diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/README.md b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/README.md index 4dcc65309326fa76935b8c614a2fbdbd10382c58..20c600f02691aaf57f86c140f0d5af6de95a7d68 100644 --- a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/README.md +++ b/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="", - allow_patterns=[prefix + "/**"]) -``` - -Use the verified import commit listed in the repository's import report. +Global batch128, seed42, 5000 optimizer updates. Gradient checkpointing True. +Evaluation: simulated IID, 100 episodes, seeds42-141, latency seed0, parallel32, 5 FPS, cap1000, per-environment capacity1. +See config.full.yaml, training.complete.json, results.json and evaluation evidence. diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..f51795abfbaf1a678e7fa0738a4c4aa2a993c472 --- /dev/null +++ b/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 diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml index 270468c287d3bb9af9e3d02bc66f58781149e882..a9e7f463736aa67c5b249e03dbfd43481689bc76 100644 --- a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml +++ b/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 diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/config.yaml b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/config.yaml index f3c43e6ec38ae5a8bdbe6f19bcc3ed21f16236c9..9d25b042d074e8ad4ebc48f06e6536d9c8e06978 100644 --- a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/config.yaml +++ b/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: diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json index 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a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/episode_metrics.jsonl b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/episode_metrics.jsonl deleted file mode 100644 index 76352e2105ee0a370a90a2f26056080216a03970..0000000000000000000000000000000000000000 --- a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/episode_metrics.jsonl +++ /dev/null @@ -1,20 +0,0 @@ -{"episode_id": 0, "episode_return": 6078.757318398879, "episode_return_env": 6078.757318398879, "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": 42, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 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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" -} diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/config.yaml b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d25b042d074e8ad4ebc48f06e6536d9c8e06978 --- /dev/null +++ b/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: 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"source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/profile/profile.json", "source_run_id": "20260917T161846010109Z", "submitted_observation_frames": 97, "workload_id": "ant"}, "num_actions": 97, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.77231031154355, "p99_latency_ms": 119.47305060761248, "return_raw": null, "survival_steps": 97} diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/eval_config.yaml b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a99aa5cfaf4cc4cf9baaf84abf11b17ff066712a --- /dev/null +++ b/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 diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/latency_prompt_map.json b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..4dd92de4df2bca737f40d7ee7693906d8c1e3649 --- /dev/null +++ b/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 + } +} \ No newline at end of file diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/manifest.json b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..898987256602531d56b46b934aa124f17d06d261 --- /dev/null +++ b/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", + "front_left_hip_torque", + "front_left_ankle_torque", + "front_right_hip_torque", + "front_right_ankle_torque", + "back_left_hip_torque", + "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", + "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" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.2513357102870941, + -0.2551392912864685, + -0.4495558738708496, + -0.3950803279876709, + -0.9860153794288635, + -0.09783654659986496, + -0.09917011857032776, + -0.6142277121543884, + -1.2411584854125977, + -0.5460586547851562, + -0.9968047142028809, + -0.6842840313911438, + -0.09473074972629547, + -1.2371809482574463, + -4.737597465515137, + -3.242194652557373, + -6.5933308601379395, + -5.108468055725098, + -4.8114848136901855, + -2.429616689682007, + -12.177474975585938, + -11.042780876159668, + -10.003838539123535, + -3.6977765560150146, + -8.9439115524292, + -16.420881271362305, + -6.640158176422119 + ], + "max": [ + 0.9988346099853516, + 1.098469853401184, + 0.46408092975616455, + 0.9506500363349915, + 0.27009117603302, + 0.5934460759162903, + 1.313640832901001, + 0.6726003289222717, + 0.09998779743909836, + 0.5802838802337646, + 0.09576962888240814, + 0.6675700545310974, + 1.0646162033081055, + 8.128241539001465, + 3.185396432876587, + 3.4153003692626953, + 6.306693077087402, + 6.7251129150390625, + 4.034663677215576, + 7.938767910003662, + 14.703964233398438, + 16.424497604370117, + 6.501785755157471, + 7.488413333892822, + 3.0213799476623535, + 14.399764060974121, + 11.524134635925293 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/lerobot/latency_prompt_map.json", + "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", + "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", + 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+ 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 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"output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/evaluation/zero_parallel32_ib8", "policy_id": "starvla", "profile_ref": null, "run_name": "ant_gr00t_l0_zero_100ep", "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} diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/config.yaml b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/eval_config.yaml similarity index 78% rename from zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/config.yaml rename to zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/eval_config.yaml index dee34b1a336e3268a2af95ec8a268a6d7932fa8e..522b5e7405797448fc8932e2b8c222c526164caa 100644 --- a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/config.yaml +++ b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/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 diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/latency_prompt_map.json b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..4dd92de4df2bca737f40d7ee7693906d8c1e3649 --- /dev/null +++ b/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 + } +} \ No newline at end of file diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/manifest.json