diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/F-summary.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/F-summary.json new file mode 100644 index 0000000000000000000000000000000000000000..eb82332981b4e7ca16a48af25ca90d0911175982 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/F-summary.json @@ -0,0 +1,163 @@ +{ + "verified_at": "2026-09-17T22:54:19.842855+00:00", + "task": "ant", + "B": { + "episodes": 20, + "mean_return": 165.37481726082865, + "population_std": 224.74334398914203, + "mean_length": 117.95, + "mean_episode_latency_ms": 109.68601172344802, + "observation_drops": 0, + "submitted_observations": 2359, + "action_drops": 0, + "invalid_actions": 0, + "metrics_sha256": "ff2ac48ce6a80f3ce86f8bf463d176901e80fdfc1da4e5d257619103f38ef4c5" + }, + "F": { + "episodes": 20, + "mean_return": 1955.9665903901682, + "population_std": 780.5126269537432, + "mean_length": 864.15, + "mean_episode_latency_ms": 109.09411537718458, + "observation_drops": 0, + "submitted_observations": 17283, + "action_drops": 0, + "invalid_actions": 0, + "metrics_sha256": "b2ff83fadbbd9b5ff7a993ffc7c56d6123551fd3e54e69ae4c195b15e367a1c1" + }, + "paired": [ + { + "seed": 42, + "B": 84.23832372672278, + "F": 2292.6968727353537, + "delta": 2208.458549008631 + }, + { + "seed": 43, + "B": 220.64860271191372, + "F": 2446.8842789472274, + "delta": 2226.235676235314 + }, + { + "seed": 44, + "B": 82.47454937825414, + "F": 2216.5797605405637, + "delta": 2134.1052111623094 + }, + { + "seed": 45, + "B": -4.504193144900196, + "F": 2142.8017952860573, + "delta": 2147.3059884309573 + }, + { + "seed": 46, + "B": 135.89834927015684, + "F": 188.51157208027374, + "delta": 52.613222810116895 + }, + { + "seed": 47, + "B": 310.16685900344226, + "F": 2363.7111567928623, + "delta": 2053.54429778942 + }, + { + "seed": 48, + "B": 5.584900419653708, + "F": 2431.2759348566005, + "delta": 2425.6910344369467 + }, + { + "seed": 49, + "B": 9.684860212951424, + "F": 2499.53692677071, + "delta": 2489.852066557759 + }, + { + "seed": 50, + "B": 47.248299954800345, + "F": 217.1451078385491, + "delta": 169.89680788374875 + }, + { + "seed": 51, + "B": 5.167858550249113, + "F": 2422.6259882746626, + "delta": 2417.4581297244135 + }, + { + "seed": 52, + "B": 370.3559614500507, + "F": 158.85814296104954, + "delta": -211.49781848900116 + }, + { + "seed": 53, + "B": 10.138585515091348, + "F": 2246.49195197768, + "delta": 2236.3533664625884 + }, + { + "seed": 54, + "B": 168.33526952279541, + "F": 1496.3920763222004, + "delta": 1328.056806799405 + }, + { + "seed": 55, + "B": 49.10090104723927, + "F": 2469.0992048851253, + "delta": 2419.998303837886 + }, + { + "seed": 56, + "B": 87.00520589558394, + "F": 2293.215249054828, + "delta": 2206.210043159244 + }, + { + "seed": 57, + "B": 331.03135865679553, + "F": 2373.2643569530505, + "delta": 2042.2329982962551 + }, + { + "seed": 58, + "B": 140.152490197422, + "F": 2130.680296901256, + "delta": 1990.5278067038341 + }, + { + "seed": 59, + "B": 104.24116955116817, + "F": 2579.2123334397365, + "delta": 2474.9711638885683 + }, + { + "seed": 60, + "B": 128.06272573477975, + "F": 2349.218781207481, + "delta": 2221.156055472701 + }, + { + "seed": 61, + "B": 1022.4642675624029, + "F": 1801.130019978099, + "delta": 778.665752415696 + } + ], + "wins": 19, + "ties": 0, + "losses": 1, + "mean_difference": 1790.5917731293396, + "F_step_interval_ms": { + "mean": 200.0007746919855, + "min": 198.89273610897362, + "max": 201.13411615602672 + }, + "F_revision": "bfab5cbb9abbadb03eb39593d3f403471b835882", + "F_checkpoint_sha256": "77dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b", + "protocol": "20 matched seeds42-61;5FPS;cap1000;measured-only;same B/F runtime with model and prompt0\u21921 changes", + "interpretation": "Compare measured outcomes and realized latencies; no equal-latency causal claim and no teacher gate applied to VLA." +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/F-verification.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/F-verification.json new file mode 100644 index 0000000000000000000000000000000000000000..1788eb33a1faaee1c6c1ca7b235d965f22103002 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/F-verification.json @@ -0,0 +1,6 @@ +{ + "state": "F20_AND_MATCHED_COMPARISON_VERIFIED", + "summary": "/workspace/lzj/latency-sensitive-bench/runs/ant/gr00t_h1_5fps_20260917/F-summary.json", + "steps": 17283, + "verified_at": "2026-09-17T22:54:19.842855+00:00" +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/README.md b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/README.md new file mode 100644 index 0000000000000000000000000000000000000000..886a11e9f5d1e678b5169b252fe11635dc5fe374 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/README.md @@ -0,0 +1,31 @@ +# ant / qwengr00t + +Training condition: `latency-aware`. Run: `ant_profile_gr00t_h1_5fps_2h100_20260917`. + +Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/profile_latency/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`. + +- Checkpoint: `checkpoints/model.pt` +- Selection: only published VLA checkpoint +- Checkpoint SHA256: `77dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b` +- 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/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917" +snapshot_download("latency-sensitive-bench/benchmark-models", revision="", + allow_patterns=[prefix + "/**"]) +``` + +Use the verified import commit listed in the repository's import report. diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..c04a1e2ec1a74901588cd164600ab5c98a01e6ef --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b +size 9976888611 diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/config.full.yaml b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/config.full.yaml new file mode 100644 index 0000000000000000000000000000000000000000..04eecfc8bf0f709565a54e1e21f921ef2083b42d --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/config.full.yaml @@ -0,0 +1,276 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: ${oc.env:GR00T_BACKBONE_DIR} + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: true + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 8 + state_dim: 27 + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 8 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + num_inference_timesteps: 4 + num_target_vision_tokens: 32 + diffusion_model_cfg: + cross_attention_dim: 2560 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + num_layers: 16 + output_dim: 1024 + positional_embeddings: null + action_env_dim: 8 + future_action_window_size: 0 + past_action_window_size: 0 +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: / + data_mix: train + eval_data_mix: validation + custom_mixtures_path: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/vla/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: 8 + 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 + - 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: 5.0 + 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: 5.0 + 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 + active_action_dim: 8 +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: 4 + 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: ant_profile_gr00t_h1_5fps_2h100_20260917 +run_root_dir: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/vla/training +seed: 42 +is_debug: false +version_id: '0.21' +wandb_project: latency-sensitive-bench +wandb_entity: dongqianyu99-zhejiang-university +wandb_name: ant_profile_gr00t_h1_5fps_2h100_20260917 +wandb_group: gr00t-six-env-h1-5fps +wandb_tags: +- ant +- profile_latency +- GR00T +- 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: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/train.yaml +output_dir: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/vla/training/ant_profile_gr00t_h1_5fps_2h100_20260917 diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/config.yaml b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..446a867fb3b63df50f073262b14907da3d2dbebf --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/config.yaml @@ -0,0 +1,153 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: ${oc.env:GR00T_BACKBONE_DIR} + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: true + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 8 + state_dim: 27 + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 8 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + num_inference_timesteps: 4 + num_target_vision_tokens: 32 + diffusion_model_cfg: + cross_attention_dim: 2560 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + num_layers: 16 + output_dim: 1024 + positional_embeddings: null + action_env_dim: 8 + future_action_window_size: 0 + past_action_window_size: 0 +version_id: '0.21' +datasets: + vla_data: + include_state: true + obs_image_size: + - 224 + - 224 + image_mode: single + stitch_grid: + - 2 + - 2 + num_obs_frames: 1 + gymnasium_task_contract: &id001 + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - back_right_hip_torque + - back_right_ankle_torque + - front_left_hip_torque + - front_left_ankle_torque + - front_right_hip_torque + - front_right_ankle_torque + - back_left_hip_torque + - back_left_ankle_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Make the Ant move forward as fast as possible without falling. + Predict eight continuous torques in [-1, 1] ordered as back right hip, back + right ankle, front left hip, front left ankle, front right hip, front right + ankle, back left hip, and back left ankle. + env_fps: 5.0 + 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: 5.0 + 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 +trainer: + pretrained_checkpoint: null + profile_timing: + enabled: false + log_interval: 10 +backbone: + repo_id: Qwen/Qwen3-VL-4B-Instruct + revision: ebb281ec70b05090aa6165b016eac8ec08e71b17 +rl_games: + model_alias: gr00t + task: gymnasium + action_carrier: native + gymnasium: + task_contract: *id001 + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..e69dd15498cbe870c4a5879286dbfc9d21663b28 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json @@ -0,0 +1,254 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + -0.05814521387219429, + 9.597149619366974e-05, + 0.014526129700243473, + 