Publish current-code ant Pi0.5 l0 IID100 evidence
Browse files- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/checkpoint_identity.json +1 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/config.yaml +158 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/dataset_statistics.json +254 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/episode_metrics.jsonl +0 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/eval_config.yaml +195 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/latency_prompt_map.json +7 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/manifest.json +232 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/profile/DONE +0 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/profile/hardware.json +40 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/profile/latency_burst_model.json +1315 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/profile/latency_distribution.json +1027 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/profile/latency_profile.png +0 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/profile/profile.json +60 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/result.json +213 -0
- zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/source_identity.json +29 -0
zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/checkpoint_identity.json
ADDED
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{"repo": "MLL-Lab/LAGEN-models", "revision": "005ae71b5160037cb69e15aa69112658b8b8e20b", "path": "zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/checkpoints/model.pt", "blob_id": "af8594ac550b89e0081fb08ef66c400cc1bd8dea", "size": 10922682525}
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zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/config.yaml
ADDED
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@@ -0,0 +1,158 @@
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| 1 |
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framework:
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name: QwenPI_v3
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| 3 |
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qwenvl:
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base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
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attn_implementation: flash_attention_2
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| 6 |
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vl_hidden_dim: 2560
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num_vl_layers: 36
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enable_gradient_checkpointing: false
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action_model:
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action_model_type: LayerwiseFM
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action_dim: 8
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state_dim: 27
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state_encoding: continuous_projector
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task_objective: null
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action_horizon: 1
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repeated_diffusion_steps: 2
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num_inference_timesteps: 4
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add_pos_embed: true
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max_seq_len: 1024
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num_target_vision_tokens: 32
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noise_beta_alpha: 1.5
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noise_beta_beta: 1.0
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noise_s: 0.999
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num_timestep_buckets: 1000
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diffusion_model_cfg:
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action_dit_hidden_dim: 1024
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dropout: 0.2
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final_dropout: true
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interleave_self_attention: true
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norm_type: ada_norm
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positional_embeddings: null
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attention_head_dim: 64
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num_layers: 36
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input_embedding_dim: 1024
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cross_attention_dim: 1024
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output_dim: 1024
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num_attention_heads: 16
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action_env_dim: 8
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future_action_window_size: 0
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past_action_window_size: 0
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version_id: '0.21'
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datasets:
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vla_data:
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include_state: true
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obs_image_size:
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- 224
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- 224
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image_mode: single
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stitch_grid:
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- 2
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- 2
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num_obs_frames: 1
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gymnasium_task_contract: &id001
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action_space:
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dtype: float32
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high:
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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labels:
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- back_right_hip_torque
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- back_right_ankle_torque
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- front_left_hip_torque
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- front_left_ankle_torque
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- front_right_hip_torque
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- front_right_ankle_torque
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- back_left_hip_torque
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- back_left_ankle_torque
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low:
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- -1.0
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- -1.0
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- -1.0
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- -1.0
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- -1.0
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- -1.0
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- -1.0
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- -1.0
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type: box
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base_prompt: Make the Ant move forward as fast as possible without falling.
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Predict eight continuous torques in [-1, 1] ordered as back right hip, back
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right ankle, front left hip, front left ankle, front right hip, front right
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ankle, back left hip, and back left ankle.
