|
@@ -96,8 +96,8 @@
|
|
| 96 |
]
|
| 97 |
},
|
| 98 |
"robot_type": "rl_games_gymnasium",
|
| 99 |
-
"latency_prompt_map_path": "/
|
| 100 |
-
"custom_mixtures_path": "/
|
| 101 |
"gymnasium_task": {
|
| 102 |
"action_space": {
|
| 103 |
"dtype": "float32",
|
|
@@ -153,7 +153,7 @@
|
|
| 153 |
],
|
| 154 |
"obs_fps": 5.0,
|
| 155 |
"registration_imports": [
|
| 156 |
-
"latency_bench.envs.
|
| 157 |
],
|
| 158 |
"state_space": {
|
| 159 |
"labels": [
|
|
@@ -178,7 +178,7 @@
|
|
| 178 |
},
|
| 179 |
"task_name": "walker2d"
|
| 180 |
},
|
| 181 |
-
"validation_dataset_name": "
|
| 182 |
"validation_episodes": 10,
|
| 183 |
"validation_frames": 10000
|
| 184 |
}
|
|
|
|
| 1 |
{
|
| 2 |
+
"dataset_name": "lerobot",
|
| 3 |
"env_name": "walker2d",
|
| 4 |
"episodes": 90,
|
| 5 |
+
"frames": 89918,
|
| 6 |
"task_prompts": [
|
| 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 1 raw frames (200.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
|
| 8 |
],
|
| 9 |
"format": "lerobot_v2_image_parquet",
|
| 10 |
+
"source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/raw",
|
| 11 |
"integration_name": "gymnasium",
|
| 12 |
"task_name": "walker2d",
|
| 13 |
"action_layout": "gymnasium_continuous_v1",
|
|
|
|
| 57 |
"state_normalization": {
|
| 58 |
"type": "min_max",
|
| 59 |
"min": [
|
| 60 |
+
0.9314286708831787,
|
| 61 |
-0.1729077845811844,
|
| 62 |
+
-0.4933790862560272,
|
| 63 |
+
-0.4129164516925812,
|
| 64 |
+
-1.1557602882385254,
|
| 65 |
+
-1.5651016235351562,
|
| 66 |
+
-2.7074811458587646,
|
| 67 |
+
-1.447374939918518,
|
| 68 |
+
-1.4488009214401245,
|
| 69 |
+
-2.6456122398376465,
|
| 70 |
+
-8.981568336486816,
|
| 71 |
-10.0,
|
| 72 |
-10.0,
|
| 73 |
-10.0,
|
|
|
|
| 76 |
-10.0
|
| 77 |
],
|
| 78 |
"max": [
|
| 79 |
+
1.5055254697799683,
|
| 80 |
+
0.9924107789993286,
|
| 81 |
+
0.14722543954849243,
|
| 82 |
+
0.17162975668907166,
|
| 83 |
+
1.215640902519226,
|
| 84 |
+
0.18669180572032928,
|
| 85 |
+
0.3025740087032318,
|
| 86 |
+
1.3430273532867432,
|
| 87 |
+
6.26255989074707,
|
| 88 |
+
3.290994167327881,
|
| 89 |
10.0,
|
| 90 |
10.0,
|
| 91 |
10.0,
|
|
|
|
| 96 |
]
|
| 97 |
},
|
| 98 |
"robot_type": "rl_games_gymnasium",
|
| 99 |
+
"latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/lerobot/latency_prompt_map.json",
|
| 100 |
+
"custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/_generated_mixtures/lerobot.json",
|
| 101 |
"gymnasium_task": {
|
| 102 |
"action_space": {
|
| 103 |
"dtype": "float32",
|
|
|
|
| 153 |
],
|
| 154 |
"obs_fps": 5.0,
|
| 155 |
"registration_imports": [
|
| 156 |
+
"latency_bench.envs.tasks.walker2d"
|
| 157 |
],
|
| 158 |
"state_space": {
|
| 159 |
"labels": [
|
|
|
|
| 178 |
},
|
| 179 |
"task_name": "walker2d"
|
| 180 |
},
|
| 181 |
+
"validation_dataset_name": "lerobot__val",
|
| 182 |
"validation_episodes": 10,
|
| 183 |
"validation_frames": 10000
|
| 184 |
}
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/DONE
ADDED
|
File without changes
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/hardware.json
ADDED
|
@@ -0,0 +1,40 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"driver_version": "580.173.02",
|
| 3 |
+
"gpu_class": "1x-rtx3090",
|
| 4 |
+
"gpus": [
|
| 5 |
+
{
|
| 6 |
+
"name": "NVIDIA GeForce RTX 3090",
|
| 7 |
+
"slot": 0
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"instance_id": "instance_859cf1e47bca6046",
|
| 11 |
