Archive original hopper pi05 profile bundle

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/README.md

@@ -0,0 +1,31 @@
+# hopper / qwenpi_v3
+
+Training condition: `latency-aware`. Run: `hopper_pi05_profile_gt2500_h1_5fps_g128_20260922`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/Pi05) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoints/model.pt`
+- Selection: only published VLA checkpoint
+- Checkpoint SHA256: `93f66960f8eae69b52350e2d15271ef037dc8826332268fac69ce7c018d654c8`
+- Configuration, FPS, actions, normalization and latency semantics retain their source values.
+- This import does not run evaluations or change training/evaluation/acceptance status.
+
+Action horizon is 1. Use `config.yaml` and `dataset_statistics.json` with the matching
+prepared backbone. `task_contract.json` is extracted from the original training configuration.
+Original machine paths in historical configurations are provenance: bind checkpoint,
+backbone, manifest and profile paths to downloaded local files when running inference.
+
+See [the original model notes](source/README.md) for experiment results and limitations.
+
+[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93f66960f8eae69b52350e2d15271ef037dc8826332268fac69ce7c018d654c8
+size 10922629277

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/config.full.yaml

@@ -0,0 +1,246 @@
+framework:
+  name: QwenPI_v3
+  qwenvl:
+    base_vlm: ${oc.env:PI05_BACKBONE_DIR}
+    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: 3
+    state_dim: 11
+    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: 3
+    future_action_window_size: 0
+    past_action_window_size: 0
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /
+    data_mix: train
+    eval_data_mix: validation
+    custom_mixtures_path: ${PI05_RUN_DIR}/profile_latency/vla_gt2500_20260922/mixture.json
+    action_type: continuous
+    sequential_step_sampling: true
+    eval_sequential_step_sampling: null
+    num_workers: 4
+    eval_num_workers: 0
+    prefetch_factor: 2
+    persistent_workers: true
+    pin_memory: true
+    shuffle: true
+    action_balance:
+      enabled: false
+      strategy: balanced_epoch
+      action_key: action_id
+      target_flap_fraction: 0.3
+      noop_id: 0
+      flap_id: 1
+    latency_curriculum:
+      enabled: false
+      strategy: exclusive
+      latencies: null
+      phase_steps: null
+      phase_distributions: null
+      new_latency_passes: 1.0
+      replay_passes: 0.25
+      target_total_passes: 2.0
+      final_equalization: true
+      step_budget_mode: auto
+      eval_at_phase_end: false
+      save_at_phase_end: false
+      computed_plan: null
+    per_device_batch_size: 64
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size:
+    - 224
+    - 224
+    video_backend: pyav
+    lerobot_version: v2.0
+    gymnasium_task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - thigh_torque
+        - leg_torque
+        - foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Hopper robot forward while keeping its torso upright.
+        Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+      env_fps: 5.0
+      env_id: LatencyBench/Hopper-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Hopper-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_hopper
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - thigh_angle
+        - leg_angle
+        - foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - thigh_angular_velocity
+        - leg_angular_velocity
+        - foot_angular_velocity
+      task_name: hopper
+    active_action_dim: 3
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: flappy_train
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: flappy_train
+  mixed_converted_name: flappy_mixed_latency_train
+  single_latency_filter: null
+  mixed_latency_filter: null
+  force_download: false
+  setup_force: false
+  skip_verification: false
+  target_latency_unit: observation_steps
+  verify_rows: 200
+  max_episodes: null
+  episodes_per_latency: null
+  latency_filter: null
+  debug_subset:
+    enabled: false
+    max_episodes: 5
+    suffix: debug
+base_model:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+initialization:
+  checkpoint_local_dir: null
+  checkpoint_hf_repo_id: null
+  checkpoint_filename: null
+trainer:
+  max_train_steps: 5000
+  num_warmup_steps: 100
+  save_interval: 500
+  eval_interval: 500
+  eval_num_batches: 200
+  per_latency_eval_num_batches: null
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  cc_f1_tolerance: 1
+  learning_rate:
+    base: 2.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  freeze_modules: ''
+  freeze_vit: false
+  freeze_tied_embedding: false
+  freeze_llm_layers: []
+  loss_scale:
+    vla: 1.0
+    vlm: 0.1
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 1
+  profile_timing:
+    enabled: false
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  distributed_backend: deepspeed
+  is_resume: false
+  pretrained_checkpoint: null
+  resume_step: 0
+  reload_modules: null
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+    fused: true
+  save_format: pt
+run_id: hopper_pi05_profile_gt2500_h1_5fps_g128_20260922
+run_root_dir: ${PI05_RUN_DIR}/profile_latency/vla_gt2500_20260922/training
+seed: 42
+is_debug: false
+version_id: '0.21'
+wandb_project: latency-sensitive-bench
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_name: hopper_pi05_profile_gt2500_h1_5fps_g128_20260922
+wandb_group: pi05-seven-env
+wandb_tags:
+- hopper
+- profile_latency
+- Pi05
+- h1
+training_latency_condition: profile_latency
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+checkpoint:
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: true
+  local:
+    keep_last_n: 1
+config_yaml: ${PI05_RUN_DIR}/profile_latency/vla_gt2500_20260922/train.yaml
+output_dir: ${PI05_RUN_DIR}/profile_latency/vla_gt2500_20260922/training/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/config.yaml