0.08542481809854507, + -0.025660177692770958, + 0.11801452189683914, + 0.0844288170337677, + 0.11245401203632355 + ], + "std": [ + 0.36573222279548645, + 0.1881052851676941, + 0.26532188057899475, + 0.23803046345710754, + 0.39978834986686707, + 0.07067928463220596, + 0.4062654674053192, + 0.06310705095529556 + ], + "max": [ + 1.0, + 0.5199400782585144, + 0.8617380261421204, + 0.6624651551246643, + 1.0, + 0.34293004870414734, + 0.9946939945220947, + 0.3916965425014496 + ], + "min": [ + -1.0, + -0.5496359467506409, + -0.9058566093444824, + -0.6878063678741455, + -1.0, + -0.25574633479118347, + -0.8379164934158325, + -0.12441356480121613 + ], + "q01": [ + -0.8418837523460388, + -0.3988152533769608, + -0.6350161898136139, + -0.4570505678653717, + -0.7537786227464676, + -0.046867740228772166, + -0.645166158080101, + -0.04852856136858463 + ], + "q99": [ + 0.7141462057828888, + 0.3213162249326703, + 0.6040893077850337, + 0.4994141584634781, + 0.8051284682750699, + 0.2699146002531049, + 0.8215174078941342, + 0.24758415639400425 + ], + "mask": [ + true, + true, + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + -0.34598127007484436, + 0.5478518009185791, + 0.019947824999690056, + -0.19989140331745148, + -0.021549468860030174, + 0.016564546152949333, + 0.5347750186920166, + -0.009642497636377811, + 0.11658791452646255, + 0.03226112946867943, + 0.10877948254346848, + 0.04367215558886528, + 0.35970693826675415, + 0.20255491137504578, + 0.08109960705041885, + 0.08670912683010101, + -0.06977850198745728, + 0.13095322251319885, + -0.09411633014678955, + -0.025517510250210762, + -0.17871418595314026, + -0.0018603873904794455, + 0.40375950932502747, + -0.04478003457188606, + 0.19040566682815552, + 0.09976616501808167, + -0.33153343200683594 + ], + "std": [ + 0.22821813821792603, + 0.11740875244140625, + 0.1627112329006195, + 0.1789657473564148, + 0.21207424998283386, + 0.5092490911483765, + 0.33065155148506165, + 0.6336219310760498, + 0.07627665996551514, + 0.6274966597557068, + 0.06580334156751633, + 0.5892458558082581, + 0.28047171235084534, + 0.24021142721176147, + 0.2530745267868042, + 0.2541965842247009, + 0.1984504759311676, + 0.22912131249904633, + 0.20358562469482422, + 0.2879534661769867, + 0.32083559036254883, + 0.40234532952308655, + 0.06381091475486755, + 0.4152759909629822, + 0.055023279041051865, + 0.3756192624568939, + 0.24424684047698975 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.7894339287281036, + 0.0647589123249054, + -0.3956413245201111, + -0.6290640497207641, + -0.5815420663356781, + -0.9336629891395569, + -0.14683617055416107, + -0.9295747667551041, + -0.11950783133506775, + -0.9288594096899032, + 0.06523152470588683, + -0.910849557518959, + -0.15168686032295228, + -0.43642719864845275, + -0.5113052415847779, + -0.45978721380233767, + -0.5563085353374482, + -0.4384915179014206, + -0.5733122581243515, + -0.6878630328178406, + -0.7612373363971711, + -0.7810238552093506, + 0.3428821325302124, + -0.8004673439264297, + 0.14241636633872987, + -0.7496600341796875, + -0.8077855777740478 + ], + "q99": [ + 0.3111449718475325, + 0.6454156804084777, + 0.4437186646461482, + 0.2448048043251034, + 0.4873621022701257, + 0.9156681013107298, + 0.9507382881641386, + 0.9275813424587249, + 0.13108544588088986, + 0.9326165974140167, + 0.12259507536888116, + 0.9145326018333435, + 0.8904339671134947, + 0.7056828200817101, + 0.6804190599918364, + 0.656714433431625, + 0.39656500101089265, + 0.6083407437801359, + 0.4259314072132092, + 0.6232320439815509, + 0.5159568774700151, + 0.7592263472080227, + 0.5210152184963218, + 0.8239454793930049, + 0.2672504234313964, + 0.7679229879379272, + 0.1735697734355916 + ] + }, + "num_transitions": 90000, + "num_trajectories": 90 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/latency_prompt_map.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..d574947bac00ede38c4fd067ca5993cb2864a6b9 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/latency_prompt_map.json @@ -0,0 +1,7 @@ +{ + "1": { + "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 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 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/manifest.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..45c5ff9d2ee90666aebb0ff22c2acdf3f470c702 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/manifest.json @@ -0,0 +1,232 @@ +{ + "dataset_name": "ant_h1_5fps_profile", + "env_name": "ant", + "episodes": 90, + "frames": 90000, + "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 1 raw frames (200.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action." + ], + "format": "lerobot_v2_image_parquet", + "source": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/data/raw", + "integration_name": "gymnasium", + "task_name": "ant", + "action_layout": "gymnasium_continuous_v1", + "action_labels": [ + "back_right_hip_torque", + "back_right_ankle_torque", + "front_left_hip_torque", + "front_left_ankle_torque", + "front_right_hip_torque", + "front_right_ankle_torque", + "back_left_hip_torque", + "back_left_ankle_torque" + ], + "carrier_action_labels": [ + "back_right_hip_torque", + "back_right_ankle_torque", + "front_left_hip_torque", + "front_left_ankle_torque", + "front_right_hip_torque", + "front_right_ankle_torque", + "back_left_hip_torque", + "back_left_ankle_torque" + ], + "action_dim": 8, + "active_action_dim": 8, + "action_carrier": "native", + "rows_unit": "decision_step", + "obs_fps": 5.0, + "obs_stride_raw_frames": 1, + "uses_state": true, + "state_dim": 27, + "state_labels": [ + "torso_z", + "torso_quaternion_w", + "torso_quaternion_x", + "torso_quaternion_y", + "torso_quaternion_z", + "front_left_hip_angle", + "front_left_ankle_angle", + "front_right_hip_angle", + "front_right_ankle_angle", + "back_left_hip_angle", + "back_left_ankle_angle", + "back_right_hip_angle", + "back_right_ankle_angle", + "torso_x_velocity", + "torso_y_velocity", + "torso_z_velocity", + "torso_angular_velocity_x", + "torso_angular_velocity_y", + "torso_angular_velocity_z", + "front_left_hip_angular_velocity", + "front_left_ankle_angular_velocity", + "front_right_hip_angular_velocity", + "front_right_ankle_angular_velocity", + "back_left_hip_angular_velocity", + "back_left_ankle_angular_velocity", + "back_right_hip_angular_velocity", + "back_right_ankle_angular_velocity" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.37564849853515625, + 0.5382933020591736, + -0.2917371988296509, + -0.33787885308265686, + -0.8386862277984619, + -0.5692740678787231, + -0.09917011857032776, + -0.6606398224830627, + -1.3191266059875488, + -0.6461397409439087, + -1.2966400384902954, + -0.6582342982292175, + -0.09473074972629547, + -2.1377921104431152, + -3.5688445568084717, + -3.1109089851379395, + -5.202513694763184, + -7.032911777496338, + -5.331004619598389, + -9.160181999206543, + -7.747612476348877, + -15.313437461853027, + -11.169818878173828, + -13.870830535888672, + -11.034936904907227, + -14.703052520751953, + -6.107306003570557 + ], + "max": [ + 0.998906672000885, + 1.098469853401184, + 0.28388118743896484, + 0.30353471636772156, + 0.5909099578857422, + 0.6007939577102661, + 1.3026847839355469, + 0.6540371179580688, + 0.09743931144475937, + 0.6667457818984985, + 0.09334859997034073, + 0.6260848045349121, + 1.3175052404403687, + 5.799907207489014, + 3.063499689102173, + 2.6046745777130127, + 5.955061912536621, + 5.381214141845703, + 6.448988437652588, + 9.638339042663574, + 11.13831615447998, + 15.366510391235352, + 4.731675148010254, + 15.14465618133545, + 7.485177993774414, + 12.053427696228027, + 12.19953441619873 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/data/lerobot/ant_h1_5fps_profile/latency_prompt_map.json", + "custom_mixtures_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/data/lerobot/_generated_mixtures/ant_h1_5fps_profile.json", + "gymnasium_task": { + "action_space": { + "dtype": "float32", + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "labels": [ + "back_right_hip_torque", + "back_right_ankle_torque", + "front_left_hip_torque", + "front_left_ankle_torque", + "front_right_hip_torque", + "front_right_ankle_torque", + "back_left_hip_torque", + "back_left_ankle_torque" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "type": "box" + }, + "base_prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle.", + "env_fps": 5.0, + "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": 5.0, + "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" + }, + "validation_dataset_name": "ant_h1_5fps_profile__val", + "validation_episodes": 10, + "validation_frames": 10000 +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/provenance.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..79b07617659cde9f4529c72b0b84a7e230ab7d71 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/provenance.json @@ -0,0 +1,34 @@ +{ + "task": "ant", + "model": "qwengr00t", + "training_condition": "latency-aware", + "training_run_id": "ant_profile_gr00t_h1_5fps_2h100_20260917", + "source": { + "repo_id": "latency-sensitive-bench/Standard-Pipeline", + "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", + "path": "ant/profile_latency/GR00T", + "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/profile_latency/GR00T" + }, + "hf_repo_id": "latency-sensitive-bench/benchmark-models", + "hf_path": "latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917", + "checkpoint": { + "source_file": "ant/profile_latency/GR00T/checkpoints/model.pt", + "source_sha256": "77dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b", + "source_bytes": 9976888611, + "file": "checkpoints/model.pt", + "selection_rule": "only published VLA checkpoint", + "method": "copy", + "sha256": "77dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b", + "bytes": 9976888611 + }, + "config_source": "ant/profile_latency/GR00T/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 +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/reload-validation.