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env_fps: 5
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| 89 |
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env_id: LatencyBench/AntContinuous-v0
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| 90 |
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frame_stack: 1
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| 91 |
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make_kwargs:
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| 92 |
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base_env_id: Ant-v4
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| 93 |
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base_make_kwargs:
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| 94 |
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exclude_current_positions_from_observation: true
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| 95 |
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use_contact_forces: false
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| 96 |
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render_mode: rgb_array
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| 97 |
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noop_action:
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| 98 |
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- 0.0
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- 0.0
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- 0.0
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| 101 |
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- 0.0
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- 0.0
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- 0.0
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- 0.0
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- 0.0
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obs_fps: 5
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| 107 |
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registration_imports:
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| 108 |
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- latency_bench.envs.gymnasium_ant
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| 109 |
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state_space:
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| 110 |
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labels:
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| 111 |
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- torso_z
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| 112 |
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- torso_quaternion_w
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| 113 |
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- torso_quaternion_x
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| 114 |
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- torso_quaternion_y
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| 115 |
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- torso_quaternion_z
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| 116 |
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- front_left_hip_angle
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| 117 |
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- front_left_ankle_angle
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| 118 |
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- front_right_hip_angle
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| 119 |
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- front_right_ankle_angle
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| 120 |
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- back_left_hip_angle
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| 121 |
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- back_left_ankle_angle
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| 122 |
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- back_right_hip_angle
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| 123 |
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- back_right_ankle_angle
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| 124 |
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- torso_x_velocity
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| 125 |
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- torso_y_velocity
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| 126 |
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- torso_z_velocity
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| 127 |
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- torso_angular_velocity_x
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| 128 |
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- torso_angular_velocity_y
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| 129 |
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- torso_angular_velocity_z
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| 130 |
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- front_left_hip_angular_velocity
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| 131 |
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- front_left_ankle_angular_velocity
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| 132 |
+
- front_right_hip_angular_velocity
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| 133 |
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- front_right_ankle_angular_velocity
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| 134 |
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- back_left_hip_angular_velocity
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| 135 |
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- back_left_ankle_angular_velocity
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| 136 |
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- back_right_hip_angular_velocity
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| 137 |
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- back_right_ankle_angular_velocity
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| 138 |