@@ -0,0 +1,123 @@
+framework:
+  name: QwenPI_v3
+  qwenvl:
+    base_vlm: ${oc.env:PI05_BACKBONE_DIR}
+    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: 3
+    state_dim: 11
+    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: 3
+    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
+        labels:
+        - thigh_torque
+        - leg_torque
+        - foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Hopper robot forward while keeping its torso upright.
+        Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+      env_fps: 5.0
+      env_id: LatencyBench/Hopper-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Hopper-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_hopper
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - thigh_angle
+        - leg_angle
+        - foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - thigh_angular_velocity
+        - leg_angular_velocity
+        - foot_angular_velocity
+      task_name: hopper
+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

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/dataset_statistics.json

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+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        0.004830775782465935,
+        0.6506988406181335,
+        -0.16816289722919464
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+      "std": [
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+        0.6471112370491028,
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+        1.0
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+      "q01": [
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+      "q99": [
+        0.6878180891275406,
+        1.0,
+        1.0
+      ],
+      "mask": [
+        true,
+        true,
+        true
+      ]
+    },
+    "state": {
+      "mean": [
+        0.256259024143219,
+        -0.2865329384803772,
+        0.40575700998306274,
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+        0.27870386838912964,
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+        0.6812174916267395,
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+        0.2775718867778778,
+        0.40339428186416626,
+        0.58819580078125
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+      "max": [
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+        0.8261520147323609,
+        0.9779282450675965,
+        1.0
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+    },
+    "num_transitions": 87404,
+    "num_trajectories": 90
+  }
+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/latency_prompt_map.json

@@ -0,0 +1,12 @@
+{
+  "1": {
+    "prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 1 raw frames (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "latency_raw_frames": 1,
+    "latency_ms": 200.0
+  },
+  "2": {
+    "prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 2 raw frames (400.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "latency_raw_frames": 2,
+    "latency_ms": 400.0
+  }
+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/manifest.json