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/reload-validation.json new file mode 100644 index 0000000000000000000000000000000000000000..766068a1eac70de91c57a952f6b7706566b51e37 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/reload-validation.json @@ -0,0 +1,23 @@ +{ + "verified_at": "2026-09-17T20:56:05.508897+00:00", + "state": "TRAINING_AND_SAVED_BUNDLE_FORWARD_VERIFIED", + "training_updates": 5000, + "checkpoint_sha256": "77dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b", + "action_horizon": 1, + "state_dim": 27, + "action_dim": 8, + "env_fps": 5, + "obs_fps": 5, + "global_batch": 64, + "seed": 42, + "sample_source": "actual held-out profile raw episode; manifest train-only minmax applied once", + "reload_contract": "existing saved-model loader checks missing/unexpected keys, allowing its documented tied-Qwen lm_head equivalence", + "forward_shape": [ + 1, + 1, + 8 + ], + "forward_finite": true, + "F20_status": "not yet run", + "acceptance": "not established by this engineering check" +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/source/README.md b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/source/README.md new file mode 100644 index 0000000000000000000000000000000000000000..b6d88e373e2f43173549362cfc4a7148b6dd0d25 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/source/README.md @@ -0,0 +1,11 @@ +# Ant GR00T profile latency H1 / 5 FPS + +Fresh profile VLA training completed5000updates, seed42, globalbatch64. Matched measured-only B/F20, seeds42–61: **165.374817 ±224.743344 →1955.966590 ±780.512627** (population SD). Mean length117.95→864.15;19wins,0ties,1loss (seed52). These absolute returns and episode variation do not establish high-performance acceptance. Teacher return>3000 is a demonstration filter, not a VLA acceptance test. + +Mean episode latency means109.686012→109.094115ms;0observation/actiondrops/invalid. Fhas17,283rawsteps and17,263within-episodeintervals averaging200.000775ms. Similar latencymeans do not establish equal per-step latency or causal isolation. + +Separate evidence: L0sim20 return6222.601914±133.915573; teacher E10return3199.560117±317.948404. Original APPOseed2222,10Mbudget;100accepted profiledemonstrations from109attempts,90/10split,trainminmaxstateonce. See provenance and summaries. + +[Final compact data/evaluation evidence](https://huggingface.co/datasets/latency-sensitive-bench/Standard-Pipeline/tree/f23f353a9c6b3efaa4407d32134fda8fa30fe78e/ant/profile_latency/GR00T/h1_5fps_20260917). + +Evaluated model revisionbfab5cbb9abbadb03eb39593d3f403471b835882; checkpoint SHA25677dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b. Weights unchanged. Full raw traces remain on the evaluation server; only compact evidence is published. diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/source/provenance.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/source/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..14811e482ad6c28fe0114d10b2dc4ad76d10e544 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/source/provenance.json @@ -0,0 +1,245 @@ +{ + "task": "ant", + "backbone": { + "repo_id": "Qwen/Qwen3-VL-4B-Instruct", + "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17" + }, + "checkpoint": "steps_5000_pytorch_model.pt", + "training_steps": 5000, + "seed": 42, + "global_batch": 64, + "training_run_id": "ant_profile_gr00t_h1_5fps_2h100_20260917", + "condition": "profile_latency", + "source": { + "code_archive_sha256": "9e70e8dec7d4d50c340856985f67ec7210b847f57d99ecc5ef6797cf36eec3a4", + "data_preparation": { + "frames": { + "train": 90000, + "val": 10000 + }, + "episodes": { + "train": 90, + "val": 10 + }, + "returns": { + "train": { + "min": 3112.6697316244245, + "mean": 3300.3580297198864 + }, + "val": { + "min": 3270.168042421341, + "mean": 3345.0426778333726 + } + }, + "all_replay_returns_gt3000": true, + "state_dim": 27, + "action_dim": 8, + "action_horizon": 1, + "fps": 5, + "normalization": "trainminmaxonce,nativeactions", + "teacher": { + "state": "TEACHER_SELECTION_E_PROBE_VERIFIED", + "selection": { + "selected": "final", + "candidates": { + "final": { + "checkpoint": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/teacher/checkpoints/ant_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", + "sha256": "139c918c2c8f69dd0e4d53d21ae3270915a2b394f3239e75271aec2444cd1062", + "episodes": 20, + "seeds": [ + 104771, + 104772, + 104773, + 104774, + 104775, + 104776, + 104777, + 104778, + 104779, + 104780, + 104781, + 104782, + 104783, + 104784, + 104785, + 104786, + 104787, + 104788, + 104789, + 104790 + ], + "returns": [ + 3382.677040453233, + 3318.1248481651, + 3273.349414924928, + 3224.238673604737, + 3395.6075937873156, + 3366.9126813337966, + 3208.0866069443746, + 2266.063192680125, + 3224.1032590358996, + 3336.4378573833874, + 3209.1014860794185, + 3239.4162337542502, + 65.35835528853453, + 3457.247616390922, + 3257.669667139658, + 3175.3473724499313, + 2138.0057259589803, + 3191.436948757271, + 3433.4580466589496, + 3350.2776480398716 + ], + "mean": 3025.6460134415343, + "std": 758.4735774062908, + "strict_gt3000": 17 + }, + "training_best": { + "checkpoint": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/teacher/checkpoints/ant_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000019328_9895936_reward_2910.431.pth", + "sha256": "bc670dd6c50aaf193540f3e7aa65e6a0dc9f0eaa4cd85bf938f61f4ea9e7c8eb", + "episodes": 20, + "seeds": [ + 104771, + 104772, + 104773, + 104774, + 104775, + 104776, + 104777, + 104778, + 104779, + 104780, + 104781, + 104782, + 104783, + 104784, + 104785, + 104786, + 104787, + 104788, + 104789, + 104790 + ], + "returns": [ + 136.13698742534154, + 3352.5923869960147, + 3228.754616579218, + 3395.732770350594, + 3176.318284717083, + 3203.881065772374, + 3195.0852196073834, + 3317.5664711655136, + 1902.8629020119117, + 3352.1049139879538, + 3313.594436589807, + 3360.6664730930424, + 3244.416883269659, + 3351.188932970402, + 3274.4894246891963, + 3302.2400362033814, + 3295.8381294497713, + 3396.964774800347, + 3347.7049103253566, + 1497.4428169791954 + ], + "mean": 2982.2791218491775, + "std": 814.5490112319865, + "strict_gt3000": 17 + } + }, + "completed_at": "2026-09-17T17:00:18.536786+00:00" + }, + "evaluations": { + "selection_final": { + "episodes": 20, + "returns": [ + 3382.677040453233, + 3318.1248481651, + 3273.349414924928, + 3224.238673604737, + 3395.6075937873156, + 3366.9126813337966, + 3208.0866069443746, + 2266.063192680125, + 3224.1032590358996, + 3336.4378573833874, + 3209.1014860794185, + 3239.4162337542502, + 65.35835528853453, + 3457.247616390922, + 3257.669667139658, + 3175.3473724499313, + 2138.0057259589803, + 3191.436948757271, + 3433.4580466589496, + 3350.2776480398716 + ], + "mean": 3025.6460134415343, + "population_std": 758.4735774062908, + "strict_gt3000": 17, + "raw_rewards_lengths_match": true + }, + "selection_training_best": { + "episodes": 20, + "returns": [ + 136.13698742534154, + 3352.5923869960147, + 3228.754616579218, + 3395.732770350594, + 3176.318284717083, + 3203.881065772374, + 3195.0852196073834, + 3317.5664711655136, + 1902.8629020119117, + 3352.1049139879538, + 3313.594436589807, + 3360.6664730930424, + 3244.416883269659, + 3351.188932970402, + 3274.4894246891963, + 3302.2400362033814, + 3295.8381294497713, + 3396.964774800347, + 3347.7049103253566, + 1497.4428169791954 + ], + "mean": 2982.2791218491775, + "population_std": 814.5490112319865, + "strict_gt3000": 17, + "raw_rewards_lengths_match": true + }, + "E10": { + "episodes": 10, + "returns": [ + 3382.677040453233, + 3318.1248481651, + 3273.349414924928, + 3224.238673604737, + 3395.6075937873156, + 3366.9126813337966, + 3208.0866069443746, + 2266.063192680125, + 3224.1032590358996, + 3336.4378573833874 + ], + "mean": 3199.5601168312896, + "population_std": 317.9484044775569, + "strict_gt3000": 9, + "raw_rewards_lengths_match": true + } + }, + "probe_attempted": 12, + "probe_accepted": 9, + "probe_rejected": 3, + "profile_sha256": "6be5d7a884428d09bf310bba817078f6372cfe47d2080c6ebb0ba1932cd6250f", + "budget_env_steps": 10000000, + "actual_final_env_steps": 10002432, + "seed": 2222, + "remaining": "100acceptedwithinTOTAL120,verifiedreplay,profileVLA5000,F20" + } + }, + "profile_sha256": "6be5d7a884428d09bf310bba817078f6372cfe47d2080c6ebb0ba1932cd6250f" + }, + "training_config_sha256": "fdbb910f118b27969ab2e7a430ffb8941687b20d62c714413793cdcf59f752be", + "dataset_manifest_sha256": "7c799c926c991fd7fb049519104c415a37005d58ad0b88a84b4ebfa0160dab14" +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/task_contract.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..c76b831038e17a9c693796c9ec46b7cae4582070 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/task_contract.json @@ -0,0 +1,94 @@ +{ + "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": 5.0, + "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": 5.0, + "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" +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/README.md b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/README.md new file mode 100644 index 0000000000000000000000000000000000000000..3c8d6547e4ff5da66baa03806330860c9b947422 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/README.md @@ -0,0 +1,29 @@ +# ant / qwenoft + +Training condition: `latency-aware`. Run: `ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k`. + +Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/profile_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`. + +- Checkpoint: `checkpoints/model.pt` +- Selection: only published VLA checkpoint +- Checkpoint SHA256: `1c7acdbcd7a2ee8735643cea078ef523947775166f6bc220bce7de71a9db90a3` +- 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. + +[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence. + +## Download + +```python +from huggingface_hub import snapshot_download +prefix = "latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k" +snapshot_download("latency-sensitive-bench/benchmark-models", revision="", + allow_patterns=[prefix + "/**"]) +``` + +Use the verified import commit listed in the repository's import report. diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/checkpoints/model.pt b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..3075179f78177cd249282e4fa47ed55e12650801 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c7acdbcd7a2ee8735643cea078ef523947775166f6bc220bce7de71a9db90a3 +size 9785070315 diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.full.yaml b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.full.yaml new file mode 100644 index 0000000000000000000000000000000000000000..236993a849d47c16af0df0635bdb5c1a6177700d --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.full.yaml @@ -0,0 +1,426 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: true + action_model: + action_model_type: MLP + action_dim: 8 + state_dim: 27 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_encoding: discretized_text + task_objective: null + action_horizon: 1 + action_env_dim: 8 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted + data_mix: ant_rgb_state_profile_20260911T112232Z + eval_data_mix: ant_rgb_state_profile_20260911T112232Z__val + custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/_generated_mixtures/ant_rgb_state_profile_20260911T112232Z.