diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..28de6c87fdaa863bc4b63423634c1387b32bd290 --- /dev/null +++ b/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 @@ -0,0 +1 @@ +{"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} diff --git a/zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/config.yaml b/zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..94ab522812f835349cda4424d748889645e26cf5 --- /dev/null +++ b/zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/config.yaml @@ -0,0 +1,158 @@ +framework: + name: QwenPI_v3 + qwenvl: + base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 + attn_implementation: flash_attention_2 + vl_hidden_dim: 2560 + num_vl_layers: 36 + enable_gradient_checkpointing: false + action_model: + action_model_type: LayerwiseFM + action_dim: 8 + state_dim: 27 + state_encoding: continuous_projector + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 2 + num_inference_timesteps: 4 + add_pos_embed: true + max_seq_len: 1024 + num_target_vision_tokens: 32 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + diffusion_model_cfg: + action_dit_hidden_dim: 1024 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + positional_embeddings: null + attention_head_dim: 64 + num_layers: 36 + input_embedding_dim: 1024 + cross_attention_dim: 1024 + output_dim: 1024 + num_attention_heads: 16 + 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_native +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: pi05 + task: gymnasium + action_carrier: native + gymnasium: + task_contract: *id001 + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..3b997b68fc9f3f2b01acf92c6d50c14fbc02624f --- /dev/null +++ b/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 @@ -0,0 +1,254 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + -0.03656141459941864, + -0.16550613939762115, + 0.18887071311473846, + -0.004122395534068346, + 0.03730413317680359, + 0.09448814392089844, + 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"20260920T165146117775Z", "submitted_observation_frames": 56, "workload_id": "ant"}, "num_actions": 56, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 150.38334773934415, "p99_latency_ms": 153.1733836593583, "return_raw": null, "survival_steps": 56} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..0e93c99018b0a2dbcc512ac25e81cb7918584981 --- /dev/null +++ b/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 @@ -0,0 +1,195 @@ +experiment: + name: ant_pi05_profile_l0_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/pi05/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/pi05/l0_bundle/checkpoints/model.pt + model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/pi05/l0_bundle/config.yaml + backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 + device: cuda:0 + task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/pi05/l0_bundle/manifest.json + 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 + 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/pi05/evaluation/l0_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-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/latency_prompt_map.json b/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 new file mode 100644 index 0000000000000000000000000000000000000000..4dd92de4df2bca737f40d7ee7693906d8c1e3649 --- /dev/null +++ b/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 @@ -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-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/manifest.json b/zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..1be149aa5177107c41621124e9943f96238796ae --- /dev/null +++ b/zero-latency/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_l0_h1_5fps_g128_20260920_m32/evaluations/g128_current_code_iid_20261010/manifest.json @@ -0,0 +1,232 @@ +{ + "dataset_name": "ant_h1_5fps_l0", + "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. 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