@@ -0,0 +1,143 @@
+{
+  "dataset_name": "hopper_h1_5fps_profile_gt2500",
+  "env_name": "hopper",
+  "episodes": 90,
+  "frames": 87404,
+  "task_prompts": [
+    "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 1 raw frames (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 2 raw frames (400.00 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": "${PI05_RUN_DIR}/profile_latency/data/raw_profile_gt2500",
+  "integration_name": "gymnasium",
+  "task_name": "hopper",
+  "action_layout": "gymnasium_continuous_v1",
+  "action_labels": [
+    "thigh_torque",
+    "leg_torque",
+    "foot_torque"
+  ],
+  "carrier_action_labels": [
+    "thigh_torque",
+    "leg_torque",
+    "foot_torque"
+  ],
+  "action_dim": 3,
+  "active_action_dim": 3,
+  "action_carrier": "native",
+  "rows_unit": "decision_step",
+  "obs_fps": 5.0,
+  "obs_stride_raw_frames": 1,
+  "uses_state": true,
+  "state_dim": 11,
+  "state_labels": [
+    "torso_height",
+    "torso_angle",
+    "thigh_angle",
+    "leg_angle",
+    "foot_angle",
+    "torso_x_velocity",
+    "torso_z_velocity",
+    "torso_angular_velocity",
+    "thigh_angular_velocity",
+    "leg_angular_velocity",
+    "foot_angular_velocity"
+  ],
+  "state_normalization": {
+    "type": "min_max",
+    "min": [
+      0.7025294303894043,
+      -0.18769855797290802,
+      -1.4441453218460083,
+      -1.9619364738464355,
+      -0.9252399802207947,
+      -0.014216306619346142,
+      -5.1731038093566895,
+      -6.168967247009277,
+      -10.0,
+      -10.0,
+      -10.0
+    ],
+    "max": [
+      1.819760799407959,
+      0.19951485097408295,
+      0.0425863191485405,
+      0.15077050030231476,
+      0.9662268757820129,
+      7.153366565704346,
+      3.250192880630493,
+      6.1806535720825195,
+      7.204126834869385,
+      10.0,
+      10.0
+    ]
+  },
+  "robot_type": "rl_games_gymnasium",
+  "latency_prompt_map_path": "${PI05_RUN_DIR}/profile_latency/data/lerobot/hopper_h1_5fps_profile_gt2500/latency_prompt_map.json",
+  "custom_mixtures_path": "${PI05_RUN_DIR}/profile_latency/data/lerobot/_generated_mixtures/hopper_h1_5fps_profile_gt2500.json",
+  "gymnasium_task": {
+    "action_space": {
+      "dtype": "float32",
+      "high": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "labels": [
+        "thigh_torque",
+        "leg_torque",
+        "foot_torque"
+      ],
+      "low": [
+        -1.0,
+        -1.0,
+        -1.0
+      ],
+      "type": "box"
+    },
+    "base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+    "env_fps": 5.0,
+    "env_id": "LatencyBench/Hopper-v0",
+    "frame_stack": 1,
+    "make_kwargs": {
+      "base_env_id": "Hopper-v4",
+      "base_make_kwargs": {
+        "ctrl_cost_weight": 0.001,
+        "exclude_current_positions_from_observation": true,
+        "forward_reward_weight": 1.0,
+        "healthy_reward": 1.0,
+        "reset_noise_scale": 0.005,
+        "terminate_when_unhealthy": true
+      },
+      "render_mode": "rgb_array"
+    },
+    "noop_action": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "obs_fps": 5.0,
+    "registration_imports": [
+      "latency_bench.envs.gymnasium_hopper"
+    ],
+    "state_space": {
+      "labels": [
+        "torso_height",
+        "torso_angle",
+        "thigh_angle",
+        "leg_angle",
+        "foot_angle",
+        "torso_x_velocity",
+        "torso_z_velocity",
+        "torso_angular_velocity",
+        "thigh_angular_velocity",
+        "leg_angular_velocity",
+        "foot_angular_velocity"
+      ]
+    },
+    "task_name": "hopper"
+  },
+  "validation_dataset_name": "hopper_h1_5fps_profile_gt2500__val",
+  "validation_episodes": 10,
+  "validation_frames": 9776
+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/provenance.json

