diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-summary.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-summary.json deleted file mode 100644 index 18dfecf3d1185deaf8b3b9fb1eb07236a70490b4..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-summary.json +++ /dev/null @@ -1,163 +0,0 @@ -{ - "verified_at": "2026-09-17T21:54:00.894032+00:00", - "task": "walker2d", - "B": { - "episodes": 20, - "mean_return": 63.24147456221736, - "population_std": 6.584119944585635, - "mean_length": 61.15, - "mean_episode_latency_ms": 107.04820905731547, - "observation_drops": 0, - "submitted_observations": 1223, - "action_drops": 0, - "invalid_actions": 0, - "metrics_sha256": "0c585c07d028987d60f03f5cad990f7b424e97917d139fa66f44e6573f75ee34" - }, - "F": { - "episodes": 20, - "mean_return": 852.8724033441786, - "population_std": 357.102322157348, - "mean_length": 250.6, - "mean_episode_latency_ms": 107.06145728669419, - "observation_drops": 0, - "submitted_observations": 5012, - "action_drops": 0, - "invalid_actions": 0, - "metrics_sha256": "456db545a2fb07edfe7a339761b34782dd5a2987f3f28eb0e241e550c7aa6ced" - }, - "paired": [ - { - "seed": 42, - "B": 66.16242032595262, - "F": 991.3639332213364, - "delta": 925.2015128953838 - }, - { - "seed": 43, - "B": 60.03168286501273, - "F": 369.8818098433932, - "delta": 309.8501269783805 - }, - { - "seed": 44, - "B": 64.47357571737881, - "F": 720.6103530557076, - "delta": 656.1367773383288 - }, - { - "seed": 45, - "B": 59.60303463811989, - "F": 1150.3193138698, - "delta": 1090.7162792316801 - }, - { - "seed": 46, - "B": 61.890443606636744, - "F": 310.6481592092358, - "delta": 248.75771560259906 - }, - { - "seed": 47, - "B": 61.404429063445264, - "F": 1068.212039574912, - "delta": 1006.8076105114668 - }, - { - "seed": 48, - "B": 71.25021337481104, - "F": 509.5536777031986, - "delta": 438.3034643283876 - }, - { - "seed": 49, - "B": 64.32829050611694, - "F": 1316.4247834069251, - "delta": 1252.0964929008082 - }, - { - "seed": 50, - "B": 59.65748458065071, - "F": 718.9444266379952, - "delta": 659.2869420573445 - }, - { - "seed": 51, - "B": 78.19331421262474, - "F": 1182.669513035368, - "delta": 1104.4761988227433 - }, - { - "seed": 52, - "B": 69.53756289500063, - "F": 1241.9130556220862, - "delta": 1172.3754927270857 - }, - { - "seed": 53, - "B": 52.28806362435964, - "F": 711.9996561729512, - "delta": 659.7115925485915 - }, - { - "seed": 54, - "B": 61.4441390040874, - "F": 306.83449127304596, - "delta": 245.39035226895857 - }, - { - "seed": 55, - "B": 78.21931462223985, - "F": 1222.080977245407, - "delta": 1143.8616626231671 - }, - { - "seed": 56, - "B": 61.4247094298816, - "F": 800.6216178219371, - "delta": 739.1969083920555 - }, - { - "seed": 57, - "B": 63.617009505124926, - "F": 373.15968866798323, - "delta": 309.5426791628583 - }, - { - "seed": 58, - "B": 58.18109265657494, - "F": 954.8027340055005, - "delta": 896.6216413489256 - }, - { - "seed": 59, - "B": 54.21753227541805, - "F": 787.7657032501974, - "delta": 733.5481709747793 - }, - { - "seed": 60, - "B": 59.20549653493986, - "F": 741.1351754045119, - "delta": 681.9296788695721 - }, - { - "seed": 61, - "B": 59.69968180597084, - "F": 1578.506957862078, - "delta": 1518.8072760561072 - } - ], - "wins": 20, - "ties": 0, - "losses": 0, - "mean_difference": 789.6309287819612, - "F_step_interval_ms": { - "mean": 200.00296332158868, - "min": 198.95315496250987, - "max": 201.21660106815398 - }, - "F_revision": "af4f38060b0374c5684c43f22cd504257cf2bffd", - "F_checkpoint_sha256": "1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b", - "protocol": "20 matched seeds42-61;5FPS;cap1000;measured-only;same B/F runtime with model and prompt0\u21921 changes", - "interpretation": "Compare measured outcomes and realized latencies; no equal-latency causal claim and no teacher gate applied to VLA." -} diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-verification.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-verification.json deleted file mode 100644 index 186633358011ab5373a4185f0c67777886b4d3ee..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-verification.