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + 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: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + gymnasium_task_contract: + 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: 10.0 + 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: 10.0 + 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 + active_action_dim: 8 +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: ant_rgb_state_profile_20260911T112232Z + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: ant_rgb_state_profile_20260911T112232Z + mixed_converted_name: ant_rgb_state_profile_20260911T112232Z + 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: StarVLA/Qwen3-VL-4B-Instruct-Action +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: true + 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 +workspace_dir: WORKSPACE_DIR +run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla + dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/ant_rgb_state_profile_20260911T112232Z/latency_prompt_map.json + mode: single + values: + - 1 + - 2 + task: gymnasium + gymnasium: + task_contract: + 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: 10.0 + 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: 10.0 + 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 + task_name: ant_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k +output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k +config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/h100/vla_train.yaml +is_debug: false +version_id: '0.21' diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.yaml b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..236993a849d47c16af0df0635bdb5c1a6177700d --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.yaml @@ -0,0 +1,426 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: true + action_model: + action_model_type: MLP + action_dim: 8 + state_dim: 27 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_encoding: discretized_text + task_objective: null + action_horizon: 1 + action_env_dim: 8 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted + data_mix: ant_rgb_state_profile_20260911T112232Z + eval_data_mix: ant_rgb_state_profile_20260911T112232Z__val + custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/_generated_mixtures/ant_rgb_state_profile_20260911T112232Z.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + 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: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + gymnasium_task_contract: + 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: 10.0 + 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: 10.0 + 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 + active_action_dim: 8 +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: ant_rgb_state_profile_20260911T112232Z + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: ant_rgb_state_profile_20260911T112232Z + mixed_converted_name: ant_rgb_state_profile_20260911T112232Z + 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: StarVLA/Qwen3-VL-4B-Instruct-Action +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: true + 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 +workspace_dir: WORKSPACE_DIR +run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla + dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/ant_rgb_state_profile_20260911T112232Z/latency_prompt_map.json + mode: single + values: + - 1 + - 2 + task: gymnasium + gymnasium: + task_contract: + 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: 10.0 + 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: 10.0 + 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 + task_name: ant_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k +output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k +config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/h100/vla_train.yaml +is_debug: false +version_id: '0.21' diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..0b27db6827c4f368a6fff9f40cf9d4cabf5de1bc --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics.json @@ -0,0 +1,254 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.008599755354225636, + 0.18077845871448517, + 0.060562390834093094, + 0.114981509745121, + -0.03058558516204357, + 0.19528473913669586, + 0.004191558808088303, + 0.13787907361984253 + ], + "std": [ + 0.30720359086990356, + 0.11971180140972137, + 0.2951076030731201, + 0.11681726574897766, + 0.2970890998840332, + 0.08745161443948746, + 0.2953490614891052, + 0.06471291184425354 + ], + "max": [ + 0.853037416934967, + 0.4956319332122803, + 0.8740840554237366, + 0.3231104910373688, + 0.7235698103904724, + 0.662981390953064, + 0.6230693459510803, + 0.3802177906036377 + ], + "min": [ + -0.6119799613952637, + -0.5289840698242188, + -0.8249387741088867, + -0.34163326025009155, + -0.7159630060195923, + -0.1647213101387024, + -0.683702290058136, + -0.10296943783760071 + ], + "q01": [ + -0.443821584880352, + -0.1782375206053257, + -0.6138897329568863, + -0.1882457247376442, + -0.5110970193147659, + 0.00026812009513378204, + -0.5840290439128876, + -0.008280880972743035 + ], + "q99": [ + 0.7797703355550765, + 0.3557785093784329, + 0.5948106843233107, + 0.2658308225870131, + 0.5718333607912063, + 0.391955140531063, + 0.47605329692363735, + 0.2834827202558517 + ], + "mask": [ + true, + true, + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + -0.09474831074476242, + 0.8611540794372559, + -0.3657091557979584, + -0.6123278141021729, + -0.09967513382434845, + 0.19043417274951935, + 0.7868344783782959, + 0.02284986898303032, + 0.06969794631004333, + -0.05230529606342316, + 0.10773508995771408, + 0.01238261815160513, + 0.8330348134040833, + 0.17796680331230164, + -0.16618867218494415, + 0.0012703065294772387, + 0.2510015070438385, + -0.18734344840049744, + 0.022666487842798233, + 0.044313471764326096, + -0.372802734375, + 0.0037909247912466526, + 0.19844834506511688, + -0.031002433970570564, + 0.2400231957435608, + -0.09029518067836761, + -0.1922157108783722 + ], + "std": [ + 0.17414869368076324, + 0.05483400821685791, + 0.11141812801361084, + 0.09198524802923203, + 0.18798837065696716, + 0.5861554145812988, + 0.1245005354285238, + 0.6515864133834839, + 0.03843782842159271, + 0.6498896479606628, + 0.06445416808128357, + 0.635999321937561, + 0.09685616940259904, + 0.2828983962535858, + 0.22423629462718964, + 0.2784059941768646, + 0.17292693257331848, + 0.18020667135715485, + 0.1758933961391449, + 0.3487410843372345, + 0.11700376868247986, + 0.4136873483657837, + 0.04115014895796776, + 0.4463415741920471, + 0.05539585277438164, + 0.4083375036716461, + 0.07400137931108475 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.35858439981937407, + 0.766355584859848, + -0.6241150516271591, + -0.7856645882129669, + -0.5355890548229217, + -0.9061700481176377, + 0.3889236068725586, + -0.9416673278808594, + 0.06753401279449463, + -0.9475343835353851, + 0.10314820289611816, + -0.9348555064201355, + 0.47482380509376526, + -0.4833207458257675, + -0.6739571058750152, + -0.6161482805013656, + -0.185209259390831, + -0.6665487504005432, + -0.4081496286392212, + -0.7212348240613937, + -0.602955088019371, + -0.7814261162281037, + 0.19291579604148865, + -0.8375735229253769, + 0.22727725982666017, + -0.7638325828313828, + -0.3671492874622345 + ], + "q99": [ + 0.4459435534477225, + 0.8854497754573822, + -0.07170211791992229, + -0.44198850810527807, + 0.35243502855300896, + 0.9262301075458526, + 0.8844899404048919, + 0.9511449456214904, + 0.07156051874160765, + 0.9442236113548278, + 0.11375988483428948, + 0.9378153610229492, + 0.8813225603103637, + 0.7310449290275571, + 0.3879170846939071, + 0.6356792712211606, + 0.6749224543571465, + 0.16645659446716296, + 0.44835095763206456, + 0.7470869159698472, + 0.004238768815994177, + 0.7666109228134151, + 0.20018281817436218, + 0.7883364045619965, + 0.2421595275402069, + 0.7870418155193327, + 0.07555997014045653 + ] + }, + "num_transitions": 90000, + "num_trajectories": 90 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics_eval.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..e5cde57aa9369ae681921effd86719985fbb37c3 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics_eval.json @@ -0,0 +1,254 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.012293855659663677, + 0.18205615878105164, + 0.05895928293466568, + 0.115760937333107, + -0.02481526881456375, + 0.1965949684381485, + 0.0020695561543107033, + 0.13582639396190643 + ], + "std": [ + 0.30640873312950134, + 0.11574795842170715, + 0.3010423183441162, + 0.1160178855061531, + 0.29867178201675415, + 0.0871327817440033, + 0.29436033964157104, + 0.06357021629810333 + ], + "max": [ + 0.8439009785652161, + 0.4399552643299103, + 0.7280516028404236, + 0.30573728680610657, + 0.6951703429222107, + 0.6597506999969482, + 0.5672330856323242, + 0.36378538608551025 + ], + "min": [ + -0.5730732083320618, + -0.4422946572303772, + -0.7722694277763367, + -0.29918262362480164, + -0.671645998954773, + -0.09541183710098267, + -0.6536520719528198, + -0.08602947741746902 + ], + "q01": [ + -0.4261414632201195, + -0.16616287797689436, + -0.6211726212501526, + -0.186771722137928, + -0.5051172590255737, + 0.0023772406578063967, + -0.586987766623497, + -0.008821348659694193 + ], + "q99": [ + 0.7768827295303345, + 0.34863847315311447, + 0.5965018630027772, + 0.26521444320678716, + 0.5832430303096772, + 0.3928946855664254, + 0.47021426826715473, + 0.27502319097518924 + ], + "mask": [ + true, + true, + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + -0.09196750819683075, + 