@@ -0,0 +1,34 @@
+{
+  "task": "hopper",
+  "model": "qwenpi_v3",
+  "training_condition": "latency-aware",
+  "training_run_id": "hopper_pi05_profile_gt2500_h1_5fps_g128_20260922",
+  "source": {
+    "repo_id": "latency-sensitive-bench/Standard-Pipeline",
+    "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
+    "path": "hopper/profile_latency/Pi05",
+    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/Pi05"
+  },
+  "hf_repo_id": "latency-sensitive-bench/benchmark-models",
+  "hf_path": "latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922",
+  "checkpoint": {
+    "source_file": "hopper/profile_latency/Pi05/checkpoints/model.pt",
+    "source_sha256": "93f66960f8eae69b52350e2d15271ef037dc8826332268fac69ce7c018d654c8",
+    "source_bytes": 10922629277,
+    "file": "checkpoints/model.pt",
+    "selection_rule": "only published VLA checkpoint",
+    "method": "copy",
+    "sha256": "93f66960f8eae69b52350e2d15271ef037dc8826332268fac69ce7c018d654c8",
+    "bytes": 10922629277
+  },
+  "config_source": "hopper/profile_latency/Pi05/config.yaml",
+  "task_contract_file": "task_contract.json",
+  "missing_source_files": [],
+  "migration": {
+    "operation": "copy_selected_inference_bundle",
+    "source_modified": false,
+    "evaluation_performed": false,
+    "experiment_status": "preserved_in_source_evidence"
+  },
+  "action_horizon": 1
+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/source/README.md

@@ -0,0 +1,5 @@
+# hopper Pi0.5 profile-latency VLA
+
+Fresh QwenPI_v3,5000 updates,seed42,global128 (micro64 × accumulation1 ×2 GPUs),GC off,ZeRO2,H1,RGB224,5/5FPS,native state/action and train-only state min-max once. Dataset used the explicitly approved >2500 gate without an attempt ceiling: 218 total attempts, 53 earlier >3000 accepted records retained plus 47 new >2500 records.
+
+Set PI05_BACKBONE_DIR to Qwen3-VL-4B-Instruct revision ebb281ec70b05090aa6165b016eac8ec08e71b17. Use config.yaml/checkpoints/model.pt and latency_prompt_map.json. Weights are byte-identical to final training export. CPU tensor-finiteness/hash validation passed; actual realtime F evaluation is a separate stage. No optimizer, training state, W&B cache or credentials are included.