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "state": "F20_AND_MATCHED_COMPARISON_VERIFIED", - "summary": "/workspace/lzj/latency-sensitive-bench/runs/walker2d/gr00t_h1_5fps_20260917/F-summary.json", - "steps": 5012, - "verified_at": "2026-09-17T21:54:00.894032+00:00" -} diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/README.md b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/README.md index 712962129486507a29c83c4aa6d82a3f8e9d365c..ea45b27c3cab62e72d4a8baa06c1119de0191163 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/README.md +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/README.md @@ -1,31 +1,5 @@ -# walker2d / qwengr00t +# walker2d gr00t corrected profile checkpoint -Training condition: `latency-aware`. Run: `walker2d_profile_gr00t_h1_5fps_2h200_20260917`. - -Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`. - -- Checkpoint: `checkpoints/model.pt` -- Selection: only published VLA checkpoint -- Checkpoint SHA256: `1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b` -- 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 = "latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_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. +Teacher-issued action labels, step 5000, seed 42. +Evaluation: simulated IID, 100 episodes per condition, seeds 42–141, latency seed 0, cap 1000, simulated capacity 1. +Training parameters and model-specific FPS are recorded in config.full.yaml and results.json. diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt index b5d18bb10eee83e9ffedbb1eee7c28a5f406218e..e5f91d4a649c4b07dc4d4fee7b158c99addfa60f 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b +oid sha256:982a63823b14d69732a40adad64a6a3ca8976b8b70dc9ab6ec80744f2d7ff2f0 size 9976860963 diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/collection_protocol.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/collection_protocol.json new file mode 100644 index 0000000000000000000000000000000000000000..111afe94c8079c8f74099a113bb9acb7004e8c72 --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/collection_protocol.json @@ -0,0 +1,14 @@ +{ + "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", + "teacher_seed": 0, + "gate": 3000, + "max_episodes": 100, + "train_episodes": 90, + "validation_episodes": 10, + "split_seed": 0, + "env_fps": 5.0, + "obs_fps": 5.0, + "checkpoint": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/teacher/checkpoint.pth", + "profile": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", + "label_semantics": "teacher_issued_command" +} diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.full.yaml b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.full.yaml index 4d446ebb593be02ef5333155ef02f538ef3efe03..7297b59e6383375821995b0254c8ddd6e03825ee 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.full.yaml +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_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/profile_latency/vla/mixture.json + custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/mixture.json action_type: continuous sequential_step_sampling: true eval_sequential_step_sampling: null @@ -135,7 +135,7 @@ datasets: - 0.0 obs_fps: 5.0 registration_imports: - - latency_bench.envs.gymnasium_walker2d + - latency_bench.envs.tasks.walker2d state_space: labels: - torso_height @@ -157,6 +157,7 @@ datasets: - left_foot_angular_velocity task_name: walker2d 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_profile_gr00t_h1_5fps_2h200_20260917 -run_root_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/vla/training +run_id: walker2d_qwengr00t_issued_action_iid_s42_20261010 +run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/training seed: 42 is_debug: false version_id: '0.21' wandb_project: latency-sensitive-bench -wandb_entity: dongqianyu99-zhejiang-university -wandb_name: walker2d_profile_gr00t_h1_5fps_2h200_20260917 -wandb_group: gr00t-six-env-h1-5fps +wandb_entity: saberrr-zju +wandb_name: walker2d_qwengr00t_issued_action_iid_s42_20261010 +wandb_group: continuous-control-issued-iid-20261010 wandb_tags: - walker2d -- profile_latency -- GR00T -- h1 +- gr00t +- issued-action +- iid training_latency_condition: profile_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/profile_latency/train.yaml -output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/vla/training/walker2d_profile_gr00t_h1_5fps_2h200_20260917 +config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/train.yaml +output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/training/walker2d_qwengr00t_issued_action_iid_s42_20261010 diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.yaml b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.yaml index f386e6c63d723d3c59581f2f4fa22bd28ba691e6..42579858ef2f87458673e94eccca3c2353e98f46 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.yaml +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_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 @@ -96,7 +96,7 @@ datasets: - 0.0 obs_fps: 5.0 registration_imports: - - latency_bench.envs.gymnasium_walker2d + - latency_bench.envs.tasks.walker2d state_space: labels: - torso_height @@ -117,6 +117,7 @@ datasets: - left_leg_angular_velocity - left_foot_angular_velocity task_name: walker2d + robot_type: rl_games_gymnasium trainer: pretrained_checkpoint: null profile_timing: diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json index fac195ad9be9609a516dd161c849524c31c22dfd..520910d24330222a88c42483afc14f73362cf050 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json @@ -2,20 +2,20 @@ "new_embodiment": { "action": { "mean": [ - 0.9479884505271912, - 0.8967278599739075, - 0.22252006828784943, - 0.42712029814720154, - 0.6054255366325378, - 0.39046671986579895 + 0.9485777020454407, + 0.8980432748794556, + 0.22086535394191742, + 0.4279646575450897, + 0.6054467558860779, + 0.39084485173225403 ], "std": [ - 0.22479695081710815, - 0.28594842553138733, - 0.8105338215827942, - 0.6386038661003113, - 0.6382305026054382, - 0.7736172080039978 + 0.22309578955173492, + 0.2829263508319855, + 0.8101531267166138, + 0.6414206624031067, + 0.6390057802200317, + 0.7729734182357788 ], "max": [ 1.0, @@ -34,8 +34,8 @@ -1.0 ], "q01": [ - -0.12693553328514098, - -0.4622062122821808, + -0.1301851612329483, + -0.456831670999527, -1.0, -1.0, -1.0, @@ -60,121 +60,121 @@ }, "state": { "mean": [ - 0.080454520881176, - 0.3073728084564209, - 0.5504761934280396, - 0.4364703595638275, - 0.17060819268226624, - 0.4959196150302887, - 0.60721755027771, - 0.274997740983963, - 0.21275795996189117, - -0.10817987471818924, - -0.06906983256340027, - 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"source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 58, "workload_id": "walker2d"}, "num_actions": 58, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.90585192219231, "p99_latency_ms": 119.16159480561049, "return_raw": null, "survival_steps": 58} diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/eval_config.yaml b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..493cd34a1ee1ab8833a967cfc8c0a2c947a9c2a8 --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/eval_config.yaml @@ -0,0 +1,166 @@ +experiment: + name: walker2d_gr00t_l0_iid_100ep + 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 + - cuda:1 + inference_batch_size: 8 + simulated_inference_pool: true + simulated_worker_capacity: 1 +env: + name: gymnasium + task_name: walker2d + env_id: LatencyBench/Walker2dContinuous-v0 + registration_imports: + - latency_bench.envs.tasks.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: iid + sync_cuda: false + profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json + profile_worker_slot: 0 + seed: 0 +scheduler: + hold_policy: hold + 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 + 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 + 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: 100 + eval_parallel_envs: 32 + eval_max_steps: 1000 + eval_deterministic: true + 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 + 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/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/episode_metrics.jsonl b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..040583493b8df3d9d45246e704a45844e5764e1c --- /dev/null +++ b/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 +1,100 @@ +{"episode_id": 0, "episode_return": 1481.0751044092483, "episode_return_env": 1481.0751044092483, "game_score": null, "mean_latency_ms": 111.5257758037208, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": 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"source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 163, "workload_id": "walker2d"}, "num_actions": 163, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.69790866255263, "p99_latency_ms": 119.14731969694557, "return_raw": null, "survival_steps": 163} diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/eval_config.yaml b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e449f739c06338eb46ee4eb0a501714c327f4959 --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/eval_config.yaml @@ -0,0 +1,166 @@ +experiment: + name: walker2d_gr00t_profile_iid_100ep + 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 + - cuda:1 + inference_batch_size: 8 + simulated_inference_pool: true + simulated_worker_capacity: 1 +env: + name: gymnasium + task_name: walker2d + env_id: LatencyBench/Walker2dContinuous-v0 + registration_imports: + - latency_bench.envs.tasks.