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task_name: ant_rgb_state
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| 139 |
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robot_type: rl_games_gymnasium_native
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| 140 |
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trainer:
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| 141 |
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pretrained_checkpoint: null
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| 142 |
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profile_timing:
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| 143 |
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enabled: false
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| 144 |
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log_interval: 10
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| 145 |
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backbone:
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| 146 |
+
repo_id: Qwen/Qwen3-VL-4B-Instruct
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| 147 |
+
revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
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| 148 |
+
rl_games:
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| 149 |
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model_alias: pi05
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| 150 |
+
task: gymnasium
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| 151 |
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action_carrier: native
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| 152 |
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gymnasium:
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| 153 |
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task_contract: *id001
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| 154 |
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env_eval:
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| 155 |
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image_size: 224
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| 156 |
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frameskip: 1
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| 157 |
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image_transform: raw_rgb
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| 158 |
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prompt_mode: raw
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zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/dataset_statistics.json
ADDED
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|
zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/episode_metrics.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
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|
zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/eval_config.yaml
ADDED
|
@@ -0,0 +1,195 @@
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|
| 1 |
+
experiment:
|
| 2 |
+
name: ant_pi05_profile_l0_100ep
|
| 3 |
+
seed: 42
|
| 4 |
+
backend:
|
| 5 |
+
type: sample_factory
|
| 6 |
+
algo: APPO
|
| 7 |
+
device: cuda
|
| 8 |
+
train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/ant
|
| 9 |
+
restart_behavior: overwrite
|
| 10 |
+
run_mode: eval
|
| 11 |
+
executor:
|
| 12 |
+
mode: simulated
|
| 13 |
+
inference_devices:
|
| 14 |
+
- cuda:0
|
| 15 |
+
- cuda:1
|
| 16 |
+
inference_batch_size: 8
|
| 17 |
+
simulated_inference_pool: true
|
| 18 |
+
simulated_worker_capacity: 1
|
| 19 |
+
env:
|
| 20 |
+
name: gymnasium
|
| 21 |
+
task_name: ant
|
| 22 |
+
env_id: LatencyBench/AntContinuous-v0
|
| 23 |
+
registration_imports:
|
| 24 |
+
- latency_bench.envs.tasks.ant
|
| 25 |
+
make_kwargs:
|
| 26 |
+
base_env_id: Ant-v4
|
| 27 |
+
base_make_kwargs:
|
| 28 |
+
exclude_current_positions_from_observation: true
|
| 29 |
+
use_contact_forces: false
|
| 30 |
+
render_mode: rgb_array
|
| 31 |
+
env_fps: 5
|
| 32 |
+
obs_fps: 5
|
| 33 |
+
frame_stack: 1
|
| 34 |
+
state_space:
|
| 35 |
+
labels:
|
| 36 |
+
- torso_z
|
| 37 |
+
- torso_quaternion_w
|
| 38 |
+
- torso_quaternion_x
|
| 39 |
+
- torso_quaternion_y
|
| 40 |
+
- torso_quaternion_z
|
| 41 |
+
- front_left_hip_angle
|
| 42 |
+
- front_left_ankle_angle
|
| 43 |
+
- front_right_hip_angle
|
| 44 |
+
- front_right_ankle_angle
|
| 45 |
+
- back_left_hip_angle
|
| 46 |
+
- back_left_ankle_angle
|
| 47 |
+
- back_right_hip_angle
|
| 48 |
+
- back_right_ankle_angle
|
| 49 |
+
- torso_x_velocity
|
| 50 |
+
- torso_y_velocity
|
| 51 |
+
- torso_z_velocity
|
| 52 |
+
- torso_angular_velocity_x
|
| 53 |
+
- torso_angular_velocity_y
|
| 54 |
+
- torso_angular_velocity_z
|
| 55 |
+
- front_left_hip_angular_velocity
|
| 56 |
+
- front_left_ankle_angular_velocity
|
| 57 |
+
- front_right_hip_angular_velocity
|
| 58 |
+
- front_right_ankle_angular_velocity
|
| 59 |
+
- back_left_hip_angular_velocity
|
| 60 |
+
- back_left_ankle_angular_velocity
|
| 61 |
+
- back_right_hip_angular_velocity
|
| 62 |
+
- back_right_ankle_angular_velocity
|
| 63 |
+
action_space:
|
| 64 |
+
dtype: float32
|
| 65 |
+
high:
|
| 66 |
+
- 1.0
|
| 67 |
+
- 1.0
|
| 68 |
+
- 1.0
|
| 69 |
+
- 1.0
|
| 70 |
+
- 1.0
|
| 71 |
+
- 1.0
|
| 72 |
+
- 1.0
|
| 73 |
+
- 1.0
|
| 74 |
+
labels:
|
| 75 |
+
- back_right_hip_torque
|
| 76 |
+
- back_right_ankle_torque
|
| 77 |
+
- front_left_hip_torque
|
| 78 |
+
- front_left_ankle_torque
|
| 79 |
+
- front_right_hip_torque
|
| 80 |
+
- front_right_ankle_torque
|
| 81 |
+
- back_left_hip_torque
|
| 82 |
+
- back_left_ankle_torque
|
| 83 |
+
low:
|
| 84 |
+
- -1.0
|
| 85 |
+
- -1.0
|
| 86 |
+
- -1.0
|
| 87 |
+
- -1.0
|
| 88 |
+
- -1.0
|
| 89 |
+
- -1.0
|
| 90 |
+
- -1.0
|
| 91 |
+
- -1.0
|
| 92 |
+
type: box
|
| 93 |
+
noop_action:
|
| 94 |
+
- 0.0
|
| 95 |
+
- 0.0
|
| 96 |
+
- 0.0
|
| 97 |
+
- 0.0
|
| 98 |
+
- 0.0
|
| 99 |
+
- 0.0
|
| 100 |
+
- 0.0
|
| 101 |
+
- 0.0
|
| 102 |
+
base_prompt: Make the Ant move forward as fast as possible without falling. Predict
|
| 103 |
+
eight continuous torques in [-1, 1] ordered as back right hip, back right ankle,
|
| 104 |
+
front left hip, front left ankle, front right hip, front right ankle, back left
|
| 105 |
+
hip, and back left ankle.