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/source/provenance.json

@@ -0,0 +1,512 @@
+{
+  "task": "hopper",
+  "backbone": {
+    "repo_id": "Qwen/Qwen3-VL-4B-Instruct",
+    "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17"
+  },
+  "checkpoint": "steps_5000_pytorch_model.pt",
+  "training_steps": 5000,
+  "seed": 42,
+  "global_batch": 128,
+  "training_run_id": "hopper_pi05_profile_gt2500_h1_5fps_g128_20260922",
+  "condition": "profile_latency",
+  "source": {
+    "task": "hopper",
+    "condition": "profile_latency",
+    "teacher_checkpoint_path": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_hopper_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/checkpoint_000019536_10002432.pth",
+    "teacher_checkpoint_sha256": "9b78ae32c795cf0eecbd2b66e04f2775091a9756a40e5f5635791ac2b2ca4b86",
+    "teacher": {
+      "state": "TEACHER_FULL_TRACE_AUDIT_PASSED",
+      "verified_at": "2026-09-21T14:09:31.112834+00:00",
+      "task": "hopper",
+      "model_revision": "408930d8a85f0cb316dc3bdebfb8142526570355",
+      "P_profile_sha256": "1289653bf6e8591cdd5cf805ad539ddd1cb041cdad08a9f2833597fe72271e1e",
+      "P_warnings": [
+        {
+          "session": 1,
+          "warmup_status": "unstable",
+          "warmup_stability_reason": "drifting",
+          "samples_excluded": 100
+        }
+      ],
+      "actual_final_env_steps": 10002432,
+      "actual_final_train_step": 19536,
+      "selection": {
+        "selected": "final",
+        "candidates": {
+          "final": {
+            "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_hopper_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/checkpoint_000019536_10002432.pth",
+            "sha256": "9b78ae32c795cf0eecbd2b66e04f2775091a9756a40e5f5635791ac2b2ca4b86",
+            "episodes": 20,
+            "seeds": [
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+              104784,
+              104785,
+              104786,
+              104787,
+              104788,
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+              104790
+            ],
+            "returns": [
+              2224.1403163381674,
+              2819.128114077857,
+              3489.646074260514,
+              2009.7554991069278,
+              2113.0389978032463,
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+              2019.6803983866998,
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+              2591.8151761056497,
+              265.78937272271213,
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+              1981.7056002712736,
+              3621.6136520722443,
+              3614.0425221471028,
+              3542.033646827985
+            ],
+            "mean": 2473.704844220784,
+            "population_std": 983.5990191484575,
+            "strict_gt3000": 7
+          },
+          "training_best": {
+            "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_hopper_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/best_000019536_10002432_reward_2535.456.pth",
+            "sha256": "f0d71c11d6f468510a6b1e98d528060bfe213e094ae81a13a7c9129af2f5b2ec",
+            "episodes": 20,
+            "seeds": [
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+              104784,
+              104785,
+              104786,
+              104787,
+              104788,
+              104789,
+              104790
+            ],
+            "returns": [
+              2224.1403163381674,
+              2819.128114077857,
+              3489.646074260514,
+              2009.7554991069278,
+              2113.0389978032463,
+              2530.889359173486,
+              3528.0257119878297,
+              3480.216905777773,
+              1947.2163728885328,
+              2019.6803983866998,
+              271.37905453360946,
+              2083.796228363727,
+              3447.6906733909796,
+              2591.8151761056497,
+              265.78937272271213,
+              1892.4932081793627,
+              1981.7056002712736,
+              3621.6136520722443,
+              3614.0425221471028,
+              3542.033646827985
+            ],
+            "mean": 2473.704844220784,
+            "population_std": 983.5990191484575,
+            "strict_gt3000": 7
+          }
+        },
+        "completed_at": "2026-09-21T14:06:00.799410+00:00",
+        "final_checkpoint_env_steps": 10002432,
+        "final_checkpoint_train_step": 19536
+      },
+      "evaluations": {
+        "final": {
+          "episodes": 20,
+          "seeds": [
+            104771,
+            104772,
+            104773,
+            104774,
+            104775,
+            104776,
+            104777,
+            104778,
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+            104781,
+            104782,
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+            104784,
+            104785,
+            104786,
+            104787,
+            104788,
+            104789,
+            104790
+          ],
+          "returns": [
+            2224.1403163381674,
+            2819.128114077857,
+            3489.646074260514,