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: iid + sync_cuda: false + profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json + profile_worker_slot: 0 + seed: 0 +scheduler: + hold_policy: hold + ordering_policy: issue_order_fifo +policy: + type: starvla + checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/checkpoints/model.pt + model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/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/new_bundle/manifest.json + latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/latency_prompt_map.json + latency_prompt_key: 1 +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: 100 + eval_parallel_envs: 32 + eval_max_steps: 1000 + eval_deterministic: true + 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/profile_parallel32 + 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/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/manifest.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/manifest.json index 8f921aebb55d06a96594b2459279dfca7165e0eb..32b4f382f1d2d76673b38072a10f4d52f131a6eb 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/manifest.json +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/manifest.json @@ -1,13 +1,13 @@ { - "dataset_name": "walker2d_h1_5fps_profile", + "dataset_name": "lerobot", "env_name": "walker2d", "episodes": 90, - "frames": 90000, + "frames": 89918, "task_prompts": [ "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." ], "format": "lerobot_v2_image_parquet", - "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/data/raw_profile", + "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/raw", "integration_name": "gymnasium", "task_name": "walker2d", "action_layout": "gymnasium_continuous_v1", @@ -57,17 +57,17 @@ "state_normalization": { "type": "min_max", "min": [ - 0.9851876497268677, + 0.9314286708831787, -0.1729077845811844, - -0.5815715193748474, - -0.41291648149490356, - -1.1557613611221313, - -1.565748929977417, - -1.5937821865081787, - -1.4450324773788452, - -1.448801040649414, - -2.645611524581909, - -8.647480010986328, + -0.4933790862560272, + -0.4129164516925812, + -1.1557602882385254, + -1.5651016235351562, + -2.7074811458587646, + -1.447374939918518, + -1.4488009214401245, + -2.6456122398376465, + -8.981568336486816, -10.0, -10.0, -10.0, @@ -76,16 +76,16 @@ -10.0 ], "max": [ - 1.5055257081985474, - 0.6807975769042969, - 0.14722545444965363, - 0.17162981629371643, - 1.3325903415679932, - 0.18669182062149048, - 0.3009708821773529, - 1.3312314748764038, - 6.26270866394043, - 3.290994644165039, + 1.5055254697799683, + 0.9924107789993286, + 0.14722543954849243, + 0.17162975668907166, + 1.215640902519226, + 0.18669180572032928, + 0.3025740087032318, + 1.3430273532867432, + 6.26255989074707, + 3.290994167327881, 10.0, 10.0, 10.0, @@ -96,8 +96,8 @@ ] }, "robot_type": "rl_games_gymnasium", - "latency_prompt_map_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/data/lerobot/walker2d_h1_5fps_profile/latency_prompt_map.json", - "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/data/lerobot/_generated_mixtures/walker2d_h1_5fps_profile.json", + "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/lerobot/latency_prompt_map.json", + "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/_generated_mixtures/lerobot.json", "gymnasium_task": { "action_space": { "dtype": "float32", @@ -153,7 +153,7 @@ ], "obs_fps": 5.0, "registration_imports": [ - "latency_bench.envs.gymnasium_walker2d" + "latency_bench.envs.tasks.walker2d" ], "state_space": { "labels": [ @@ -178,7 +178,7 @@ }, "task_name": "walker2d" }, - "validation_dataset_name": "walker2d_h1_5fps_profile__val", + "validation_dataset_name": "lerobot__val", "validation_episodes": 10, "validation_frames": 10000 } \ No newline at end of file diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/DONE b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/hardware.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/hardware.json new file mode 100644 index 0000000000000000000000000000000000000000..e8204e81807044975c0e0a0953d16d6835192f31 --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/profile/hardware.json @@ -0,0 +1,40 @@ +{ + "driver_version": "580.173.02", + "gpu_class": "1x-rtx3090", + "gpus": [ + { + "name": "NVIDIA GeForce RTX 3090", + "slot": 0 + } + ], + "instance_id": "instance_859cf1e47bca6046", + "topology_links": [], + "torch": { + "backends": { + "cuda_cudnn_sdp_enabled": 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"session_ids": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + "sample_model_type": "hidden_regime", + "source_run_id": "20260917T164637291306Z", + "summary": { + "frame_ms": 200.0, + "max_ms": 159.91820216178894, + "mean_effective_frames": 0.556435070553966, + "mean_ms": 111.28701411079321, + "min_ms": 99.22320699691772, + "n_samples": 3095, + "p50_frames": 0.5604052603244781, + "p50_ms": 112.08105206489563, + "p90_frames": 0.5865452063083648, + "p90_ms": 117.30904126167297, + "p95_frames": 0.5915930202007293, + "p95_ms": 118.31860404014587, + "p99_frames": 0.5981799455404282, + "p99_ms": 119.63598910808564, + "prob_latency_gt_1_frame": 0.0, + "prob_latency_gt_2_frames": 0.0, + "prob_latency_gt_3_frames": 0.0, + "std_ms": 4.800312930327855 + }, + "visualization_path": "latency_profile.png", + "workload_id": "walker2d" +} diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/provenance.