|
| 106 |
+
obs_resize:
|
| 107 |
+
- 224
|
| 108 |
+
- 224
|
| 109 |
+
latency:
|
| 110 |
+
method: iid
|
| 111 |
+
sync_cuda: false
|
| 112 |
+
profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/pi05/profile/profile.json
|
| 113 |
+
profile_worker_slot: 0
|
| 114 |
+
seed: 0
|
| 115 |
+
scheduler:
|
| 116 |
+
hold_policy: hold
|
| 117 |
+
ordering_policy: issue_order_fifo
|
| 118 |
+
policy:
|
| 119 |
+
type: starvla
|
| 120 |
+
checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/pi05/l0_bundle/checkpoints/model.pt
|
| 121 |
+
model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/pi05/l0_bundle/config.yaml
|
| 122 |
+
backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
|
| 123 |
+
device: cuda:0
|
| 124 |
+
task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/pi05/l0_bundle/manifest.json
|
| 125 |
+
latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/pi05/l0_bundle/latency_prompt_map.json
|
| 126 |
+
latency_prompt_key: 0
|
| 127 |
+
training:
|
| 128 |
+
train_for_env_steps: 10000000
|
| 129 |
+
num_workers: 8
|
| 130 |
+
num_envs_per_worker: 8
|
| 131 |
+
worker_num_splits: 2
|
| 132 |
+
num_policies: 1
|
| 133 |
+
batch_size: 1024
|
| 134 |
+
rollout: 64
|
| 135 |
+
recurrence: 1
|
| 136 |
+
num_epochs: 2
|
| 137 |
+
num_batches_per_epoch: 4
|
| 138 |
+
num_batches_to_accumulate: 2
|
| 139 |
+
policy_workers_per_policy: 1
|
| 140 |
+
max_policy_lag: 10000
|
| 141 |
+
learning_rate: 0.00295
|
| 142 |
+
lr_schedule: linear_decay
|
| 143 |
+
lr_schedule_kl_threshold: 0.008
|
| 144 |
+
gamma: 0.99
|
| 145 |
+
gae_lambda: 0.95
|
| 146 |
+
ppo_clip_ratio: 0.2
|
| 147 |
+
ppo_clip_value: 1.0
|
| 148 |
+
value_loss_coeff: 1.3
|
| 149 |
+
max_grad_norm: 3.5
|
| 150 |
+
exploration_loss: entropy
|
| 151 |
+
exploration_loss_coeff: 0.0
|
| 152 |
+
kl_loss_coeff: 0.1
|
| 153 |
+
reward_scale: 1.0
|
| 154 |
+
reward_clip: 1000.0
|
| 155 |
+
async_rl: false
|
| 156 |
+
serial_mode: false
|
| 157 |
+
batched_sampling: false
|
| 158 |
+
with_vtrace: false
|
| 159 |
+
use_rnn: false
|
| 160 |
+
encoder_mlp_layers:
|
| 161 |
+
- 64
|
| 162 |
+
- 64
|
| 163 |
+
nonlinearity: tanh
|
| 164 |
+
adaptive_stddev: false
|
| 165 |
+
policy_initialization: torch_default
|
| 166 |
+
initial_stddev: 1.0
|
| 167 |
+
actor_critic_share_weights: true
|
| 168 |
+
shuffle_minibatches: false
|
| 169 |
+
value_bootstrap: true
|
| 170 |
+
normalize_input: true
|
| 171 |
+
normalize_returns: true
|
| 172 |
+
decorrelate_experience_max_seconds: 10
|
| 173 |
+
decorrelate_envs_on_one_worker: true
|
| 174 |
+
set_workers_cpu_affinity: true
|
| 175 |
+
force_envs_single_thread: true
|
| 176 |
+
save_every_sec: 600
|
| 177 |
+
keep_checkpoints: 3
|
| 178 |
+
save_best_every_sec: 60
|
| 179 |
+
save_best_after: 100000
|
| 180 |
+
evaluation:
|
| 181 |
+
eval_episodes: 100
|
| 182 |
+
eval_parallel_envs: 32
|
| 183 |
+
eval_max_steps: 1000
|
| 184 |
+
eval_deterministic: true
|
| 185 |
+
eval_latency_values: null
|
| 186 |
+
episode_seed_offset: 0
|
| 187 |
+
logging:
|
| 188 |
+
output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/pi05/evaluation/l0_parallel32_ib8
|
| 189 |
+
video:
|
| 190 |
+
enabled: false
|
| 191 |
+
num_bins: 1
|
| 192 |
+
save_step_records: true
|
| 193 |
+
save_action_records: true
|
| 194 |
+
save_latency_records: true
|
| 195 |
+
realtime_pipeline_profile: false
|
zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/latency_prompt_map.json
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": {
|
| 3 |
+
"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.",
|
| 4 |
+
"latency_raw_frames": 0,
|
| 5 |
+
"latency_ms": 0.0
|
| 6 |
+
}
|
| 7 |
+
}
|
zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/manifest.json
ADDED
|
@@ -0,0 +1,232 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset_name": "ant_h1_5fps_l0",
|
| 3 |
+
"env_name": "ant_rgb_state",
|
| 4 |
+
"episodes": 90,
|
| 5 |
+
"frames": 88667,
|
| 6 |
+
"task_prompts": [
|
| 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."