+
"topology_links": [],
|
| 12 |
+
"torch": {
|
| 13 |
+
"backends": {
|
| 14 |
+
"cuda_cudnn_sdp_enabled": true,
|
| 15 |
+
"cuda_flash_sdp_enabled": true,
|
| 16 |
+
"cuda_math_sdp_enabled": true,
|
| 17 |
+
"cuda_matmul_allow_tf32": false,
|
| 18 |
+
"cuda_mem_efficient_sdp_enabled": true,
|
| 19 |
+
"cudnn_allow_tf32": true,
|
| 20 |
+
"cudnn_benchmark": false
|
| 21 |
+
},
|
| 22 |
+
"cuda_available": true,
|
| 23 |
+
"cuda_device_count": 1,
|
| 24 |
+
"cuda_version": "12.8",
|
| 25 |
+
"current_device": 0,
|
| 26 |
+
"current_device_name": "NVIDIA GeForce RTX 3090",
|
| 27 |
+
"device_properties": [
|
| 28 |
+
{
|
| 29 |
+
"index": 0,
|
| 30 |
+
"major": 8,
|
| 31 |
+
"minor": 6,
|
| 32 |
+
"multi_processor_count": 82,
|
| 33 |
+
"name": "NVIDIA GeForce RTX 3090",
|
| 34 |
+
"total_memory": 25295257600
|
| 35 |
+
}
|
| 36 |
+
],
|
| 37 |
+
"float32_matmul_precision": "highest",
|
| 38 |
+
"version": "2.11.0+cu128"
|
| 39 |
+
}
|
| 40 |
+
}
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/latency_burst_model.json
ADDED
|
@@ -0,0 +1,1308 @@
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| 1 |
+
{
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| 2 |
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"burst_dwell_distribution": {
|
| 3 |
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"distribution_type": "inverse_cdf",
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| 4 |
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| 129 |
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|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/latency_distribution.json
ADDED
|
@@ -0,0 +1,1027 @@
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latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/latency_profile.png
ADDED
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/profile.json
ADDED
|
@@ -0,0 +1,71 @@
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|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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"gpu_class": "1x-rtx3090",
|
| 7 |
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"instance_id": "instance_859cf1e47bca6046",
|
| 8 |
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"latency_kind": "observation_to_action_latency",
|
| 9 |
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"latency_method": "temporal",
|
| 10 |
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"model_id": "gr00t",
|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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"per_slot_summary": {
|
| 15 |
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"0": {
|
| 16 |
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"admitted_count": 3095,
|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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}
|
| 23 |
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},
|
| 24 |
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"provenance": {
|
| 25 |
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"base_config": "/workspace/lzj/latency-sensitive-bench/runs/walker2d/gr00t_h1_5fps_20260917/P.yaml",
|
| 26 |
+
"checkpoint_kind": "latest",
|
| 27 |
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"model_artifact": {
|
| 28 |
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"action_horizon": 1,
|
| 29 |
