Publish global128 ant gr00t l0 checkpoint and evaluations

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/README.md

@@ -1,31 +1,5 @@
-# ant / qwengr00t
+# ant gr00t l0
 
-Training condition: `zero-latency`. Run: `ant_l0_gr00t_h1_5fps_2h100_20260917`.
-
-Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/zero_latency/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
-
-- Checkpoint: `checkpoints/model.pt`
-- Selection: only published VLA checkpoint
-- Checkpoint SHA256: `ca07c97e015f096866fcbcdd2deda0c37429f2b3cd56f127df0d31c6f09a676d`
-- Configuration, FPS, actions, normalization and latency semantics retain their source values.
-- This import does not run evaluations or change training/evaluation/acceptance status.
-
-Action horizon is 1. Use `config.yaml` and `dataset_statistics.json` with the matching
-prepared backbone. `task_contract.json` is extracted from the original training configuration.
-Original machine paths in historical configurations are provenance: bind checkpoint,
-backbone, manifest and profile paths to downloaded local files when running inference.
-
-See [the original model notes](source/README.md) for experiment results and limitations.
-
-[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
-
-## Download
-
-```python
-from huggingface_hub import snapshot_download
-prefix = "zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917"
-snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
-                  allow_patterns=[prefix + "/**"])
-```
-
-Use the verified import commit listed in the repository's import report.
+Global batch128, seed42, 5000 optimizer updates. Gradient checkpointing True.
+Evaluation: simulated IID, 100 episodes, seeds42-141, latency seed0, parallel32, 5 FPS, cap1000, per-environment capacity1.
+See config.full.yaml, training.complete.json, results.json and evaluation evidence.

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e130e11d9b448920846cdd819ad590615370d0b9100a79e4657132c6fd669b4
+size 9976888611

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_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: 8
     state_dim: 27
-    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: 8
     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/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/vla/mixture.json
+    custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/mixture.json
     action_type: continuous
     sequential_step_sampling: true
     eval_sequential_step_sampling: null
@@ -72,7 +72,7 @@ datasets:
       eval_at_phase_end: false
       save_at_phase_end: false
       computed_plan: null
-    per_device_batch_size: 8
+    per_device_batch_size: 64
     load_all_data_for_training: true
     num_obs_frames: 1
     image_mode: single
@@ -172,6 +172,7 @@ datasets:
         - back_right_ankle_angular_velocity
       task_name: ant_rgb_state
     active_action_dim: 8
+    robot_type: rl_games_gymnasium
 dataset:
   source_hf: ''
   config_name: null
@@ -232,7 +233,7 @@ trainer:
     enabled: false
     log_interval: 10
   gradient_clipping: 1.0
-  gradient_accumulation_steps: 4
+  gradient_accumulation_steps: 1
   distributed_backend: deepspeed
   is_resume: false
   pretrained_checkpoint: null
@@ -247,20 +248,20 @@ trainer:
     weight_decay: 1.0e-08
     fused: true
   save_format: pt
-run_id: ant_l0_gr00t_h1_5fps_2h100_20260917
-run_root_dir: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/vla/training
+run_id: ant_gr00t_l0_issued_iid_g128_s42_20261010
+run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/training
 seed: 42
 is_debug: false
 version_id: '0.21'
 wandb_project: latency-sensitive-bench
-wandb_entity: dongqianyu99-zhejiang-university
-wandb_name: ant_l0_gr00t_h1_5fps_2h100_20260917
-wandb_group: gr00t-six-env-h1-5fps
+wandb_entity: saberrr-zju
+wandb_name: ant_gr00t_l0_issued_iid_g128_s42_20261010
+wandb_group: continuous-control-issued-iid-20261010
 wandb_tags:
 - ant
-- zero_latency
-- GR00T
-- h1
+- gr00t
+- issued-action
+- iid
 training_latency_condition: zero_latency
 backbone:
   repo_id: Qwen/Qwen3-VL-4B-Instruct
@@ -272,5 +273,5 @@ checkpoint:
   save_training_state: true
   local:
     keep_last_n: 1
-config_yaml: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/train.yaml
-output_dir: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/vla/training/ant_l0_gr00t_h1_5fps_2h100_20260917
+config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/train.yaml
+output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/training/ant_gr00t_l0_issued_iid_g128_s42_20261010