|
| 8 |
+
],
|
| 9 |
+
"format": "lerobot_v2_image_parquet",
|
| 10 |
+
"source": "${PI05_RUN_DIR}/zero_latency/data/raw_5fps",
|
| 11 |
+
"integration_name": "gymnasium",
|
| 12 |
+
"task_name": "ant_rgb_state",
|
| 13 |
+
"action_layout": "gymnasium_continuous_v1",
|
| 14 |
+
"action_labels": [
|
| 15 |
+
"back_right_hip_torque",
|
| 16 |
+
"back_right_ankle_torque",
|
| 17 |
+
"front_left_hip_torque",
|
| 18 |
+
"front_left_ankle_torque",
|
| 19 |
+
"front_right_hip_torque",
|
| 20 |
+
"front_right_ankle_torque",
|
| 21 |
+
"back_left_hip_torque",
|
| 22 |
+
"back_left_ankle_torque"
|
| 23 |
+
],
|
| 24 |
+
"carrier_action_labels": [
|
| 25 |
+
"back_right_hip_torque",
|
| 26 |
+
"back_right_ankle_torque",
|
| 27 |
+
"front_left_hip_torque",
|
| 28 |
+
"front_left_ankle_torque",
|
| 29 |
+
"front_right_hip_torque",
|
| 30 |
+
"front_right_ankle_torque",
|
| 31 |
+
"back_left_hip_torque",
|
| 32 |
+
"back_left_ankle_torque"
|
| 33 |
+
],
|
| 34 |
+
"action_dim": 8,
|
| 35 |
+
"active_action_dim": 8,
|
| 36 |
+
"action_carrier": "native",
|
| 37 |
+
"rows_unit": "decision_step",
|
| 38 |
+
"obs_fps": 5,
|
| 39 |
+
"obs_stride_raw_frames": 1,
|
| 40 |
+
"uses_state": true,
|
| 41 |
+
"state_dim": 27,
|
| 42 |
+
"state_labels": [
|
| 43 |
+
"torso_z",
|
| 44 |
+
"torso_quaternion_w",
|
| 45 |
+
"torso_quaternion_x",
|
| 46 |
+
"torso_quaternion_y",
|
| 47 |
+
"torso_quaternion_z",
|
| 48 |
+
"front_left_hip_angle",
|
| 49 |
+
"front_left_ankle_angle",
|
| 50 |
+
"front_right_hip_angle",
|
| 51 |
+
"front_right_ankle_angle",
|
| 52 |
+
"back_left_hip_angle",
|
| 53 |
+
"back_left_ankle_angle",
|
| 54 |
+
"back_right_hip_angle",
|
| 55 |
+
"back_right_ankle_angle",
|
| 56 |
+
"torso_x_velocity",
|
| 57 |
+
"torso_y_velocity",
|
| 58 |
+
"torso_z_velocity",
|
| 59 |
+
"torso_angular_velocity_x",
|
| 60 |
+
"torso_angular_velocity_y",
|
| 61 |
+
"torso_angular_velocity_z",
|
| 62 |
+
"front_left_hip_angular_velocity",
|
| 63 |
+
"front_left_ankle_angular_velocity",
|
| 64 |
+
"front_right_hip_angular_velocity",
|
| 65 |
+
"front_right_ankle_angular_velocity",
|
| 66 |
+
"back_left_hip_angular_velocity",
|
| 67 |
+
"back_left_ankle_angular_velocity",
|
| 68 |
+
"back_right_hip_angular_velocity",
|
| 69 |
+
"back_right_ankle_angular_velocity"
|
| 70 |
+
],
|
| 71 |
+
"state_normalization": {
|
| 72 |
+
"type": "min_max",
|
| 73 |
+
"min": [
|
| 74 |
+
0.2513357102870941,
|
| 75 |
+
-0.2551392912864685,
|
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]
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| 131 |
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},
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| 132 |
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"robot_type": "rl_games_gymnasium_native",
|
| 133 |
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"latency_prompt_map_path": "${PI05_RUN_DIR}/zero_latency/data/lerobot/ant_h1_5fps_l0/latency_prompt_map.json",
|
| 134 |
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"custom_mixtures_path": "${PI05_RUN_DIR}/zero_latency/data/lerobot/_generated_mixtures/ant_h1_5fps_l0.json",
|
| 135 |
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|
| 136 |
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| 137 |
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| 138 |
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],
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"labels": [
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| 149 |
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"back_right_hip_torque",
|
| 150 |
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"back_right_ankle_torque",
|
| 151 |
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"front_left_hip_torque",
|
| 152 |
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"front_left_ankle_torque",
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| 153 |
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"front_right_hip_torque",
|
| 154 |
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"front_right_ankle_torque",
|
| 155 |
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],
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],
|
| 168 |
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"type": "box"
|
| 169 |
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},
|
| 170 |
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"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.",
|
| 171 |
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"env_fps": 5,
|
| 172 |
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"env_id": "LatencyBench/AntContinuous-v0",
|
| 173 |
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"frame_stack": 1,
|
| 174 |
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"make_kwargs": {
|
| 175 |
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"base_env_id": "Ant-v4",
|
| 176 |
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|
| 177 |
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"exclude_current_positions_from_observation": true,