0.8647176623344421, + -0.3632811903953552, + -0.6181371808052063, + -0.08683589845895767, + 0.1716955155134201, + 0.7906914353370667, + 0.036952316761016846, + 0.0696854218840599, + -0.05561736971139908, + 0.1077764555811882, + 0.018016934394836426, + 0.8376366496086121, + 0.19474616646766663, + -0.16327954828739166, + 0.0015631977003067732, + 0.2505500912666321, + -0.18747864663600922, + 0.021857699379324913, + 0.044868048280477524, + -0.3729124665260315, + 0.0036154601257294416, + 0.19842912256717682, + -0.030061334371566772, + 0.24004779756069183, + -0.09019462764263153, + -0.19230005145072937 + ], + "std": [ + 0.1735536754131317, + 0.018950911238789468, + 0.1031206026673317, + 0.07064066082239151, + 0.17827698588371277, + 0.5888540148735046, + 0.11534041166305542, + 0.6532193422317505, + 0.0404965877532959, + 0.6510293483734131, + 0.06410109251737595, + 0.635399580001831, + 0.08355049043893781, + 0.2781902849674225, + 0.21987274289131165, + 0.2828621566295624, + 0.17116640508174896, + 0.18172743916511536, + 0.16958464682102203, + 0.3561444878578186, + 0.11493712663650513, + 0.4169183373451233, + 0.0432509183883667, + 0.4467993974685669, + 0.05449686199426651, + 0.4106680452823639, + 0.06788966804742813 + ], + "max": [ + 0.864284873008728, + 0.9413071870803833, + 0.10725867748260498, + -0.03732389211654663, + 0.5767371654510498, + 0.9843548536300659, + 0.9786841869354248, + 1.0, + 0.9898021221160889, + 0.9862853288650513, + 0.8912421464920044, + 0.9902081489562988, + 0.9813529253005981, + 0.8796044588088989, + 0.6309870481491089, + 0.9450485706329346, + 0.9356123208999634, + 0.3058727979660034, + 0.7993795871734619, + 1.0, + 0.9834495782852173, + 0.978073000907898, + 0.7116752862930298, + 0.9266384840011597, + 0.8958053588867188, + 0.9894005060195923, + 0.9448597431182861 + ], + "min": [ + -0.48282676935195923, + 0.7337921857833862, + -0.7980838418006897, + -0.845202624797821, + -0.6103742122650146, + -0.9880638122558594, + -0.982755184173584, + -0.980797290802002, + -0.6819450855255127, + -0.9884741306304932, + -0.961453914642334, + -0.987564742565155, + -0.955224335193634, + -0.7830460667610168, + -1.0, + -0.952839732170105, + -0.7743964791297913, + -0.972370445728302, + -0.7678284645080566, + -0.9526678323745728, + -0.9089261293411255, + -0.939400315284729, + -0.9869830012321472, + -1.0, + -0.8482623100280762, + -0.9291263818740845, + -0.7332783341407776 + ], + "q01": [ + -0.35170082151889803, + 0.7918374013900756, + -0.6131394010782242, + -0.7825599908828735, + -0.49006994903087614, + -0.9086164951324462, + 0.43703007340431216, + -0.9410567176342011, + 0.0688616955280304, + -0.9502652072906494, + 0.10417847990989686, + -0.9328369998931885, + 0.5633988487720489, + -0.4483641850948334, + -0.657472510933876, + -0.6255195283889771, + -0.17945971608161926, + -0.6872768896818161, + -0.39099848449230196, + -0.7302258694171906, + -0.599995591044426, + -0.7755068844556808, + 0.19378191709518433, + -0.835755073428154, + 0.2277094578742981, + -0.7580032771825791, + -0.3514143282175064 + ], + "q99": [ + 0.4569725990295411, + 0.8854349231719971, + -0.09071756660938257, + -0.4696103352308273, + 0.3681293308734895, + 0.9240833389759064, + 0.8840399587154388, + 0.9528874731063843, + 0.0714107847213745, + 0.9435927295684815, + 0.11398813009262086, + 0.9400938880443573, + 0.8806657814979554, + 0.7376843118667604, + 0.37780789971351625, + 0.6484923410415651, + 0.6658073902130127, + 0.1634969234466553, + 0.4376628255844117, + 0.7459773015975957, + -0.011476752758026117, + 0.7777451419830322, + 0.20018795490264893, + 0.7899155259132387, + 0.24205668568611147, + 0.7932638204097748, + 0.03464615225791953 + ] + }, + "num_transitions": 10000, + "num_trajectories": 10 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/latency_prompt_map.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..b151390bb04ff1ef006bae0b94e7864453b3ac01 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/latency_prompt_map.json @@ -0,0 +1,12 @@ +{ + "1": { + "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 1 raw frames (100.00 ms). The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.", + "latency_raw_frames": 1, + "latency_ms": 100.0 + }, + "2": { + "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 2 raw frames (200.00 ms). The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.", + "latency_raw_frames": 2, + "latency_ms": 200.0 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/manifest.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4fb48f1fff4ee8a498a912757ecafd926b01de4d --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/manifest.json @@ -0,0 +1,233 @@ +{ + "dataset_name": "ant_rgb_state_profile_20260911T112232Z", + "env_name": "ant_rgb_state", + "episodes": 90, + "frames": 90000, + "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 1 raw frames (100.00 ms). The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.", + "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 2 raw frames (200.00 ms). The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action." + ], + "format": "lerobot_v2_image_parquet", + "source": "/mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/raw", + "integration_name": "gymnasium", + "task_name": "ant_rgb_state", + "action_layout": "gymnasium_continuous_v1", + "action_labels": [ + "back_right_hip_torque", + "back_right_ankle_torque", + "front_left_hip_torque", + "front_left_ankle_torque", + "front_right_hip_torque", + "front_right_ankle_torque", + "back_left_hip_torque", + "back_left_ankle_torque" + ], + "carrier_action_labels": [ + "back_right_hip_torque", + "back_right_ankle_torque", + "front_left_hip_torque", + "front_left_ankle_torque", + "front_right_hip_torque", + "front_right_ankle_torque", + "back_left_hip_torque", + "back_left_ankle_torque" + ], + "action_dim": 8, + "active_action_dim": 8, + "action_carrier": "native", + "rows_unit": "decision_step", + "obs_fps": 10.0, + "obs_stride_raw_frames": 1, + "uses_state": true, + "state_dim": 27, + "state_labels": [ + "torso_z", + "torso_quaternion_w", + "torso_quaternion_x", + "torso_quaternion_y", + "torso_quaternion_z", + "front_left_hip_angle", + "front_left_ankle_angle", + "front_right_hip_angle", + "front_right_ankle_angle", + "back_left_hip_angle", + "back_left_ankle_angle", + "back_right_hip_angle", + "back_right_ankle_angle", + "torso_x_velocity", + "torso_y_velocity", + "torso_z_velocity", + "torso_angular_velocity_x", + "torso_angular_velocity_y", + "torso_angular_velocity_z", + "front_left_hip_angular_velocity", + "front_left_ankle_angular_velocity", + "front_right_hip_angular_velocity", + "front_right_ankle_angular_velocity", + "back_left_hip_angular_velocity", + "back_left_ankle_angular_velocity", + "back_right_hip_angular_velocity", + "back_right_ankle_angular_velocity" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.25096166133880615, + -0.6524118781089783, + -0.24330727756023407, + -0.38062331080436707, + -0.762863278388977, + -0.631309449672699, + -0.09917011857032776, + -0.6372938752174377, + -1.2403454780578613, + -0.6263839602470398, + -1.2966936826705933, + -0.6255945563316345, + -0.09462010115385056, + -1.612484097480774, + -2.7581095695495605, + -2.421172618865967, + -6.1573052406311035, + -5.40360164642334, + -5.693509578704834, + -12.90467357635498, + -5.707681179046631, + -12.457528114318848, + -11.152595520019531, + -11.244122505187988, + -11.078145980834961, + -11.56093692779541, + -8.698287010192871 + ], + "max": [ + 0.9947400093078613, + 1.098469853401184, + 0.5113285779953003, + 0.9951382875442505, + 0.8256246447563171, + 0.6276459097862244, + 1.3297919034957886, + 0.6206158995628357, + 0.09998779743909836, + 0.6321672201156616, + 0.09576962888240814, + 0.638733446598053, + 1.3270002603530884, + 4.317452907562256, + 3.6322877407073975, + 2.406151533126831, + 3.682075262069702, + 7.86696195602417, + 5.432990074157715, + 11.800339698791504, + 12.512803077697754, + 12.401082992553711, + 7.446596622467041, + 11.983986854553223, + 6.77554988861084, + 13.875308990478516, + 12.854585647583008 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/ant_rgb_state_profile_20260911T112232Z/latency_prompt_map.json", + "custom_mixtures_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/_generated_mixtures/ant_rgb_state_profile_20260911T112232Z.json", + "gymnasium_task": { + "action_space": { + "dtype": "float32", + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "labels": [ + "back_right_hip_torque", + "back_right_ankle_torque", + "front_left_hip_torque", + "front_left_ankle_torque", + "front_right_hip_torque", + "front_right_ankle_torque", + "back_left_hip_torque", + "back_left_ankle_torque" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "type": "box" + }, + "base_prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle.", + "env_fps": 10.0, + "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": 10.0, + "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" + }, + "validation_dataset_name": "ant_rgb_state_profile_20260911T112232Z__val", + "validation_episodes": 10, + "validation_frames": 10000 +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/DONE b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/hardware.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/hardware.json new file mode 100644 index 0000000000000000000000000000000000000000..e8204e81807044975c0e0a0953d16d6835192f31 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/hardware.json @@ -0,0 +1,40 @@ +{ + "driver_version": "580.173.02", + "gpu_class": "1x-rtx3090", + "gpus": [ + { + "name": "NVIDIA GeForce RTX 3090", + "slot": 0 + } + ], + "instance_id": "instance_859cf1e47bca6046", + "topology_links": [], + "torch": { + "backends": { + "cuda_cudnn_sdp_enabled": true, + "cuda_flash_sdp_enabled": true, + "cuda_math_sdp_enabled": true, + "cuda_matmul_allow_tf32": false, + "cuda_mem_efficient_sdp_enabled": true, + "cudnn_allow_tf32": true, + "cudnn_benchmark": false + }, + "cuda_available": true, + "cuda_device_count": 1, + "cuda_version": "12.8", + "current_device": 0, + "current_device_name": "NVIDIA GeForce RTX 3090", + "device_properties": [ + { + "index": 0, + "major": 8, + "minor": 6, + "multi_processor_count": 82, + "name": "NVIDIA GeForce RTX 3090", + "total_memory": 25295257600 + } + ], + "float32_matmul_precision": "highest", + "version": "2.11.0+cu128" + } +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/latency_burst_model.