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_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
@@ -132,6 +132,7 @@ datasets:
         - back_right_hip_angular_velocity
         - back_right_ankle_angular_velocity
       task_name: ant_rgb_state
+    robot_type: rl_games_gymnasium
 trainer:
   pretrained_checkpoint: null
   profile_timing:

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json

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zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/episode_metrics.jsonl

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-{"episode_id": 17, "episode_return": 6295.392950621552, "episode_return_env": 6295.392950621552, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 59, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000}
-{"episode_id": 18, "episode_return": 6040.352327131771, "episode_return_env": 6040.352327131771, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 60, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000}
-{"episode_id": 19, "episode_return": 6064.02653622431, "episode_return_env": 6064.02653622431, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 61, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000}

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/verification.json

@@ -1,95 +0,0 @@
-{
-  "task": "ant",
-  "state": "L0_SIM20_COMPLETED_AND_VERIFIED",
-  "verified_at": "2026-09-17T15:01:41.223248+00:00",
-  "evaluation_finished_at": "2026-09-17T14:40:00.468345+00:00",
-  "episodes": 20,
-  "seeds": [
-    42,
-    43,
-    44,
-    45,
-    46,
-    47,
-    48,
-    49,
-    50,
-    51,
-    52,
-    53,
-    54,
-    55,
-    56,
-    57,
-    58,
-    59,
-    60,
-    61
-  ],
-  "env_fps": 5,
-  "obs_fps": 5,
-  "latency": "zero",
-  "mode": "simulated",
-  "max_raw_steps": 1000,
-  "returns": [
-    6078.757318398879,
-    6239.587802841108,
-    6186.588741289055,
-    6411.707138638104,
-    6424.013422597254,
-    6382.1938936108045,
-    6470.375480132934,
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-    6142.183339632129,
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-    6169.222793059305,
-    6058.8632473583675,
-    6219.57533484306,
-    6377.415154784045,
-    6205.273527850029,
-    6112.204410544666,
-    6048.150800598399,
-    6295.392950621552,
-    6040.352327131771,
-    6064.02653622431
-  ],
-  "mean_return": 6222.601913918613,
-  "population_std_return": 133.91557274427223,
-  "lengths": [
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000,
-    1000
-  ],
-  "mean_length": 1000,
-  "total_raw_steps": 20000,
-  "raw_step_rewards_match_episode_returns": true,
-  "raw_step_indices_contiguous": true,
-  "dropped_actions": 0,
-  "dropped_observations": 0,
-  "invalid_actions": 0,
-  "action_events": 20000,
-  "all_action_latencies_zero": true,
-  "training_steps": 5000,
-  "global_batch": 64,
-  "checkpoint_sha256": "ca07c97e015f096866fcbcdd2deda0c37429f2b3cd56f127df0d31c6f09a676d",
-  "command_semantics": "Generic adapter applied_action may be preclip; native environment clipping unchanged. No preclip-bound assertion was imposed.",
-  "remaining": "RTX3090 P/B, actual-profile teacher/data/profile-VLA, F; not yet complete",
-  "acceptance": "Full pipeline acceptance not established"
-}