|
| 178 |
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|
| 179 |
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| 181 |
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],
|
| 192 |
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"obs_fps": 5,
|
| 193 |
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"registration_imports": [
|
| 194 |
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"latency_bench.envs.gymnasium_ant"
|
| 195 |
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],
|
| 196 |
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"state_space": {
|
| 197 |
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"labels": [
|
| 198 |
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"torso_z",
|
| 199 |
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"torso_quaternion_w",
|
| 200 |
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"torso_quaternion_x",
|
| 201 |
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"torso_quaternion_y",
|
| 202 |
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"torso_quaternion_z",
|
| 203 |
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"front_left_hip_angle",
|
| 204 |
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"front_left_ankle_angle",
|
| 205 |
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"front_right_hip_angle",
|
| 206 |
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"front_right_ankle_angle",
|
| 207 |
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"back_left_hip_angle",
|
| 208 |
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"back_left_ankle_angle",
|
| 209 |
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"back_right_hip_angle",
|
| 210 |
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"back_right_ankle_angle",
|
| 211 |
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"torso_x_velocity",
|
| 212 |
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"torso_y_velocity",
|
| 213 |
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"torso_z_velocity",
|
| 214 |
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"torso_angular_velocity_x",
|
| 215 |
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"torso_angular_velocity_y",
|
| 216 |
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"torso_angular_velocity_z",
|
| 217 |
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"front_left_hip_angular_velocity",
|
| 218 |
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"front_left_ankle_angular_velocity",
|
| 219 |
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"front_right_hip_angular_velocity",
|
| 220 |
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"front_right_ankle_angular_velocity",
|
| 221 |
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"back_left_hip_angular_velocity",
|
| 222 |
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"back_left_ankle_angular_velocity",
|
| 223 |
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"back_right_hip_angular_velocity",
|
| 224 |
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"back_right_ankle_angular_velocity"
|
| 225 |
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]
|
| 226 |
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},
|
| 227 |
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"task_name": "ant_rgb_state"
|
| 228 |
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},
|
| 229 |
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"validation_dataset_name": "ant_h1_5fps_l0__val",
|
| 230 |
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"validation_episodes": 10,
|
| 231 |
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"validation_frames": 10000
|
| 232 |
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}
|
zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/profile/DONE
ADDED
|
File without changes
|
zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/profile/hardware.json
ADDED
|
@@ -0,0 +1,40 @@
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|
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|
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|
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|
|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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"gpu_class": "1x-rtx3090",
|
| 4 |
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"gpus": [
|
| 5 |
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{
|
| 6 |
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"name": "NVIDIA GeForce RTX 3090",
|
| 7 |
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"slot": 0
|
| 8 |
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}
|
| 9 |
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],
|
| 10 |
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"instance_id": "instance_859cf1e47bca6046",
|
| 11 |
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"topology_links": [],
|
| 12 |
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"torch": {