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"checkpoint_sha256": "5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1",
|
| 30 |
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"clock_fps": 5,
|
| 31 |
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"hf_prefix": "walker2d/zero_latency/GR00T",
|
| 32 |
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"hf_repo": "latency-sensitive-bench/Standard-Pipeline",
|
| 33 |
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"hf_revision": "9ea50f42a1e93a9035c8df6a392e5e9f141493de",
|
| 34 |
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"published": true,
|
| 35 |
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"source": "huggingface",
|
| 36 |
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"training_condition": "zero_latency",
|
| 37 |
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"training_updates": 5000
|
| 38 |
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},
|
| 39 |
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"session_ids": [
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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]
|
| 46 |
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},
|
| 47 |
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"sample_model_type": "hidden_regime",
|
| 48 |
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"source_run_id": "20260917T164637291306Z",
|
| 49 |
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"summary": {
|
| 50 |
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"frame_ms": 200.0,
|
| 51 |
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"max_ms": 159.91820216178894,
|
| 52 |
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| 53 |
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"mean_ms": 111.28701411079321,
|
| 54 |
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|
| 55 |
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"n_samples": 3095,
|
| 56 |
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| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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"std_ms": 4.800312930327855
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| 68 |
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},
|
| 69 |
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"visualization_path": "latency_profile.png",
|
| 70 |
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"workload_id": "walker2d"
|
| 71 |
+
}
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/provenance.json
CHANGED
|
@@ -1,34 +1,9 @@
|
|
| 1 |
{
|
| 2 |
"task": "walker2d",
|
| 3 |
-
"model": "
|
| 4 |
-
"
|
| 5 |
-
"
|
| 6 |
-
"
|
| 7 |
-
|
| 8 |
-
|
| 9 |
-
"path": "walker2d/profile_latency/GR00T",
|
| 10 |
-
"url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/GR00T"
|
| 11 |
-
},
|
| 12 |
-
"hf_repo_id": "latency-sensitive-bench/benchmark-models",
|
| 13 |
-
"hf_path": "latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917",
|
| 14 |
-
"checkpoint": {
|
| 15 |
-
"source_file": "walker2d/profile_latency/GR00T/checkpoints/model.pt",
|
| 16 |
-
"source_sha256": "1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b",
|
| 17 |
-
"source_bytes": 9976860963,
|
| 18 |
-
"file": "checkpoints/model.pt",
|
| 19 |
-
"selection_rule": "only published VLA checkpoint",
|
| 20 |
-
"method": "copy",
|
| 21 |
-