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/config.yaml

@@ -0,0 +1,154 @@
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 8
+    state_dim: 27
+    task_objective: null
+    action_horizon: 1
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    action_env_dim: 8
+    future_action_window_size: 0
+    past_action_window_size: 0
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size:
+    - 224
+    - 224
+    image_mode: single
+    stitch_grid:
+    - 2
+    - 2
+    num_obs_frames: 1
+    gymnasium_task_contract: &id001
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - back_right_hip_torque
+        - back_right_ankle_torque
+        - front_left_hip_torque
+        - front_left_ankle_torque
+        - front_right_hip_torque
+        - front_right_ankle_torque
+        - back_left_hip_torque
+        - back_left_ankle_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Make the Ant move forward as fast as possible without falling.
+        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
+        right ankle, front left hip, front left ankle, front right hip, front right
+        ankle, back left hip, and back left ankle.
+      env_fps: 5
+      env_id: LatencyBench/AntContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Ant-v4
+        base_make_kwargs:
+          exclude_current_positions_from_observation: true
+          use_contact_forces: false
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5
+      registration_imports:
+      - latency_bench.envs.gymnasium_ant
+      state_space:
+        labels:
+        - torso_z
+        - torso_quaternion_w
+        - torso_quaternion_x
+        - torso_quaternion_y
+        - torso_quaternion_z
+        - front_left_hip_angle
+        - front_left_ankle_angle
+        - front_right_hip_angle
+        - front_right_ankle_angle
+        - back_left_hip_angle
+        - back_left_ankle_angle
+        - back_right_hip_angle
+        - back_right_ankle_angle
+        - torso_x_velocity
+        - torso_y_velocity
+        - torso_z_velocity
+        - torso_angular_velocity_x
+        - torso_angular_velocity_y
+        - torso_angular_velocity_z
+        - front_left_hip_angular_velocity
+        - front_left_ankle_angular_velocity
+        - front_right_hip_angular_velocity
+        - front_right_ankle_angular_velocity
+        - back_left_hip_angular_velocity
+        - back_left_ankle_angular_velocity
+        - back_right_hip_angular_velocity
+        - back_right_ankle_angular_velocity
+      task_name: ant_rgb_state
+    robot_type: rl_games_gymnasium
+trainer:
+  pretrained_checkpoint: null
+  profile_timing:
+    enabled: false
+    log_interval: 10
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+rl_games:
+  model_alias: gr00t
+  task: gymnasium
+  action_carrier: native
+  gymnasium:
+    task_contract: *id001
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/dataset_statistics.json

@@ -0,0 +1,254 @@
+{
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+        true,
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+    "num_trajectories": 90
+  }
+}