|
| 13 |
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|
| 14 |
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"cuda_cudnn_sdp_enabled": true,
|
| 15 |
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"cuda_flash_sdp_enabled": true,
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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"cudnn_allow_tf32": true,
|
| 20 |
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"cudnn_benchmark": false
|
| 21 |
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},
|
| 22 |
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"cuda_available": true,
|
| 23 |
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|
| 24 |
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"cuda_version": "12.8",
|
| 25 |
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|
| 26 |
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"current_device_name": "NVIDIA GeForce RTX 3090",
|
| 27 |
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"device_properties": [
|
| 28 |
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{
|
| 29 |
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"index": 0,
|
| 30 |
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"major": 8,
|
| 31 |
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"minor": 6,
|
| 32 |
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|
| 33 |
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"name": "NVIDIA GeForce RTX 3090",
|
| 34 |
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"total_memory": 25295257600
|
| 35 |
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}
|
| 36 |
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],
|
| 37 |
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"float32_matmul_precision": "highest",
|
| 38 |
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"version": "2.11.0+cu128"
|
| 39 |
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}
|
| 40 |
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}
|
zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/profile/latency_burst_model.json
ADDED
|
@@ -0,0 +1,1315 @@
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|
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|
| 1301 |
+
"calm": 2
|
| 1302 |
+
},
|
| 1303 |
+
"calm": {
|
| 1304 |
+
"burst": 2,
|
| 1305 |
+
"calm": 2816
|
| 1306 |
+
}
|
| 1307 |
+
},
|
| 1308 |
+
"reset_scope": "session",
|
| 1309 |
+
"schema_version": 12,
|
| 1310 |
+
"spike_median_multiplier": 1.25,
|
| 1311 |
+
"spike_threshold_ms_by_worker_slot": {
|
| 1312 |
+
"0": 173.84151220321655
|
| 1313 |
+
},
|
| 1314 |
+
"worker_count": 1
|
| 1315 |
+
}
|
zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/profile/latency_distribution.json
ADDED
|
@@ -0,0 +1,1027 @@
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zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/profile/latency_profile.png
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zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/profile/profile.json
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ADDED
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| 211 |
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|
| 212 |
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}
|
zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/source_identity.json
ADDED
|
@@ -0,0 +1,29 @@
|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
+
"revision": "a7001d2227fa8b0cbcd58b7b0e32db3dba147810",
|
| 3 |
+
"source": "current worktree snapshot",
|
| 4 |
+
"dirty_paths": [
|
| 5 |
+
" M AGENTS.md",
|
| 6 |
+
" M configs/experiments/memory/small_model/flappy_capped.yaml",
|
| 7 |
+
" M configs/experiments/memory/small_model/flappy_extended.yaml",
|
| 8 |
+
" M configs/experiments/observation_stride/flappy_capped.yaml",
|
| 9 |
+
" M configs/experiments/observation_stride/flappy_extended.yaml",
|
| 10 |
+
" M configs/experiments/sim2real.yaml",
|
| 11 |
+
" M scripts/experiments/memory/small_model/run.sh",
|
| 12 |
+
" M scripts/experiments/observation_stride/run.sh",
|
| 13 |
+
" M scripts/experiments/sim2real/study.py",
|
| 14 |
+
" M tests/scripts/test_sim2real.py",
|
| 15 |
+
"?? configs/experiments/sim2real/five_gpu.yaml",
|
| 16 |
+
"?? docs/cleanup-refactor/",
|
| 17 |
+
"?? lagen/",
|
| 18 |
+
"?? scripts/experiments/sim2real/campaign.py",
|
| 19 |
+
"?? servers.md"
|
| 20 |
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],
|
| 21 |
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"runtime_patches": [
|
| 22 |
+
{
|
| 23 |
+
"path": "third_party/starVLA/starVLA/training/train_starvla.py",
|
| 24 |
+
"change": "Full DeepSpeed state-directory resume loads config/statistics from owning run directory without resolving a standalone model file.",
|
| 25 |
+
"validation": "6 existing resume/statistics tests passed; see previous campaign resume_fix_tests.log"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010"
|
| 29 |
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}
|