+            2009.7554991069278,
+            2113.0389978032463,
+            2530.889359173486,
+            3528.0257119878297,
+            3480.216905777773,
+            1947.2163728885328,
+            2019.6803983866998,
+            271.37905453360946,
+            2083.796228363727,
+            3447.6906733909796,
+            2591.8151761056497,
+            265.78937272271213,
+            1892.4932081793627,
+            1981.7056002712736,
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+            757,
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+            1000,
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+            919,
+            698,
+            132,
+            508,
+            539,
+            1000,
+            983,
+            1000
+          ],
+          "mean_return": 2473.704844220784,
+          "population_std_return": 983.5990191484575,
+          "mean_length": 685.8,
+          "raw_steps": 13716,
+          "strict_gt3000": 7,
+          "actions": 10606,
+          "action_latency_mean_ms": 199.08640804375509,
+          "action_latency_p95_ms": 256.6691669408085,
+          "commands_requiring_native_clip": 0,
+          "invalid_actions": 0,
+          "dropped_actions": 0,
+          "submitted_observations": 10606,
+          "dropped_observations": 3110,
+          "observation_drop_fraction": 0.2267424905220181,
+          "config_sha256": "39166d114a7d4b46e64da14382bd644f4095e7eb36fc6eae52479c2545093f81",
+          "state_contract": "Native state11 is bound to manifest/loader QA/saved reload; no per-step state vector is recorded."
+        },
+        "training_best": {
+          "episodes": 20,
+          "seeds": [
+            104771,
+            104772,
+            104773,
+            104774,
+            104775,
+            104776,
+            104777,
+            104778,
+            104779,
+            104780,
+            104781,
+            104782,
+            104783,
+            104784,
+            104785,
+            104786,
+            104787,
+            104788,
+            104789,
+            104790
+          ],
+          "returns": [
+            2224.1403163381674,
+            2819.128114077857,
+            3489.646074260514,
+            2009.7554991069278,
+            2113.0389978032463,
+            2530.889359173486,
+            3528.0257119878297,
+            3480.216905777773,
+            1947.2163728885328,
+            2019.6803983866998,
+            271.37905453360946,
+            2083.796228363727,
+            3447.6906733909796,
+            2591.8151761056497,
+            265.78937272271213,
+            1892.4932081793627,
+            1981.7056002712736,
+            3621.6136520722443,
+            3614.0425221471028,
+            3542.033646827985
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+          "lengths": [
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+            757,
+            1000,
+            544,
+            593,
+            682,
+            1000,
+            1000,
+            528,
+            539,
+            134,
+            566,
+            919,
+            698,
+            132,
+            508,
+            539,
+            1000,
+            983,
+            1000
+          ],
+          "mean_return": 2473.704844220784,
+          "population_std_return": 983.5990191484575,
+          "mean_length": 685.8,
+          "raw_steps": 13716,
+          "strict_gt3000": 7,
+          "actions": 10606,
+          "action_latency_mean_ms": 199.08640804375509,
+          "action_latency_p95_ms": 256.6691669408085,
+          "commands_requiring_native_clip": 0,
+          "invalid_actions": 0,
+          "dropped_actions": 0,
+          "submitted_observations": 10606,
+          "dropped_observations": 3110,
+          "observation_drop_fraction": 0.2267424905220181,
+          "config_sha256": "8447bbc671595a369933dff026480db4f94846a7970e4e8ac6731abdf21d0138",
+          "state_contract": "Native state11 is bound to manifest/loader QA/saved reload; no per-step state vector is recorded."
+        }
+      },
+      "E10": {
+        "episodes": 10,
+        "seeds": [
+          104771,
+          104772,
+          104773,
+          104774,
+          104775,
+          104776,
+          104777,
+          104778,
+          104779,
+          104780
+        ],
+        "returns": [
+          2224.1403163381674,
+          2819.128114077857,
+          3489.646074260514,
+          2009.7554991069278,
+          2113.0389978032463,
+          2530.889359173486,
+          3528.0257119878297,
+          3480.216905777773,
+          1947.2163728885328,
+          2019.6803983866998
+        ],
+        "lengths": [
+          594,
+          757,
+          1000,
+          544,
+          593,
+          682,
+          1000,
+          1000,
+          528,
+          539
+        ],
+        "mean_return": 2616.173774980103,
+        "population_std_return": 629.868919379035,
+        "mean_length": 723.7,
+        "raw_steps": 7237,
+        "strict_gt3000": 3,
+        "actions": 5577,
+        "action_latency_mean_ms": 199.29742636488007,