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/provenance.json index 491f5ee7779cf45801abe9bc5141ac42cf4ed9bf..1a4e788d92426d10a0bfb379a172a0fd45a43268 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/provenance.json +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/provenance.json @@ -1,34 +1,9 @@ { "task": "walker2d", - "model": "qwengr00t", - "training_condition": "latency-aware", - "training_run_id": "walker2d_profile_gr00t_h1_5fps_2h200_20260917", - "source": { - "repo_id": "latency-sensitive-bench/Standard-Pipeline", - "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", - "path": "walker2d/profile_latency/GR00T", - "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/GR00T" - }, - "hf_repo_id": 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"walker2d_qwengr00t_issued_action_iid_s42_20261010", + "steps": 5000, + "seed": 42, + "source_identity": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/source_identity.json", + "collection_protocol": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/collection_protocol.json" } diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/reload-validation.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/reload-validation.json deleted file mode 100644 index c8d10350ecd9c9d074cce8b37bc8027ed87e53b4..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/reload-validation.json +++ /dev/null @@ -1,23 +0,0 @@ -{ - "verified_at": "2026-09-17T20:36:51.671176+00:00", - "state": 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"latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917" +} diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source.tar.gz b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..80709f1c94360669a3ea298f9da17f506fa229b2 --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfe045fb75114eafb5de1728ef0eed39318a8baa5a9668b059e23bd6e6419820 +size 15042086 diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source/README.md b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source/README.md deleted file mode 100644 index 372c982f7f630f23dc5ef5b69b2be04852cd794b..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source/README.md +++ /dev/null @@ -1,5 +0,0 @@ -# Walker2D GR00T profile H1 /5FPS - -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. - -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. diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source/provenance.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source/provenance.json deleted file mode 100644 index 776da948f48c1501dd59c4cd5f5b6238606eb98c..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source/provenance.json +++ /dev/null @@ -1,172 +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_profile_gr00t_h1_5fps_2h200_20260917", - "condition": "profile_latency", - "source": { - "code_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" - }, - "teacher_selection": { - "selected": "training_best", - "candidates": { - "final": { - "checkpoint": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/checkpoints/walker2d_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", - "sha256": "dcfe291db668f89db2fead0028a76fb5a005965b9daaab7a29bd19eb13c43ca0", - "episodes": 20, - "returns": [ - 4299.208001651971, - 4253.381546607346, - 4274.26267070416, - 4281.764485481581, - 4316.5965023405115, - 4185.72463542741, - 4268.629567678589, - 4265.304288469715, - 4331.873574180083, - 3269.8377559505593, - 3583.941712492686, - 4264.461568188047, - 4268.998666838904, - 4293.114110604841, - 4274.87183914279, - 4358.281606522924, - 4247.960230740107, - 4363.387419962692, - 4258.273723341316, - 4286.0125421364155 - ], - "mean": 4197.294322423132, - "std": 264.3552584808844, - "strict_gt3000": 20 - }, - "training_best": { - "checkpoint": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/checkpoints/walker2d_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000014536_7442432_reward_4186.861.pth", - "sha256": "a9f0e63f8094fe10f82d2395fc7b59958dc22ac1abc59a6da52772eb1fd944ab", - "episodes": 