b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..898987256602531d56b46b934aa124f17d06d261 --- /dev/null +++ b/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", + "front_left_ankle_torque", + "front_right_hip_torque", + "front_right_ankle_torque", + "back_left_hip_torque", + "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", + "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" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.2513357102870941, + -0.2551392912864685, + -0.4495558738708496, + -0.3950803279876709, + -0.9860153794288635, + -0.09783654659986496, + -0.09917011857032776, + -0.6142277121543884, + -1.2411584854125977, + -0.5460586547851562, + -0.9968047142028809, + -0.6842840313911438, + -0.09473074972629547, + -1.2371809482574463, + -4.737597465515137, + -3.242194652557373, + -6.5933308601379395, + -5.108468055725098, + -4.8114848136901855, + -2.429616689682007, + -12.177474975585938, + -11.042780876159668, + -10.003838539123535, + -3.6977765560150146, + -8.9439115524292, + -16.420881271362305, + -6.640158176422119 + ], + "max": [ + 0.9988346099853516, + 1.098469853401184, + 0.46408092975616455, + 0.9506500363349915, + 0.27009117603302, + 0.5934460759162903, + 1.313640832901001, + 0.6726003289222717, + 0.09998779743909836, + 0.5802838802337646, + 0.09576962888240814, + 0.6675700545310974, + 1.0646162033081055, + 8.128241539001465, + 3.185396432876587, + 3.4153003692626953, + 6.306693077087402, + 6.7251129150390625, + 4.034663677215576, + 7.938767910003662, + 14.703964233398438, + 16.424497604370117, + 6.501785755157471, + 7.488413333892822, + 3.0213799476623535, + 14.399764060974121, + 11.524134635925293 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/lerobot/latency_prompt_map.json", + "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", + "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", + 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"third_party/starVLA/starVLA/training/train_starvla.py", + "change": "Full DeepSpeed state-directory resume loads config/statistics from owning run directory without resolving a standalone model file.", + "validation": "6 existing resume/statistics tests passed; see previous campaign resume_fix_tests.log" + } + ], + "frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010" +} diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/l0_data_source.json b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/l0_data_source.json new file mode 100644 index 0000000000000000000000000000000000000000..39fd19facd57f173d867a79baed94da6a0cf40ed --- /dev/null +++ b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/l0_data_source.json @@ -0,0 +1,8 @@ +{ + "repo": "MLL-Lab/LAGEN-datasets", + "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc", + "path": "experiments/benchmark-training/archive/standard-pipeline/ant/zero_latency/GR00T/h1_5fps_20260917/demonstrations/raw", + "source_obs_fps": 5, + "label_semantics": "zero latency: issued and applied actions coincide", + "original_contract": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/historical/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/manifest.json" +} diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/manifest.json b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/manifest.json index c9d649da59a5866fc38bf341d38cc2b3ef24667f..898987256602531d56b46b934aa124f17d06d261 100644 --- a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/manifest.json +++ b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/manifest.json @@ -1,5 +1,5 @@ { - "dataset_name": "ant_h1_5fps_l0", + "dataset_name": "lerobot", "env_name": "ant_rgb_state", "episodes": 90, "frames": 88667, @@ -7,7 +7,7 @@ "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": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/data/raw_5fps", + "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", @@ -130,8 +130,8 @@ ] }, "robot_type": "rl_games_gymnasium", - "latency_prompt_map_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/data/lerobot/ant_h1_5fps_l0/latency_prompt_map.json", - "custom_mixtures_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/data/lerobot/_generated_mixtures/ant_h1_5fps_l0.json", + "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/gr00t_l0/lerobot/latency_prompt_map.json", + "custom_mixtures_path": 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b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:243de1df8298a262fed9f20fc794bf4a8c784b8754aa29c36e06280b3e9b8e2c +size 15131356 diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/README.md b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/README.md deleted file mode 100644 index 729ba6fc6971b99ef8b15594d483cbb375da4e8a..0000000000000000000000000000000000000000 --- a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/README.md +++ /dev/null @@ -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. diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/provenance.json b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/provenance.json deleted file mode 100644 index afdbbb58af5222e568dcaf95eec88d3bed1b92bb..0000000000000000000000000000000000000000 --- a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/provenance.json +++ /dev/null @@ -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" -} diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source_identity.json b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source_identity.json new file mode 100644 index 0000000000000000000000000000000000000000..f6be50aac65296bb6389a26f1408ab6dfbb9fcac --- /dev/null +++ b/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" +} diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/task_contract.json b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/task_contract.json deleted file mode 100644 index 98183976f6ae00530ace625b0b767aef6b7bff14..0000000000000000000000000000000000000000 --- a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/task_contract.json +++ /dev/null @@ -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" -} diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/training.complete.json b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/training.complete.json new file mode 100644 index 0000000000000000000000000000000000000000..b9795c52c9be8d284323bcd2c2339422626275a8 --- /dev/null +++ b/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" + } + ] +} diff --git a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/training_verification.json b/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/training_verification.json deleted file mode 100644 index e641c7bb1d725fbc2005fa12bfef3dca210c6c12..0000000000000000000000000000000000000000 --- a/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/training_verification.json +++ /dev/null @@ -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." -}