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/eval_config.yaml

@@ -0,0 +1,195 @@
+experiment:
+  name: ant_gr00t_l0_iid_100ep
+  seed: 42
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/ant
+  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: ant
+  env_id: LatencyBench/AntContinuous-v0
+  registration_imports:
+  - latency_bench.envs.tasks.ant
+  make_kwargs:
+    base_env_id: Ant-v4
+    base_make_kwargs:
+      exclude_current_positions_from_observation: true
+      use_contact_forces: false
+    render_mode: rgb_array
+  env_fps: 5
+  obs_fps: 5
+  frame_stack: 1
+  state_space:
+    labels:
+    - torso_z
+    - torso_quaternion_w
+    - torso_quaternion_x
+    - torso_quaternion_y
+    - torso_quaternion_z
+    - front_left_hip_angle
+    - front_left_ankle_angle
+    - front_right_hip_angle
+    - front_right_ankle_angle
+    - back_left_hip_angle
+    - back_left_ankle_angle
+    - back_right_hip_angle
+    - back_right_ankle_angle
+    - torso_x_velocity
+    - torso_y_velocity
+    - torso_z_velocity
+    - torso_angular_velocity_x
+    - torso_angular_velocity_y
+    - torso_angular_velocity_z
+    - front_left_hip_angular_velocity
+    - front_left_ankle_angular_velocity
+    - front_right_hip_angular_velocity
+    - front_right_ankle_angular_velocity
+    - back_left_hip_angular_velocity
+    - back_left_ankle_angular_velocity
+    - back_right_hip_angular_velocity
+    - back_right_ankle_angular_velocity
+  action_space:
+    dtype: float32
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    labels:
+    - back_right_hip_torque
+    - back_right_ankle_torque
+    - front_left_hip_torque
+    - front_left_ankle_torque
+    - front_right_hip_torque
+    - front_right_ankle_torque
+    - back_left_hip_torque
+    - back_left_ankle_torque
+    low:
+    - -1.0
+    - -1.0
+    - -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
+  - 0.0
+  - 0.0
+  base_prompt: Make the Ant move forward as fast as possible without falling. Predict
+    eight continuous torques in [-1, 1] ordered as back right hip, back right ankle,
+    front left hip, front left ankle, front right hip, front right ankle, back left
+    hip, and back left ankle.
+  obs_resize:
+  - 224
+  - 224
+latency:
+  method: iid
+  sync_cuda: false
+  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/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_g128_iid_20261010/ant/gr00t_l0/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/new_bundle/config.yaml
+  backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
+  device: cuda:0
+  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/new_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
+  num_batches_to_accumulate: 2
+  policy_workers_per_policy: 1
+  max_policy_lag: 10000
+  learning_rate: 0.00295
+  lr_schedule: linear_decay
+  lr_schedule_kl_threshold: 0.008
+  gamma: 0.99
+  gae_lambda: 0.95
+  ppo_clip_ratio: 0.2
+  ppo_clip_value: 1.0
+  value_loss_coeff: 1.3
+  max_grad_norm: 3.5
+  exploration_loss: entropy
+  exploration_loss_coeff: 0.0
+  kl_loss_coeff: 0.1
+  reward_scale: 1.0
+  reward_clip: 1000.0
+  async_rl: false
+  serial_mode: false
+  batched_sampling: false
+  with_vtrace: false
+  use_rnn: false
+  encoder_mlp_layers:
+  - 64
+  - 64
+  nonlinearity: tanh
+  adaptive_stddev: false
+  policy_initialization: torch_default
+  initial_stddev: 1.0
+  actor_critic_share_weights: true
+  shuffle_minibatches: false
+  value_bootstrap: true
+  normalize_input: true
+  normalize_returns: true
+  decorrelate_experience_max_seconds: 10
+  decorrelate_envs_on_one_worker: true
+  set_workers_cpu_affinity: true
+  force_envs_single_thread: true
+  save_every_sec: 600
+  keep_checkpoints: 3
+  save_best_every_sec: 60
+  save_best_after: 100000
+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_g128_iid_20261010/ant/gr00t_l0/evaluation/iid_parallel32_ib8
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: true
+  save_action_records: true
+  save_latency_records: true
+  realtime_pipeline_profile: false

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "0": {
+    "prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "latency_raw_frames": 0,
+    "latency_ms": 0.0
+  }
+}