20, - "returns": [ - 4232.421844289257, - 4211.834128554937, - 4235.009681429353, - 4216.192126194387, - 4225.968774742952, - 4246.130242600228, - 4259.369933944325, - 4211.69597436189, - 4227.7128439529915, - 4219.107550141977, - 4176.009289189152, - 4216.315331519501, - 4233.440001863116, - 4210.597842410642, - 4216.913958972969, - 4236.856116118128, - 4241.158612744575, - 4224.4414913018245, - 4191.601768644205, - 4233.529106106846 - ], - "mean": 4223.315330954163, - "std": 18.175464884559204, - "strict_gt3000": 20 - } - }, - "completed_at": "2026-09-17T17:24:56.075104+00:00" - }, - "profile": { - "state": "PROFILE_TEACHER_CONFIG_READY", - "profile": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/profile_3090_20260917T164637291306Z/profile.json", - "profile_sha256": "acf0a997fa7866b5a101714ec1479b8cc19b36ae1262f11081ab828de3e79661", - "source_recipe": "/mnt/local/lzj/latency-sensitive-bench/code/h1-5fps-20260917-v2/configs/examples/gymnasium/walker2d/small_model_train_sf_official_10m.yaml", - "source_recipe_sha256": "ef0abc795b6c33d152dbdeaa4a5a817df2546f400c17ce27ac9159e01bb92901", - "config": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher.yaml", - "algo": "APPO", - "budget_env_steps": 10000000, - "seed": 0, - "fps": 5, - "latency": "iid", - "initialization": "fresh", - "metadata_derivation": "current task_name walker2d and state17 labels from wrapper; original official10m recipe seed0/hyperparameters/native physics preserved", - "next": "Run only after immutable new P is verified; Final/best20 tieFinal, E10, bounded12probe, strictreturn>3000." - }, - "data": { - "train": { - "episodes": 90, - "frames": 90000, - "min_replay_return": 4128.808384731412, - "max_replay_return": 4261.9987871050835, - "sha256": "a161eb4de7d2539c456f5c21ae109c1561ee7c60a8cc273e3a32a9abae862fd1" - }, - "val": { - "episodes": 10, - "frames": 10000, - "min_replay_return": 4201.307677522302, - "max_replay_return": 4247.824013382196, - "sha256": "5f17b3e18e7c79e94eefb773f52b7abd82873c8629e7a950eb763c849ca5bb4c" - } - }, - "dataset": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/data/lerobot/walker2d_h1_5fps_profile", - "condition": "profile_latency", - "action_horizon": 1, - "state_normalization": { - "type": "min_max", - "min": [ - 0.9851876497268677, - -0.1729077845811844, - -0.5815715193748474, - -0.41291648149490356, - -1.1557613611221313, - -1.565748929977417, - -1.5937821865081787, - -1.4450324773788452, - -1.448801040649414, - -2.645611524581909, - -8.647480010986328, - -10.0, - -10.0, - -10.0, - -10.0, - -10.0, - -10.0 - ], - "max": [ - 1.5055257081985474, - 0.6807975769042969, - 0.14722545444965363, - 0.17162981629371643, - 1.3325903415679932, - 0.18669182062149048, - 0.3009708821773529, - 1.3312314748764038, - 6.26270866394043, - 3.290994644165039, - 10.0, - 10.0, - 10.0, - 10.0, - 10.0, - 10.0, - 10.0 - ] - }, - "prompt_key": 1, - "fresh_vla_initialization": true - }, - "training_config_sha256": "54eef4fa88502b723bdc47150eb134cd4adf7b81296c4a57e0936ffad3016f86", - "dataset_manifest_sha256": "44e468feb3bd491709b90a800bba465aacd566b83092c44aac557e9acbd479ee" -} diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source_identity.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source_identity.json new file mode 100644 index 0000000000000000000000000000000000000000..c0e158e6b25321833422ba92f5635774e81f5fae --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source_identity.json @@ -0,0 +1,21 @@ +{ + "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" + ] +} diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/task_contract.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/task_contract.json deleted file mode 100644 index 83e3865ecb5e5aad835cb8de453f17e41e7eb216..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_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": 5.0, - "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": 5.0, - "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" -} diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/training.complete.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/training.complete.json new file mode 100644 index 0000000000000000000000000000000000000000..541c9d389acc8f87bf7ba1185bcd244b98d10402 --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/training.complete.json @@ -0,0 +1,14 @@ +{ + "steps": 5000, + "seed": 42, + "global_batch": 64, + "gradient_checkpointing": true, + "gpus": "0,1", + "attempts": [ + { + "micro_batch": 32, + "accumulation": 1, + "state": "COMPLETED" + } + ] +}