"sha256": "1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b",
|
| 22 |
-
"bytes": 9976860963
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| 23 |
-
},
|
| 24 |
-
"config_source": "walker2d/profile_latency/GR00T/config.yaml",
|
| 25 |
-
"task_contract_file": "task_contract.json",
|
| 26 |
-
"missing_source_files": [],
|
| 27 |
-
"migration": {
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| 28 |
-
"operation": "copy_selected_inference_bundle",
|
| 29 |
-
"source_modified": false,
|
| 30 |
-
"evaluation_performed": false,
|
| 31 |
-
"experiment_status": "preserved_in_source_evidence"
|
| 32 |
-
},
|
| 33 |
-
"action_horizon": 1
|
| 34 |
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|
|
|
|
| 1 |
{
|
| 2 |
"task": "walker2d",
|
| 3 |
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"model": "gr00t",
|
| 4 |
+
"training_run_id": "walker2d_qwengr00t_issued_action_iid_s42_20261010",
|
| 5 |
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"steps": 5000,
|
| 6 |
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"seed": 42,
|
| 7 |
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"source_identity": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/source_identity.json",
|
| 8 |
+
"collection_protocol": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/collection_protocol.json"
|
|
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|
| 9 |
}
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/reload-validation.json
DELETED
|
@@ -1,23 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"verified_at": "2026-09-17T20:36:51.671176+00:00",
|
| 3 |
-
"state": "TRAINING_AND_SAVED_BUNDLE_FORWARD_VERIFIED",
|
| 4 |
-
"training_updates": 5000,
|
| 5 |
-
"checkpoint_sha256": "1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b",
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| 6 |
-
"action_horizon": 1,
|
| 7 |
-
"state_dim": 17,
|
| 8 |
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"action_dim": 6,
|
| 9 |
-
"env_fps": 5,
|
| 10 |
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"obs_fps": 5,
|
| 11 |
-
"global_batch": 64,
|
| 12 |
-
"seed": 42,
|
| 13 |
-
"sample_source": "actual held-out profile raw episode; manifest train-only minmax applied once",
|
| 14 |
-
"reload_contract": "existing saved-model loader checks missing/unexpected keys, allowing its documented tied-Qwen lm_head equivalence",
|
| 15 |
-
"forward_shape": [
|
| 16 |
-
1,
|
| 17 |
-
1,
|
| 18 |
-
6
|
| 19 |
-
],
|
| 20 |
-
"forward_finite": true,
|
| 21 |
-
"F20_status": "not yet run",
|
| 22 |
-
"acceptance": "not established by this engineering check"
|
| 23 |
-
}
|
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|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/results.json
ADDED
|
@@ -0,0 +1,536 @@
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# Walker2D GR00T profile H1 /5FPS
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Fresh5000update training, savedbundle verification and matchedRTX3090 measuredF20 are complete. B=63.241475 ± 6.584120; F=852.872403 ± 357.102322; populationSD,20matchedseeds42–61,20pairedgains. This improvement is not a high-performance robotic acceptance claim. The >3000 gate applies to teacher demonstrations only.