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/manifest.json

@@ -0,0 +1,232 @@
+{
+  "dataset_name": "lerobot",
+  "env_name": "ant_rgb_state",
+  "episodes": 90,
+  "frames": 88667,
+  "task_prompts": [
+    "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
+  ],
+  "format": "lerobot_v2_image_parquet",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/raw",
+  "integration_name": "gymnasium",
+  "task_name": "ant_rgb_state",
+  "action_layout": "gymnasium_continuous_v1",
+  "action_labels": [
+    "back_right_hip_torque",
+    "back_right_ankle_torque",
+    "front_left_hip_torque",
+    "front_left_ankle_torque",
+    "front_right_hip_torque",
+    "front_right_ankle_torque",
+    "back_left_hip_torque",
+    "back_left_ankle_torque"
+  ],
+  "carrier_action_labels": [
+    "back_right_hip_torque",
+    "back_right_ankle_torque",
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+    "front_right_hip_torque",
+    "front_right_ankle_torque",
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+    "back_left_ankle_torque"
+  ],
+  "action_dim": 8,
+  "active_action_dim": 8,
+  "action_carrier": "native",
+  "rows_unit": "decision_step",
+  "obs_fps": 5,
+  "obs_stride_raw_frames": 1,
+  "uses_state": true,
+  "state_dim": 27,
+  "state_labels": [
+    "torso_z",
+    "torso_quaternion_w",
+    "torso_quaternion_x",
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+    "front_left_ankle_angle",
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+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/_generated_mixtures/lerobot.json",
+  "gymnasium_task": {
+    "action_space": {
+      "dtype": "float32",
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+        1.0,
+        1.0,
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+        "back_right_ankle_torque",
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+        "front_left_ankle_torque",
+        "front_right_hip_torque",
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+    "env_fps": 5,
+    "env_id": "LatencyBench/AntContinuous-v0",
+    "frame_stack": 1,
+    "make_kwargs": {
+      "base_env_id": "Ant-v4",
+      "base_make_kwargs": {
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+        "use_contact_forces": false
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+    "registration_imports": [
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+    ],
+    "state_space": {
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+        "torso_quaternion_w",
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+        "front_left_hip_angle",
+        "front_left_ankle_angle",
+        "front_right_hip_angle",
+        "front_right_ankle_angle",
+        "back_left_hip_angle",
+        "back_left_ankle_angle",
+        "back_right_hip_angle",
+        "back_right_ankle_angle",
+        "torso_x_velocity",
+        "torso_y_velocity",
+        "torso_z_velocity",
+        "torso_angular_velocity_x",
+        "torso_angular_velocity_y",
+        "torso_angular_velocity_z",
+        "front_left_hip_angular_velocity",
+        "front_left_ankle_angular_velocity",
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+    "task_name": "ant_rgb_state"
+  },
+  "validation_dataset_name": "lerobot__val",
+  "validation_episodes": 10,
+  "validation_frames": 10000
+}

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/result.json

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+    1.501528584206945,
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+  "primary_evidence": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/evaluation/iid_parallel32_ib8/episode_metrics.jsonl",
+  "eval_config": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/eval_iid_parallel32_ib8.yaml",
+  "inference_batch_size": 8
+}

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/source_identity.json

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

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/config.yaml

@@ -0,0 +1,154 @@
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 8
+    state_dim: 27
+    task_objective: null
+    action_horizon: 1
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    action_env_dim: 8
+    future_action_window_size: 0
+    past_action_window_size: 0
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size:
+    - 224
+    - 224
+    image_mode: single
+    stitch_grid:
+    - 2
+    - 2
+    num_obs_frames: 1
+    gymnasium_task_contract: &id001
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - back_right_hip_torque
+        - back_right_ankle_torque
+        - front_left_hip_torque
+        - front_left_ankle_torque
+        - front_right_hip_torque
+        - front_right_ankle_torque
+        - back_left_hip_torque
+        - back_left_ankle_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Make the Ant move forward as fast as possible without falling.
+        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
+        right ankle, front left hip, front left ankle, front right hip, front right
+        ankle, back left hip, and back left ankle.
+      env_fps: 5
+      env_id: LatencyBench/AntContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Ant-v4
+        base_make_kwargs:
+          exclude_current_positions_from_observation: true
+          use_contact_forces: false
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5
+      registration_imports:
+      - latency_bench.envs.gymnasium_ant
+      state_space:
+        labels:
+        - torso_z
+        - torso_quaternion_w
+        - torso_quaternion_x
+        - torso_quaternion_y
+        - torso_quaternion_z
+        - front_left_hip_angle
+        - front_left_ankle_angle
+        - front_right_hip_angle
+        - front_right_ankle_angle
+        - back_left_hip_angle
+        - back_left_ankle_angle
+        - back_right_hip_angle
+        - back_right_ankle_angle
+        - torso_x_velocity
+        - torso_y_velocity
+        - torso_z_velocity
+        - torso_angular_velocity_x
+        - torso_angular_velocity_y
+        - torso_angular_velocity_z
+        - front_left_hip_angular_velocity
+        - front_left_ankle_angular_velocity
+        - front_right_hip_angular_velocity
+        - front_right_ankle_angular_velocity
+        - back_left_hip_angular_velocity
+        - back_left_ankle_angular_velocity
+        - back_right_hip_angular_velocity
+        - back_right_ankle_angular_velocity
+      task_name: ant_rgb_state
+    robot_type: rl_games_gymnasium
+trainer:
+  pretrained_checkpoint: null
+  profile_timing:
+    enabled: false
+    log_interval: 10
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+rl_games:
+  model_alias: gr00t
+  task: gymnasium
+  action_carrier: native
+  gymnasium:
+    task_contract: *id001
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/dataset_statistics.json