+        "action_latency_p95_ms": 257.7097693485515,
+        "commands_requiring_native_clip": 0,
+        "invalid_actions": 0,
+        "dropped_actions": 0,
+        "submitted_observations": 5577,
+        "dropped_observations": 1660,
+        "observation_drop_fraction": 0.22937681359679427,
+        "config_sha256": "8a5246d083413a735ed88e2e3b9a5c4f7b49896abfd3153488d9fcd1edd62176",
+        "state_contract": "Native state11 is bound to manifest/loader QA/saved reload; no per-step state vector is recorded."
+      },
+      "probe": {
+        "attempts": 12,
+        "accepted": 2,
+        "rejected": 10,
+        "source_state_sha256": "fad846336f923f7f0bf755c2d5cdbbcc2a8c4f955556c2299ef088cbd20d1f72",
+        "accepted_specs": [
+          {
+            "attempt_idx": 4,
+            "episode_idx": 0,
+            "episode_length": 1000,
+            "episode_raw_frames": 1000,
+            "episode_raw_return": 3573.1784443855286,
+            "seed": 3337,
+            "split": "train"
+          },
+          {
+            "attempt_idx": 9,
+            "episode_idx": 1,
+            "episode_length": 1000,
+            "episode_raw_frames": 1000,
+            "episode_raw_return": 3552.9572883844376,
+            "seed": 3342,
+            "split": "val"
+          }
+        ]
+      },
+      "strict_gate": "episode_raw_return > 3000",
+      "E10_caveat": "Repeats the first ten selection seeds; not an independent gate.",
+      "training_unit_exit_claim": false,
+      "gate": "PASSED"
+    },
+    "profile_source": {
+      "model_revision": "408930d8a85f0cb316dc3bdebfb8142526570355",
+      "checkpoint_sha256": "c35ddc57fef8fd096adca3df9ecf94662824c26b311c3884508f07646231f05b",
+      "profile_sha256": "1289653bf6e8591cdd5cf805ad539ddd1cb041cdad08a9f2833597fe72271e1e",
+      "source_run_id": "20260921T094220318783Z",
+      "P_publication_revision": "e1a9bdd566b96d5da4703f769d40eab656af491e",
+      "warnings": [
+        {
+          "session": 1,
+          "warmup_status": "unstable",
+          "warmup_stability_reason": "drifting",
+          "samples_excluded": 100
+        }
+      ]
+    },
+    "dataset": {
+      "attempts": 218,
+      "accepted": 100,
+      "old_history": {
+        "attempts": 120,
+        "gate": "episode_raw_return > 3000",
+        "accepted_reused": 53,
+        "rejected": 67,
+        "rejections_reclassified": false
+      },
+      "continuation": {
+        "start_attempt_idx": 120,
+        "attempts": 98,
+        "accepted": 47,
+        "rejected": 51,
+        "gate": "episode_raw_return > 2500",
+        "attempt_limit": null
+      },
+      "max_total_attempts": null,
+      "splits": {
+        "train": {
+          "rows": 87404,
+          "episodes": 90,
+          "return_min": 2501.0231088399887,
+          "action_min": -1.0,
+          "action_max": 1.0
+        },
+        "val": {
+          "rows": 9776,
+          "episodes": 10,
+          "return_min": 2859.5413383841515,
+          "action_min": -1.0,
+          "action_max": 1.0
+        }
+      },
+      "sha256": {
+        "metadata.json": "6a0e1ef5b903e923c37f5091eeece485d4a00dfc7a8c63a95c523cf59399531a",
+        "train.parquet": "47b4bd70080aa670c285f207aca9cc2f3c803d1f07c58fa0faa3a585e325939a",
+        "val.parquet": "af5561f9912e9a580bc8112875cf11a55e7014e418677293428e32fb911962e0"
+      }
+    },
+    "probe_state": {
+      "path": "${PI05_RUN_DIR}/profile_latency/data/probe_state_gt2500.json",
+      "sha256": "eae3de415d0cced764c95c9ed12ae9b70a2a02ae30f7bbbc4bb461cd7f3da675",
+      "attempted": 218,
+      "accepted": 100,
+      "rejected": 118,
+      "original_12_sha256": "fad846336f923f7f0bf755c2d5cdbbcc2a8c4f955556c2299ef088cbd20d1f72",
+      "original_120_sha256": "8427adc4e968df0ea8467a8848462e51a481a9d31a2dbbc7f5458e3700da3a9b"
+    },
+    "evaluation_prompt_keys": [
+      "1",
+      "2"
+    ],
+    "state_dim": 11,
+    "action_dim": 3,
+    "action_units": "native continuous; environment Box clips pre-clip values outside [-1,1]",
+    "preclip_action_range": [
+      -1.0,
+      1.0
+    ],
+    "commands_requiring_native_clip": 0,
+    "teacher_seed": 3333,
+    "actual_final_env_steps": 10002432,
+    "selected_teacher": "final",
+    "selection_mean": 2473.704844220784,
+    "selection_strict_gt3000": 7,
+    "E10_repeats_first10_selection_seeds": true,
+    "loader_checks": {
+      "train": {
+        "rows": 87404,
+        "indices": [
+          0,
+          43702,
+          87403
+        ],
+        "state_train_minmax_exact_once": true,
+        "action_image_prompt_exact": true
+      },
+      "val": {
+        "rows": 9776,
+        "indices": [
+          0,
+          4888,
+          9775
+        ],
+        "state_train_minmax_exact_once": true,
+        "action_image_prompt_exact": true
+      }
+    }
+  },
+  "training_config_sha256": "1f30ce61cfd0ee83b15c2b34ca7f37ce2de836d7693aa7b4f37d4e921befb17c",
+  "dataset_manifest_sha256": "32324928c5d8f933ae59f76c0c9ac4121d631568a552348449fe7555d1f30e5e"
+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/task_contract.json