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/latency_burst_model.json new file mode 100644 index 0000000000000000000000000000000000000000..6fbff2bd7612b75cad4e703f678de37d90692e20 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/latency_burst_model.json @@ -0,0 +1,1336 @@ +{ + "burst_dwell_distribution": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.0, + 21.15, + 21.3, + 21.45, + 21.6, + 21.75, + 21.9, + 22.05, + 22.2, + 22.35, + 22.5, + 22.65, + 22.8, + 22.95, + 23.1, + 23.25, + 23.4, + 23.55, + 23.7, + 23.85, + 24.0, + 25.0, + 26.0, + 27.000000000000004, + 28.000000000000004, + 29.0, + 29.999999999999996, + 31.0, + 32.0, + 33.0, + 34.0, + 35.0, + 36.0, + 37.0, + 38.0, + 39.0, + 40.00000000000001, + 40.99999999999999, + 42.0, + 43.0, + 44.0, + 44.949999999999996, + 45.9, + 46.85000000000001, + 47.800000000000004, + 48.75, + 49.7, + 50.64999999999999, + 51.599999999999994, + 52.55, + 53.5, + 54.449999999999996, + 55.400000000000006, + 56.349999999999994, + 57.300000000000004, + 58.25, + 59.2, + 60.150000000000006, + 61.10000000000001, + 62.05, + 63.0, + 65.64999999999999, + 68.29999999999998, + 70.94999999999999, + 73.60000000000001, + 76.25, + 78.89999999999999, + 81.55000000000001, + 84.20000000000002, + 86.85000000000001, + 89.5, + 92.15000000000003, + 94.79999999999998, + 97.44999999999997, + 100.10000000000001, + 102.75, + 105.39999999999999, + 108.04999999999998, + 110.70000000000002, + 113.35000000000001, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0, + 116.0 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "burst_dwell_lengths": [ + 21, + 24, + 44, + 63, + 116 + ], + "burst_merge_gap_records": 30, + "burst_rank_processes": [ + { + "draw_count": 268, + "dwell_length_spearman_rho": 0.6, + "level_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76014185945193, + 111.76312052955231, + 111.76609919965267, + 111.76907786975305, + 111.77205653985342, + 111.77503520995378, + 111.77801388005416, + 111.78099255015454, + 111.7839712202549, + 111.78694989035527, + 111.78992856045565, + 111.79290723055601, + 111.79588590065639, + 111.79886457075675, + 111.80184324085712, + 111.8048219109575, + 111.80780058105786, + 111.81077925115824, + 111.81375792125861, + 111.81673659135897, + 111.81971526145935, + 111.88049919903278, + 111.94128313660622, + 112.00206707417965, + 112.06285101175308, + 112.12363494932652, + 112.18441888689995, + 112.24520282447338, + 112.30598676204681, + 112.36677069962025, + 112.42755463719368, + 112.48833857476711, + 112.54912251234055, + 112.60990644991398, + 112.67069038748741, + 112.73147432506084, + 112.79225826263428, + 112.85304220020771, + 112.91382613778114, + 112.97461007535458, + 113.03539401292801, + 113.24575516482194, + 113.45611631671588, + 113.66647746860981, + 113.87683862050375, + 114.08719977239768, + 114.29756092429162, + 114.50792207618555, + 114.71828322807949, + 114.9286443799734, + 115.13900553186735, + 115.34936668376127, + 115.55972783565521, + 115.77008898754914, + 115.98045013944308, + 116.19081129133701, + 116.40117244323095, + 116.61153359512488, + 116.82189474701882, + 117.03225589891275, + 117.24261705080669, + 117.25980174541473, + 117.2769864400228, + 117.29417113463084, + 117.31135582923889, + 117.32854052384695, + 117.345725218455, + 117.36290991306305, + 117.3800946076711, + 117.39727930227916, + 117.4144639968872, + 117.43164869149525, + 117.44883338610332, + 117.46601808071136, + 117.48320277531941, + 117.50038746992746, + 117.51757216453552, + 117.53475685914357, + 117.55194155375162, + 117.56912624835968, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773, + 117.58631094296773 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "level_residual_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + -6.34056695302327, + -6.34056695302327, + -6.34056695302327, + -6.34056695302327, + -6.34056695302327, + -6.34056695302327, + -6.34056695302327, + -6.34056695302327, + -6.34056695302327, + -6.34056695302327, + -6.34056695302327, + -6.34056695302327, + -6.332754473686213, + -6.12963001092275, + -5.934426395098373, + -5.799949272473652, + -5.680410925547278, + -5.623615436553957, + -5.049422933657966, + -3.070867107311886, + -1.7738834404945374, + -1.764313852787018, + -1.7532525277137756, + -1.740157015323639, + -1.6828855347633362, + -1.5814380860328672, + -1.4429068446159363, + -1.2771808218955993, + -1.16335510969162, + -1.0770060324668886, + -0.977082860469818, + -0.8721587061882018, + -0.7349506437778474, + -0.590055936574936, + -0.5727308547496796, + -0.5720452892780304, + -0.5142639031012877, + -0.45617564717929043, + -0.4475114683310238, + -0.4395893094937051, + -0.4373559707403203, + -0.4331851969162628, + -0.42087719579538, + -0.40994842906793366, + -0.40276329855124315, + -0.394058796763421, + -0.3824843714634611, + -0.3737770799795834, + -0.36897951642672694, + -0.36016353984674165, + -0.34732915023962757, + -0.33729381263256214, + -0.3293111131588657, + -0.30667495767275965, + -0.2762810901800839, + -0.26342058698336757, + -0.25701974431674157, + -0.25447803537051356, + -0.2528551677862851, + -0.2522101406256405, + -0.25169265786807216, + -0.2242364039023741, + -0.19644585728645325, + -0.18723676562309266, + -0.17905045092105895, + -0.17870542625586466, + -0.1779036621252743, + -0.1751835922400204, + -0.16621431390444927, + -0.14028289834658797, + -0.10150121072928503, + -0.038446786999703955, + 0.00013522148132323088, + 0.005345754623413106, + 0.012373673717179623, + 0.02121897876262297, + 0.05395132501919632, + 0.1042008348305973, + 0.12717157800991863, + 0.1357006212075504, + 0.15964065512020884, + 0.1892584224541934, + 0.19996284385521934, + 0.20616408765315977, + 0.20962504406769852, + 0.21272857169309786, + 0.24325262506802403, + 0.27453822116056625, + 0.2974418594439802, + 0.3181665986776349, + 0.3221864451964669, + 0.32762383421261637, + 0.3390149017174992, + 0.37237897018591165, + 0.465384041269618, + 0.5267693853378296, + 0.52842857837677, + 0.5617947413523979, + 0.6383976815144189, + 0.6814763828118594, + 0.6910308452447208, + 0.7474897046883862, + 0.8383451219399723, + 0.9931568259000759, + 1.1818277404705675, + 4.4926970267295445, + 8.953849923610676, + 10.534285777807236, + 11.428836621840787, + 11.76198321501414, + 12.021903166770938, + 12.031900087992355, + 12.031900087992355, + 12.031900087992355, + 12.031900087992355, + 12.031900087992355, + 12.031900087992355, + 12.031900087992355, + 12.031900087992355, + 12.031900087992355, + 12.031900087992355, + 12.031900087992355, + 12.031900087992355 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "severity": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.125, + 0.12589285714285714, + 0.12678571428571428, + 0.12767857142857142, + 0.12857142857142856, + 0.1294642857142857, + 0.13035714285714287, + 0.13125, + 0.13214285714285715, + 0.13303571428571428, + 0.13392857142857142, + 0.13482142857142856, + 0.1357142857142857, + 0.13660714285714284, + 0.13749999999999998, + 0.13839285714285715, + 0.1392857142857143, + 0.14017857142857143, + 0.14107142857142857, + 0.1419642857142857, + 0.14285714285714285, + 0.14523809523809522, + 0.14761904761904762, + 0.15, + 0.1523809523809524, + 0.15476190476190477, + 0.15714285714285714, + 0.1595238095238095, + 0.16190476190476188, + 0.16428571428571428, + 0.16666666666666666, + 0.16904761904761903, + 0.17142857142857143, + 0.1738095238095238, + 0.17619047619047618, + 0.17857142857142855, + 0.18095238095238095, + 0.1833333333333333, + 0.1857142857142857, + 0.1880952380952381, + 0.19047619047619047, + 0.19129720853858784, + 0.1921182266009852, + 0.19293924466338258, + 0.19376026272577995, + 0.19458128078817732, + 0.1954022988505747, + 0.19622331691297207, + 0.19704433497536944, + 0.1978653530377668, + 0.19868637110016418, + 0.19950738916256155, + 0.20032840722495895, + 0.20114942528735633, + 0.2019704433497537, + 0.20279146141215107, + 0.20361247947454844, + 0.2044334975369458, + 0.20525451559934318, + 0.20607553366174056, + 0.20689655172413793, + 0.2079153605015674, + 0.20893416927899686, + 0.20995297805642632, + 0.2109717868338558, + 0.21199059561128525, + 0.2130094043887147, + 0.2140282131661442, + 0.21504702194357367, + 0.21606583072100313, + 0.2170846394984326, + 0.2181034482758621, + 0.21912225705329152, + 0.220141065830721, + 0.22115987460815045, + 0.22217868338557994, + 0.22319749216300938, + 0.22421630094043887, + 0.22523510971786834, + 0.2262539184952978, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727, + 0.22727272727272727 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "spike_count": 52 + } + ], + "burst_slot_rank_templates": [ + { + "dwell_length": 116, + "slot_to_rank": { + "0": 0 + } + }, + { + "dwell_length": 44, + "slot_to_rank": { + "0": 0 + } + }, + { + "dwell_length": 63, + "slot_to_rank": { + "0": 0 + } + }, + { + "dwell_length": 21, + "slot_to_rank": { + "0": 0 + } + }, + { + "dwell_length": 24, + "slot_to_rank": { + "0": 0 + } + } + ], + "model_type": "hidden_regime", + "pre_worker_time_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 0.2572758197784424, + 0.25763754005432127, + 0.25947027969360353, + 0.2603460645675659, + 0.2612747564315796, + 0.2622022571563721, + 0.26243807792663576, + 0.2626762580871582, + 0.2632839403152466, + 0.26363272762298584, + 0.2637669315338135, + 0.26404299354553223, + 0.2643587684631348, + 0.2657140350341797, + 0.26658174514770505, + 0.26738574981689456, + 0.2681525468826294, + 0.26886218070983886, + 0.26952486515045165, + 0.27005916118621826, + 0.2706614589691162, + 0.2714514255523682, + 0.27218435287475584, + 0.27285959720611574, + 0.27350028038024904, + 0.2743678092956543, + 0.2750845909118652, + 0.2760720920562744, + 0.2770882177352905, + 0.27842949867248534, + 0.27990328788757324, + 0.28201286792755126, + 0.28431395053863523, + 0.28664437294006345, + 0.28922285556793215, + 0.29165172576904297, + 0.29378581047058105, + 0.2955480146408081, + 0.2971444034576416, + 0.29853535175323487, + 0.2998380756378174, + 0.3010571956634521, + 0.3020807981491089, + 0.30305158138275146, + 0.3037783861160278, + 0.3045779085159302, + 0.3050941705703735, + 0.3056695747375488, + 0.30616676330566406, + 0.3065678071975708, + 0.30704905033111574, + 0.3073734760284424, + 0.3076727342605591, + 