@@ -0,0 +1,254 @@
+{
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+    "num_transitions": 88667,
+    "num_trajectories": 90
+  }
+}

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/{evaluation/l0_sim20/config.yaml → evaluations/g128_iid_20261010/zero/eval_config.yaml}

@@ -1,5 +1,5 @@
 experiment:
-  name: gr00t_ant_zero
+  name: ant_gr00t_l0_zero_100ep
   seed: 42
 backend:
   type: sample_factory
@@ -12,7 +12,8 @@ executor:
   mode: simulated
   inference_devices:
   - cuda:0
-  inference_batch_size: 1
+  - cuda:1
+  inference_batch_size: 8
   simulated_inference_pool: true
   simulated_worker_capacity: 1
 env:
@@ -20,7 +21,7 @@ env:
   task_name: ant
   env_id: LatencyBench/AntContinuous-v0
   registration_imports:
-  - latency_bench.envs.gymnasium_ant
+  - latency_bench.envs.tasks.ant
   make_kwargs:
     base_env_id: Ant-v4
     base_make_kwargs:
@@ -113,12 +114,12 @@ scheduler:
   ordering_policy: issue_order_fifo
 policy:
   type: starvla
-  checkpoint_path: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt
-  model_config_path: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/config.yaml
-  backbone_path: /mnt/ant/lzj/latency-sensitive-bench/models/Qwen3-VL-4B-Instruct
+  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/new_bundle/config.yaml
+  backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
   device: cuda:0
-  task_manifest_path: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/manifest.json
-  latency_prompt_map_path: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/latency_prompt_map.json
+  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/new_bundle/latency_prompt_map.json
   latency_prompt_key: 0
 training:
   train_for_env_steps: 10000000
@@ -174,13 +175,14 @@ training:
   save_best_every_sec: 60
   save_best_after: 100000
 evaluation:
-  eval_episodes: 20
-  eval_parallel_envs: 1
+  eval_episodes: 100
+  eval_parallel_envs: 32
   eval_max_steps: 1000
   eval_deterministic: true
   eval_latency_values: null
+  episode_seed_offset: 0
 logging:
-  output_dir: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20
+  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/evaluation/zero_parallel32_ib8
   video:
     enabled: false
     num_bins: 1

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "0": {
+    "prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "latency_raw_frames": 0,
+    "latency_ms": 0.0
+  }
+}

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/manifest.json

@@ -0,0 +1,232 @@
+{
+  "dataset_name": "lerobot",
+  "env_name": "ant_rgb_state",
+  "episodes": 90,
+  "frames": 88667,
+  "task_prompts": [
+    "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
+  ],
+  "format": "lerobot_v2_image_parquet",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/raw",
+  "integration_name": "gymnasium",
+  "task_name": "ant_rgb_state",
+  "action_layout": "gymnasium_continuous_v1",
+  "action_labels": [
+    "back_right_hip_torque",
+    "back_right_ankle_torque",
+    "front_left_hip_torque",
+    "front_left_ankle_torque",
+    "front_right_hip_torque",
+    "front_right_ankle_torque",
+    "back_left_hip_torque",
+    "back_left_ankle_torque"
+  ],
+  "carrier_action_labels": [
+    "back_right_hip_torque",
+    "back_right_ankle_torque",
+    "front_left_hip_torque",
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zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/source_identity.json