@@ -0,0 +1,62 @@
+{
+  "action_space": {
+    "dtype": "float32",
+    "high": [
+      1.0,
+      1.0,
+      1.0
+    ],
+    "labels": [
+      "thigh_torque",
+      "leg_torque",
+      "foot_torque"
+    ],
+    "low": [
+      -1.0,
+      -1.0,
+      -1.0
+    ],
+    "type": "box"
+  },
+  "base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+  "env_fps": 5.0,
+  "env_id": "LatencyBench/Hopper-v0",
+  "frame_stack": 1,
+  "make_kwargs": {
+    "base_env_id": "Hopper-v4",
+    "base_make_kwargs": {
+      "ctrl_cost_weight": 0.001,
+      "exclude_current_positions_from_observation": true,
+      "forward_reward_weight": 1.0,
+      "healthy_reward": 1.0,
+      "reset_noise_scale": 0.005,
+      "terminate_when_unhealthy": true
+    },
+    "render_mode": "rgb_array"
+  },
+  "noop_action": [
+    0.0,
+    0.0,
+    0.0
+  ],
+  "obs_fps": 5.0,
+  "registration_imports": [
+    "latency_bench.envs.gymnasium_hopper"
+  ],
+  "state_space": {
+    "labels": [
+      "torso_height",
+      "torso_angle",
+      "thigh_angle",
+      "leg_angle",
+      "foot_angle",
+      "torso_x_velocity",
+      "torso_z_velocity",
+      "torso_angular_velocity",
+      "thigh_angular_velocity",
+      "leg_angular_velocity",
+      "foot_angular_velocity"
+    ]
+  },
+  "task_name": "hopper"
+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/validation.json

@@ -0,0 +1,10 @@
+{
+  "state": "CPU_STATE_DICT_AND_BUNDLE_HASH_VERIFIED",
+  "checkpoint_sha256": "93f66960f8eae69b52350e2d15271ef037dc8826332268fac69ce7c018d654c8",
+  "tensor_count": 1386,
+  "all_floating_tensors_finite": true,
+  "training_steps": 5000,
+  "global_batch": 128,
+  "gpu_forward": "NOT_RUN_AT_PUBLICATION",
+  "verified_at": "2026-09-22T01:31:19.235344+00:00"
+}