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B/F observedlatencies differ; no equal-latency causal claim. See F-summary.json and F-verification.json. Fullrawstep/action/latencytraces remain on3090; compactevidencepublished in dataset revision b59922566cb475e61455342b1111b9e9771c09de. Original reload-validation remains a historical snapshot. Evaluatedweights unchanged at af4f38060b0374c5684c43f22cd504257cf2bffd.
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-
"metadata_derivation": "current task_name walker2d and state17 labels from wrapper; original official10m recipe seed0/hyperparameters/native physics preserved",
|
| 105 |
-
"next": "Run only after immutable new P is verified; Final/best20 tieFinal, E10, bounded12probe, strictreturn>3000."
|
| 106 |
-
},
|
| 107 |
-
"data": {
|
| 108 |
-
"train": {
|
| 109 |
-
"episodes": 90,
|
| 110 |
-
"frames": 90000,
|
| 111 |
-
"min_replay_return": 4128.808384731412,
|
| 112 |
-
"max_replay_return": 4261.9987871050835,
|
| 113 |
-
"sha256": "a161eb4de7d2539c456f5c21ae109c1561ee7c60a8cc273e3a32a9abae862fd1"
|
| 114 |
-
},
|
| 115 |
-
"val": {
|
| 116 |
-
"episodes": 10,
|
| 117 |
-
"frames": 10000,
|
| 118 |
-
"min_replay_return": 4201.307677522302,
|
| 119 |
-
"max_replay_return": 4247.824013382196,
|
| 120 |
-
"sha256": "5f17b3e18e7c79e94eefb773f52b7abd82873c8629e7a950eb763c849ca5bb4c"
|
| 121 |
-
}
|
| 122 |
-
},
|
| 123 |
-
"dataset": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/data/lerobot/walker2d_h1_5fps_profile",
|
| 124 |
-
"condition": "profile_latency",
|
| 125 |
-
"action_horizon": 1,
|
| 126 |
-
"state_normalization": {
|
| 127 |
-
"type": "min_max",
|
| 128 |
-
"min": [
|
| 129 |
-
0.9851876497268677,
|
| 130 |
-
-0.1729077845811844,
|
| 131 |
-
-0.5815715193748474,
|
| 132 |
-
-0.41291648149490356,
|
| 133 |
-
-1.1557613611221313,
|
| 134 |
-
-1.565748929977417,
|
| 135 |
-
-1.5937821865081787,
|
| 136 |
-
-1.4450324773788452,
|
| 137 |
-
-1.448801040649414,
|
| 138 |
-
-2.645611524581909,
|
| 139 |
-
-8.647480010986328,
|
| 140 |
-
-10.0,
|
| 141 |
-
-10.0,
|
| 142 |
-
-10.0,
|
| 143 |
-
-10.0,
|
| 144 |
-
-10.0,
|
| 145 |
-
-10.0
|
| 146 |
-
],
|
| 147 |
-
"max": [
|
| 148 |
-
1.5055257081985474,
|
| 149 |
-
0.6807975769042969,
|
| 150 |
-
0.14722545444965363,
|
| 151 |
-
0.17162981629371643,
|
| 152 |
-
1.3325903415679932,
|
| 153 |
-
0.18669182062149048,
|
| 154 |
-
0.3009708821773529,
|
| 155 |
-
1.3312314748764038,
|
| 156 |
-
6.26270866394043,
|
| 157 |
-
3.290994644165039,
|
| 158 |
-
10.0,
|
| 159 |
-
10.0,
|
| 160 |
-
10.0,
|
| 161 |
-
10.0,
|
| 162 |
-
10.0,
|
| 163 |
-
10.0,
|
| 164 |
-
10.0
|
| 165 |
-
]
|
| 166 |
-
},
|
| 167 |
-
"prompt_key": 1,
|
| 168 |
-
"fresh_vla_initialization": true
|
| 169 |
-
},
|
| 170 |
-
"training_config_sha256": "54eef4fa88502b723bdc47150eb134cd4adf7b81296c4a57e0936ffad3016f86",
|
| 171 |
-
"dataset_manifest_sha256": "44e468feb3bd491709b90a800bba465aacd566b83092c44aac557e9acbd479ee"
|
| 172 |
-
}
|
|
|
|
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|
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|
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source_identity.json
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"revision": "a7001d2227fa8b0cbcd58b7b0e32db3dba147810",
|
| 3 |
+
"source": "current worktree snapshot",
|
| 4 |
+
"dirty_paths": [
|
| 5 |
+
" M AGENTS.md",
|
| 6 |
+
" M configs/experiments/memory/small_model/flappy_capped.yaml",
|
| 7 |
+
" M configs/experiments/memory/small_model/flappy_extended.yaml",
|
| 8 |