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zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/manifest.json

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 {
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 }

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zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source.tar.gz

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zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/README.md

@@ -1,7 +0,0 @@
-# ant: GR00T H1, 5 FPS
-
-Fresh zero-latency training completed5000 updates. Final checkpoint SHA256: `ca07c97e015f096866fcbcdd2deda0c37429f2b3cd56f127df0d31c6f09a676d`.
-
-L0 simulated zero-latency evaluation is now complete and audited:20episodes, seeds42–61,5FPS, cap1000rawsteps. Return mean 6222.601914, population SD 133.915573; mean length 1000.00. Dropped actions 0, dropped observations 0, invalid actions 0. Raw step rewards and lengths match episode metrics.
-
-See `evaluation/l0_sim20/verification.json` and `episode_metrics.jsonl` for final evidence. Earlier training/load receipts remain historical snapshots. P/B and subsequent profile pipeline/F are pending; full pipeline acceptance is not established. Set GR00T_BACKBONE_DIR to Qwen/Qwen3-VL-4B-Instruct revision ebb281ec70b05090aa6165b016eac8ec08e71b17 before inference.

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/provenance.json

@@ -1,64 +0,0 @@
-{
-  "task": "ant",
-  "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": "ant_l0_gr00t_h1_5fps_2h100_20260917",
-  "condition": "zero_latency",
-  "source": {
-    "archive_sha256": "9e70e8dec7d4d50c340856985f67ec7210b847f57d99ecc5ef6797cf36eec3a4",
-    "root_revision": "1681edb8d9e4f7d10b7dfa647670e01e0d5cce37",
-    "sample_factory_revision": "4b11d8754ffc989cdd15a340cfc9be0277377d5b",
-    "starvla_revision": "1d0d7b139d1725cab268cb9dae2007ef4c5d05d2",
-    "raw_data": {
-      "source_repo": "latency-sensitive-bench/Standard-Pipeline",
-      "source_revision": "571cb5801720488ed6458b9cfe3f4c595b069cea",
-      "source_prefix": "ant/zero_latency/shared/source_100ep_v1/demonstrations/raw",
-      "source_sha256": {
-        "metadata.json": "38b57378b57f29b0e46b382028c668d41e46aa6bfa26b3be80d52076ed8088f2",
-        "train.parquet": "71cac4cc435848149fbb36a8e8556cff0b427710b9da23c5787027ac78b7aee7",
-        "val.parquet": "366c0ea90936df4a5acfa63539d3c9cd3e97600ee5f5509e9e2353bc00028dc8"
-      },
-      "frames": {
-        "train": 88667,
-        "val": 10000
-      },
-      "episodes": {
-        "train": 90,
-        "val": 10
-      },
-      "returns": {
-        "train": {
-          "min": 3381.6484221816063,
-          "mean": 6034.110553084079
-        },
-        "val": {
-          "min": 4556.533279210329,
-          "mean": 6108.133759802952
-        }
-      },
-      "image_size": [
-        224,
-        224
-      ],
-      "state_dim": 27,
-      "action_dim": 8,
-      "action_horizon": 1,
-      "fps": 5,
-      "zero_latency": true,
-      "all_source_returns_gt3000": true,
-      "all_nonprompt_columns_unchanged": true,
-      "normalization": "train-only min_max; same transform in validation",
-      "train_config": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/train.yaml",
-      "smoke_config": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/smoke.yaml",
-      "dataset": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/data/lerobot/ant_h1_5fps_l0"
-    }
-  },
-  "training_config_sha256": "17827ab8735992a5d74aa8c3a03941de53cf2fcd3f68e4b7e683f8431548bda9",
-  "dataset_manifest_sha256": "53fa43eb7e0cfeddbcebe8f28226d097b7aea5e449862da0fc9a3cde85bead9d"
-}