0.30795797348022463, + 0.308273024559021, + 0.3085658121109009, + 0.308845591545105, + 0.3091064405441284, + 0.30933346748352053, + 0.30958592891693115, + 0.3098057985305786, + 0.3100399971008301, + 0.3102893924713135, + 0.31050017833709714, + 0.3107223749160767, + 0.31094244956970213, + 0.3111721992492676, + 0.31139523029327393, + 0.31161237239837647, + 0.31180827140808104, + 0.3120582962036133, + 0.31228928565979003, + 0.31247793197631835, + 0.31274282455444335, + 0.3129736089706421, + 0.3132426595687866, + 0.3134938716888428, + 0.31373076915740966, + 0.31396267890930174, + 0.31422226905822753, + 0.31449563026428223, + 0.3147676229476929, + 0.3149920606613159, + 0.3153657913208008, + 0.31567907333374023, + 0.3159314775466919, + 0.31631767749786377, + 0.31666929721832277, + 0.3170040273666382, + 0.3174827384948731, + 0.31792099952697755, + 0.31836187839508057, + 0.31882681846618655, + 0.31948143005371094, + 0.3199909162521362, + 0.3205808925628662, + 0.3213667631149292, + 0.3224719858169556, + 0.3236453628540039, + 0.3248334980010986, + 0.32641579151153566, + 0.3288518667221069, + 0.3317467498779297, + 0.3364091396331787, + 0.34346031188964843, + 0.35033455848693845, + 0.3815898180007932, + 0.6752684497833252, + 1.2073634576797472, + 1.278598713874817, + 1.302369451522827, + 1.3093395385742188, + 1.3129376239776611, + 1.3175906381607052, + 1.3359725713729873, + 1.3516274499893188, + 1.3746464385986326, + 1.3949562454223634, + 1.4172659616470336, + 1.4342637987136844, + 1.4602041645050134, + 1.4875035186767591, + 1.49049711227417 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "regime_step_counts": { + "burst": 268, + "calm": 7708 + }, + "regime_transition_counts": { + "burst": { + "burst": 263, + "calm": 5 + }, + "calm": { + "burst": 5, + "calm": 7698 + } + }, + "reset_scope": "session", + "schema_version": 12, + "spike_median_multiplier": 1.25, + "spike_threshold_ms_by_worker_slot": { + "0": 111.23815685510635 + }, + "worker_count": 1 +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/latency_distribution.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/latency_distribution.json new file mode 100644 index 0000000000000000000000000000000000000000..b49f795ef4b9da706834f8ca618e43aa577a312a --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/latency_distribution.json @@ -0,0 +1,1027 @@ +{ + "schema_version": 3, + "worker_slots": { + "0": { + "all": { + "count": 7976, + "observation_to_action_latency_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 87.98952293395996, + 88.00625395126343, + 88.19498282814025, + 88.31266105270386, + 88.42687071514129, + 88.47465879440307, + 88.50693488693237, + 88.53092688083649, + 88.54779446983338, + 88.55876398563385, + 88.56488679409027, + 88.57280330657959, + 88.59264374256134, + 88.67249797344208, + 88.724377617836, + 88.79207693576812, + 88.84999904632568, + 88.89409097194671, + 88.92342544078826, + 88.96823967933655, + 88.99946705818176, + 89.02508285045624, + 89.04901226520538, + 89.07655789375305, + 89.10013774871827, + 89.13031135559082, + 89.15370976924896, + 89.17447654724121, + 89.19607995033265, + 89.21466581344605, + 89.23746184825897, + 89.25717034339905, + 89.2771969127655, + 89.29832275390625, + 89.31721762657166, + 89.33869683265686, + 89.35448241233826, + 89.37088777542114, + 89.387730717659, + 89.40454774379731, + 89.42069890975952, + 89.43555467128753, + 89.45022724151612, + 89.46291656017303, + 89.47820586681365, + 89.49225774765014, + 89.50589845180511, + 89.52021051883698, + 89.53634333610535, + 89.5502944946289, + 89.56533065795898, + 89.57548904418945, + 89.58862001419067, + 89.59958215236664, + 89.6106701040268, + 89.6255473279953, + 89.63833825588226, + 89.65307829856873, + 89.66765783309937, + 89.68132509231567, + 89.69334455490112, + 89.70676946640015, + 89.72026408195495, + 89.73473812103272, + 89.74919620037079, + 89.76378743171692, + 89.77904286384583, + 89.79202803611756, + 89.80719444274902, + 89.82152740478516, + 89.83681576728821, + 89.85403666496276, + 89.87273532867431, + 89.88893761634827, + 89.91062943458557, + 89.92647359848023, + 89.94606273174286, + 89.96231405735016, + 89.97694365501404, + 89.99286030292511, + 90.0110937833786, + 90.02730028629303, + 90.04637926101685, + 90.06258551597595, + 90.07847352981567, + 90.09652791976929, + 90.11794292926788, + 90.13743216991425, + 90.15522152900697, + 90.18199282169343, + 90.20373028278351, + 90.2253544807434, + 90.25468337535858, + 90.28829836368561, + 90.32118947029113, + 90.35554928779602, + 90.3950603723526, + 90.44660758495331, + 90.51204998970032, + 90.56736985683442, + 90.64274927139282, + 90.74715027809142, + 90.87436978340149, + 91.05810060977936, + 91.26494856357574, + 91.56088218212128, + 92.13188321590424, + 93.51960658550263, + 110.3865959215164, + 111.56080113887786, + 112.18723976135253, + 112.27797777271272, + 112.3118753566742, + 112.38298761463165, + 112.55841102600098, + 112.6685480260849, + 112.81127831363678, + 113.11438784122467, + 113.30635335445405, + 113.64114878845216, + 114.79401259803862, + 130.04163708992016, + 130.29119229316711 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "spearman_rho": 0.999288082060808, + "worker_service_time_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 87.72087597846985, + 87.72505484809875, + 87.91075664138793, + 88.00112848186492, + 88.12835392475128, + 88.16585436820984, + 88.20216335296631, + 88.22228655815124, + 88.23629946613312, + 88.25117263317108, + 88.26306705760956, + 88.27515149116516, + 88.29007994651795, + 88.37461434841155, + 88.42467656612396, + 88.48697556972503, + 88.54574456214905, + 88.59064786434173, + 88.6260237455368, + 88.66484241485595, + 88.69925922870635, + 88.72065505981445, + 88.74581295013428, + 88.77460636615753, + 88.80257711410522, + 88.82836333751679, + 88.85065879821778, + 88.86961028575897, + 88.89002092838287, + 88.91101721286773, + 88.93179827690125, + 88.95344092845917, + 88.97252882957459, + 88.99404806137085, + 89.01403583049775, + 89.03331364154816, + 89.05015802383423, + 89.06947086334229, + 89.08563427448273, + 89.10351252555847, + 89.11768238544464, + 89.13144860267639, + 89.14576484203339, + 89.1602001285553, + 89.1763215970993, + 89.19063215255737, + 89.20418736934661, + 89.2187579345703, + 89.23084268569946, + 89.2456736755371, + 89.26038558959961, + 89.27289342880249, + 89.28322927474976, + 89.29450441837311, + 89.30719062805176, + 89.32086008548737, + 89.33541519641877, + 89.35248424530029, + 89.36700273036956, + 89.37777100563049, + 89.39082574367524, + 89.40557551383972, + 89.41941950321197, + 89.43248313426972, + 89.4482385969162, + 89.46083876609802, + 89.47424108982086, + 89.48949390888214, + 89.50253468036652, + 89.51752857208253, + 89.53237959384919, + 89.5501193523407, + 89.56644603252411, + 89.58779298782349, + 89.6055972623825, + 89.61994940757751, + 89.63657371997833, + 89.65447835445404, + 89.6701370716095, + 89.6889020872116, + 89.70479391098023, + 89.72396631240845, + 89.74089723587036, + 89.75628419399261, + 89.775436668396, + 89.79404658794402, + 89.81355702877045, + 89.832233710289, + 89.8513820886612, + 89.87316411018372, + 89.8954009437561, + 89.91825423240661, + 89.95083716869354, + 89.98068819999695, + 90.01347800254821, + 90.04942324638367, + 90.09265229701995, + 90.14444270133973, + 90.20294900894164, + 90.25911507606506, + 90.33128764629365, + 90.43725185394287, + 90.5703069114685, + 90.7431587934494, + 90.93199528217316, + 91.24273622989654, + 91.76115915775299, + 92.93062980651855, + 109.06819209098813, + 110.25691298007965, + 110.92635715007782, + 110.98662494850159, + 111.02695600032807, + 111.1557109861374, + 111.28695208072662, + 111.41097618579865, + 111.5848327255249, + 111.8585945930481, + 112.06217238235473, + 112.4594908771515, + 113.57045895004362, + 129.3671735408784, + 129.61821103096008 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + } + }, + "steady": { + "count": 7708, + "observation_to_action_latency_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 87.98952293395996, + 88.00474726018906, + 88.19305597496033, + 88.31169596481324, + 88.42505750274658, + 88.47302298545837, + 88.50544290447235, + 88.52511432647705, + 88.54508119392395, + 88.55763299179077, + 88.56368862724304, + 88.57163988304139, + 88.58391930580139, + 88.6713106393814, + 88.71694125175476, + 88.78470235347748, + 88.84136619567872, + 88.88592077732086, + 88.91770453929901, + 88.95671053886413, + 88.99107503414155, + 89.01632058620453, + 89.04142089366913, + 89.06427590847015, + 89.09112273216248, + 89.1197328710556, + 89.14090068340302, + 89.16389953613282, + 89.18336018562317, + 89.20432123661041, + 89.22178001880646, + 89.24455571174622, + 89.26285143375397, + 89.28278621196746, + 89.30259282112121, + 89.32047615528107, + 89.34048044681549, + 89.35656083106994, + 89.37347135066986, + 89.3890373134613, + 89.40507507801055, + 89.4206326007843, + 89.43527732372284, + 89.44985229969025, + 89.4615450334549, + 89.47571161746978, + 89.49060957431793, + 89.50358631610871, + 89.51721787452698, + 89.53188828468323, + 89.54624356746673, + 89.55934813022614, + 89.57238875865936, + 89.58399452209473, + 89.5950669336319, + 89.60552267551422, + 89.61853682994843, + 89.63070479393005, + 89.64368647098541, + 89.66024139881134, + 89.67300935745239, + 89.68450391292572, + 89.69663897037506, + 89.70963977336883, + 89.72322317123412, + 89.73775261878967, + 89.75136733055115, + 89.76614410877228, + 89.78024483203887, + 89.79339708805084, + 89.807336602211, + 89.82134807109833, + 89.8357172679901, + 89.85296149253845, + 89.8696624326706, + 89.8862680053711, + 89.9060546875, + 89.92375180721282, + 89.939760055542, + 89.95744044303893, + 89.97084111213684, + 89.98641595840454, + 90.00528963565826, + 90.02034323692322, + 90.03935966014862, + 90.05414157390595, + 90.07118356227875, + 90.08569293022155, + 90.10546464443206, + 90.1239938879013, + 90.14333739280701, + 90.16480300426483, + 90.18858228206635, + 90.20850865364075, + 90.23085282325745, + 90.26068212985993, + 90.29339134693146, + 90.32349193572998, + 90.35763807296753, + 90.39734611034393, + 90.44722507953644, + 90.51184470653534, + 90.56559889316559, + 90.64097036838531, + 90.73639919757844, + 90.85822832584381, + 91.0151937007904, + 91.20243098735808, + 91.45049385070801, + 91.88321811676025, + 92.989627699852, + 