+
" M configs/experiments/observation_stride/flappy_capped.yaml",
|
| 9 |
+
" M configs/experiments/observation_stride/flappy_extended.yaml",
|
| 10 |
+
" M configs/experiments/sim2real.yaml",
|
| 11 |
+
" M scripts/experiments/memory/small_model/run.sh",
|
| 12 |
+
" M scripts/experiments/observation_stride/run.sh",
|
| 13 |
+
" M scripts/experiments/sim2real/study.py",
|
| 14 |
+
" M tests/scripts/test_sim2real.py",
|
| 15 |
+
"?? configs/experiments/sim2real/five_gpu.yaml",
|
| 16 |
+
"?? docs/cleanup-refactor/",
|
| 17 |
+
"?? lagen/",
|
| 18 |
+
"?? scripts/experiments/sim2real/campaign.py",
|
| 19 |
+
"?? servers.md"
|
| 20 |
+
]
|
| 21 |
+
}
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/task_contract.json
DELETED
|
@@ -1,80 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"action_space": {
|
| 3 |
-
"dtype": "float32",
|
| 4 |
-
"high": [
|
| 5 |
-
1.0,
|
| 6 |
-
1.0,
|
| 7 |
-
1.0,
|
| 8 |
-
1.0,
|
| 9 |
-
1.0,
|
| 10 |
-
1.0
|
| 11 |
-
],
|
| 12 |
-
"labels": [
|
| 13 |
-
"right_thigh_torque",
|
| 14 |
-
"right_leg_torque",
|
| 15 |
-
"right_foot_torque",
|
| 16 |
-
"left_thigh_torque",
|
| 17 |
-
"left_leg_torque",
|
| 18 |
-
"left_foot_torque"
|
| 19 |
-
],
|
| 20 |
-
"low": [
|
| 21 |
-
-1.0,
|
| 22 |
-
-1.0,
|
| 23 |
-
-1.0,
|
| 24 |
-
-1.0,
|
| 25 |
-
-1.0,
|
| 26 |
-
-1.0
|
| 27 |
-
],
|
| 28 |
-
"type": "box"
|
| 29 |
-
},
|
| 30 |
-
"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.",
|
| 31 |
-
"env_fps": 5.0,
|
| 32 |
-
"env_id": "LatencyBench/Walker2dContinuous-v0",
|
| 33 |
-
"frame_stack": 1,
|
| 34 |
-
"make_kwargs": {
|
| 35 |
-
"base_env_id": "Walker2d-v4",
|
| 36 |
-
"base_make_kwargs": {
|
| 37 |
-
"ctrl_cost_weight": 0.001,
|
| 38 |
-
"exclude_current_positions_from_observation": true,
|
| 39 |
-
"forward_reward_weight": 1.0,
|
| 40 |
-
"healthy_reward": 1.0,
|
| 41 |
-
"reset_noise_scale": 0.005,
|
| 42 |
-
"terminate_when_unhealthy": true
|
| 43 |
-
},
|
| 44 |
-
"render_mode": "rgb_array"
|
| 45 |
-
},
|
| 46 |
-
"noop_action": [
|
| 47 |
-
0.0,
|
| 48 |
-
0.0,
|
| 49 |
-
0.0,
|
| 50 |
-
0.0,
|
| 51 |
-
0.0,
|
| 52 |
-
0.0
|
| 53 |
-
],
|
| 54 |
-
"obs_fps": 5.0,
|
| 55 |
-
"registration_imports": [
|
| 56 |
-
"latency_bench.envs.gymnasium_walker2d"
|
| 57 |
-
],
|
| 58 |
-
"state_space": {
|
| 59 |
-
"labels": [
|
| 60 |
-
"torso_height",
|
| 61 |
-
"torso_angle",
|
| 62 |
-
"right_thigh_angle",
|
| 63 |
-
"right_leg_angle",
|
| 64 |
-
"right_foot_angle",
|
| 65 |
-
"left_thigh_angle",
|
| 66 |
-
"left_leg_angle",
|
| 67 |
-
"left_foot_angle",
|
| 68 |
-
"torso_x_velocity",
|
| 69 |
-
"torso_z_velocity",
|
| 70 |
-
"torso_angular_velocity",
|
| 71 |
-
"right_thigh_angular_velocity",
|
| 72 |
-
"right_leg_angular_velocity",
|
| 73 |
-
"right_foot_angular_velocity",
|
| 74 |
-
"left_thigh_angular_velocity",
|
| 75 |
-
"left_leg_angular_velocity",
|
| 76 |
-
"left_foot_angular_velocity"
|
| 77 |
-
]
|
| 78 |
-
},
|
| 79 |
-
"task_name": "walker2d"
|
| 80 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/training.complete.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"steps": 5000,
|
| 3 |
+
"seed": 42,
|
| 4 |
+
"global_batch": 64,
|
| 5 |
+
"gradient_checkpointing": true,
|
| 6 |
+
"gpus": "0,1",
|
| 7 |
+
"attempts": [
|
| 8 |
+
{
|
| 9 |
+
"micro_batch": 32,
|
| 10 |
+
"accumulation": 1,
|
| 11 |
+
"state": "COMPLETED"
|
| 12 |
+
}
|
| 13 |
+
]
|
| 14 |
+
}
|