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source_identity.json

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

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/task_contract.json

@@ -1,94 +0,0 @@
-{
-  "action_space": {
-    "dtype": "float32",
-    "high": [
-      1.0,
-      1.0,
-      1.0,
-      1.0,
-      1.0,
-      1.0,
-      1.0,
-      1.0
-    ],
-    "labels": [
-      "back_right_hip_torque",
-      "back_right_ankle_torque",
-      "front_left_hip_torque",
-      "front_left_ankle_torque",
-      "front_right_hip_torque",
-      "front_right_ankle_torque",
-      "back_left_hip_torque",
-      "back_left_ankle_torque"
-    ],
-    "low": [
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0
-    ],
-    "type": "box"
-  },
-  "base_prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle.",
-  "env_fps": 5,
-  "env_id": "LatencyBench/AntContinuous-v0",
-  "frame_stack": 1,
-  "make_kwargs": {
-    "base_env_id": "Ant-v4",
-    "base_make_kwargs": {
-      "exclude_current_positions_from_observation": true,
-      "use_contact_forces": false
-    },
-    "render_mode": "rgb_array"
-  },
-  "noop_action": [
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0
-  ],
-  "obs_fps": 5,
-  "registration_imports": [
-    "latency_bench.envs.gymnasium_ant"
-  ],
-  "state_space": {
-    "labels": [
-      "torso_z",
-      "torso_quaternion_w",
-      "torso_quaternion_x",
-      "torso_quaternion_y",
-      "torso_quaternion_z",
-      "front_left_hip_angle",
-      "front_left_ankle_angle",
-      "front_right_hip_angle",
-      "front_right_ankle_angle",
-      "back_left_hip_angle",
-      "back_left_ankle_angle",
-      "back_right_hip_angle",
-      "back_right_ankle_angle",
-      "torso_x_velocity",
-      "torso_y_velocity",
-      "torso_z_velocity",
-      "torso_angular_velocity_x",
-      "torso_angular_velocity_y",
-      "torso_angular_velocity_z",
-      "front_left_hip_angular_velocity",
-      "front_left_ankle_angular_velocity",
-      "front_right_hip_angular_velocity",
-      "front_right_ankle_angular_velocity",
-      "back_left_hip_angular_velocity",
-      "back_left_ankle_angular_velocity",
-      "back_right_hip_angular_velocity",
-      "back_right_ankle_angular_velocity"
-    ]
-  },
-  "task_name": "ant_rgb_state"
-}

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/training.complete.json

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

zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/training_verification.json

@@ -1,27 +0,0 @@
-{
-  "training": "COMPLETED",
-  "training_steps": 5000,
-  "training_exit_code": 0,
-  "training_finished_at": "2026-09-17T14:08:04.165075+00:00",
-  "seed": 42,
-  "global_batch": 64,
-  "hardware": "2xH10080GB; microbatch8 x accumulation4 x2",
-  "action_horizon": 1,
-  "state_dim": 27,
-  "action_dim": 8,
-  "env_fps": 5,
-  "obs_fps": 5,
-  "local_bundle_checksums_verified": true,
-  "checkpoint_sha256": "ca07c97e015f096866fcbcdd2deda0c37429f2b3cd56f127df0d31c6f09a676d",
-  "load_evidence": {
-    "as_of_utc": "2026-09-17T14:18:41Z",
-    "stage": "L0sim20",
-    "state": "RUNNING",
-    "episodes_observed_completed": 6,
-    "evaluation_process_pid": 48143,
-    "meaning": "Saved final bundle loaded and executed; full20 results not yet audited."
-  },
-  "acceptance": "NOT_ESTABLISHED",
-  "F_evaluation": "NOT_STARTED",
-  "publication_scope": "Inference bundle only; excludes optimizer states and partial episode metrics."
-}