93.15146862792969, + 93.30333351707459, + 93.47491034889221, + 93.5772506389618, + 93.86473531723023, + 95.11389953041056, + 108.71966855239876, + 110.97717627239227, + 111.38316594314577, + 111.66655566310887, + 112.25149490270606, + 112.35095000267029 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "spearman_rho": 0.9992113218119626, + "worker_service_time_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 87.72087597846985, + 87.72467852516175, + 87.91030064630509, + 88.00015591812134, + 88.12767535018921, + 88.16078618812561, + 88.20027036190032, + 88.2218482208252, + 88.2316044626236, + 88.2494578113556, + 88.25887827968597, + 88.27183927154542, + 88.28763780593872, + 88.37063961029052, + 88.41736738204956, + 88.48253869056701, + 88.53538405895233, + 88.58251465797424, + 88.61692441940308, + 88.6526103067398, + 88.69219470977784, + 88.71518459320069, + 88.73541054725646, + 88.76436851501465, + 88.7882429409027, + 88.8153453207016, + 88.84055385589599, + 88.86013361930847, + 88.88090627670289, + 88.89949244976043, + 88.9193493270874, + 88.9378014087677, + 88.95896531105042, + 88.97797864437103, + 88.99964028835296, + 89.01831042766571, + 89.03623116016388, + 89.05389294624328, + 89.07155320167541, + 89.08649010658264, + 89.10401025772094, + 89.11759095191955, + 89.13092276096344, + 89.14472054004669, + 89.15695644378663, + 89.17383971691132, + 89.18826713562012, + 89.2024789762497, + 89.21522489070892, + 89.22818738937377, + 89.2410564661026, + 89.25574686527253, + 89.26698334217072, + 89.27876037597656, + 89.28845839977265, + 89.30029655456543, + 89.31337325572967, + 89.32795318126678, + 89.34285112380981, + 89.35806794166565, + 89.37013675689697, + 89.38430845737457, + 89.39552543163299, + 89.40971125602722, + 89.42204663753509, + 89.43564129829407, + 89.44992272853851, + 89.4627941942215, + 89.47512364387512, + 89.4904280757904, + 89.50267264842986, + 89.51706793308259, + 89.53111134052277, + 89.54835547924041, + 89.56463825702667, + 89.58519184112549, + 89.60270733833313, + 89.61832924365997, + 89.63192135810851, + 89.64982438087463, + 89.66651585578919, + 89.68272776603699, + 89.70003828048706, + 89.71646264076233, + 89.73325060844421, + 89.74732863903046, + 89.76466166973114, + 89.7842432308197, + 89.80248938560486, + 89.82193244457245, + 89.83790985107422, + 89.85878474712372, + 89.87975364208222, + 89.90125885009766, + 89.92823070526123, + 89.95628376960754, + 89.98322794437408, + 90.01770035743714, + 90.05196633815765, + 90.0945546579361, + 90.14471434116363, + 90.20198478698731, + 90.25720650196075, + 90.327011551857, + 90.41905149459839, + 90.55038662433624, + 90.70465857982636, + 90.87903607845307, + 91.12213365077973, + 91.56424148082733, + 92.54860488414765, + 92.65843725967407, + 92.76501456165313, + 92.8867836036682, + 93.04233510875703, + 93.24323705673218, + 94.55598453712442, + 107.64949651336671, + 109.727002286911, + 110.21494954109193, + 110.4879216728211, + 111.00118846521367, + 111.11597681045532 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + } + } + } + } +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/latency_profile.png b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/latency_profile.png new file mode 100644 index 0000000000000000000000000000000000000000..4f5dc51eb04612f9c1e40379e13351d54c06fd07 Binary files /dev/null and b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/latency_profile.png differ diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/profile.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/profile.json new file mode 100644 index 0000000000000000000000000000000000000000..bf3078569d7a19926a7fce8cbaf4b168a532139a --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/profile.json @@ -0,0 +1,66 @@ +{ + "burst_model_path": "latency_burst_model.json", + "distribution_path": "latency_distribution.json", + "env_fps": 10, + "frame_ms": 100.0, + "gpu_class": "1x-rtx3090", + "instance_id": "instance_859cf1e47bca6046", + "latency_kind": "observation_to_action_latency", + "latency_method": "temporal", + "model_id": "qwenoft", + "n_admitted_observations": 7976, + "n_capacity_drops": 294, + "n_observation_attempts": 8270, + "per_slot_summary": { + "0": { + "admitted_count": 7976, + "mean_observation_to_action_latency_ms": 90.56460638563993, + "mean_worker_service_time_ms": 90.22241150451042, + "p95_observation_to_action_latency_ms": 92.13036412000656, + "p95_worker_service_time_ms": 91.75596672296524, + "p99_worker_service_time_ms": 110.92562991380692 + } + }, + "provenance": { + "base_config": "/workspace/tasks/20260911T023128Z-p-only4/ant/profile.yaml", + "checkpoint_kind": "best", + "model_artifact": { + "checkpoint": "checkpoints/steps_5000_pytorch_model.pt", + "model_config": "config.full.yaml", + "path_in_repo": "OpenVLA/zero-latency/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k", + "repo_id": "latency-sensitive-bench/extra-envs-checkpoints", + "source": "local" + }, + "session_ids": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + "sample_model_type": "hidden_regime", + "source_run_id": "20260911T033037730561Z", + "summary": { + "frame_ms": 100.0, + "max_ms": 130.29119229316711, + "mean_effective_frames": 0.9056460638563993, + "mean_ms": 90.56460638563993, + "min_ms": 87.98952293395996, + "n_samples": 7976, + "p50_frames": 0.8970676946640015, + "p50_ms": 89.70676946640015, + "p90_frames": 0.9074710392951966, + "p90_ms": 90.74710392951965, + "p95_frames": 0.9213036412000656, + "p95_ms": 92.13036412000656, + "p99_frames": 1.1217999053001404, + "p99_ms": 112.17999053001404, + "prob_latency_gt_1_frame": 0.03686058174523571, + "prob_latency_gt_2_frames": 0.0, + "prob_latency_gt_3_frames": 0.0, + "std_ms": 4.164609685850939 + }, + "visualization_path": "latency_profile.png", + "workload_id": "ant" +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/provenance.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..8b3377f034f2ba4235d0d5b4b1ed1a46a1aa9bb2 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/provenance.json @@ -0,0 +1,34 @@ +{ + "task": "ant", + "model": "qwenoft", + "training_condition": "latency-aware", + "training_run_id": "ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k", + "source": { + "repo_id": "latency-sensitive-bench/Standard-Pipeline", + "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", + "path": "ant/profile_latency/OpenVLA", + "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/profile_latency/OpenVLA" + }, + "hf_repo_id": "latency-sensitive-bench/benchmark-models", + "hf_path": "latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k", + "checkpoint": { + "source_file": "ant/profile_latency/OpenVLA/checkpoints/steps_5000_pytorch_model.pt", + "source_sha256": "1c7acdbcd7a2ee8735643cea078ef523947775166f6bc220bce7de71a9db90a3", + "source_bytes": 9785070315, + "file": "checkpoints/model.pt", + "selection_rule": "only published VLA checkpoint", + "method": "copy", + "sha256": "1c7acdbcd7a2ee8735643cea078ef523947775166f6bc220bce7de71a9db90a3", + "bytes": 9785070315 + }, + "config_source": "ant/profile_latency/OpenVLA/config.full.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 +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/source/config.yaml b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/source/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3fbabc5b5a35721f9fde322d3d3ae9d3dd27adcb --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/source/config.yaml @@ -0,0 +1,86 @@ +checkpoint: + local: + keep_last_n: 1 + save_best_model: false + save_final_model: true + save_pt_file: true + save_safetensors_file: false + save_training_state: false + sync: + enabled: false + keep_last_n: 0 + repo_id: null +datasets: + vla_data: + data_mix: ant_rgb_state_profile_20260911T112232Z + dataset_py: lerobot_datasets + eval_data_mix: ant_rgb_state_profile_20260911T112232Z__val + latency_curriculum: + enabled: false + per_device_batch_size: 16 +framework: + action_model: + action_dim: 8 + action_env_dim: 8 + action_hidden_dim: 2560 + action_horizon: 1 + action_model_type: MLP + loss_type: l1 + state_encoding: discretized_text + task_objective: null + kv_memory: + enabled: false + packed_train: false + rebased_sink: true + rollout_len: 8 + window: 4 + name: QwenOFT + qwenvl: + attn_implementation: flash_attention_2 + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + enable_gradient_checkpointing: true +output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k +rl_games: + env_eval: + enabled: false + task: gymnasium +run_id: ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k +run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla +seed: 42 +trainer: + distributed_backend: deepspeed + eval_action_classification: false + eval_action_classification_interval: null + eval_interval: 500 + eval_num_batches: 200 + freeze_llm_layers: [] + freeze_modules: '' + freeze_tied_embedding: false + freeze_vit: false + gradient_accumulation_steps: 1 + is_resume: false + learning_rate: + action_model: 0.0001 + base: 2.0e-05 + qwen_vl_interface: 1.0e-05 + logging_frequency: 1 + lr_scheduler_type: cosine_with_min_lr + max_train_steps: 5000 + num_warmup_steps: 100 + optimizer: + betas: + - 0.9 + - 0.95 + eps: 1.0e-08 + fused: true + weight_decay: 1.0e-08 + per_latency_eval_num_batches: null + pretrained_checkpoint: null + profile_timing: + enabled: true + log_interval: 10 + save_interval: 500 + scheduler_specific_kwargs: + min_lr: 1.0e-06 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/source/provenance.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/source/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..b200d45622f468ab9da742a21e487dab52d3109b --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/source/provenance.json @@ -0,0 +1,833 @@ +{ + "run_id": "20260911T112232Z-ant", + "final_step": 5000, + "exit_code": 0, + "checkpoint_name": "steps_5000_pytorch_model.pt", + "checkpoint_size": 9785070315, + "checkpoint_sha256": "1c7acdbcd7a2ee8735643cea078ef523947775166f6bc220bce7de71a9db90a3", + "state_dict_entries": 730, + "state_dict_key_examples": [ + "qwen_vl_interface.model.model.visual.patch_embed.proj.weight", + "qwen_vl_interface.model.model.visual.patch_embed.proj.bias", + "qwen_vl_interface.model.model.visual.pos_embed.weight", + "qwen_vl_interface.model.model.visual.blocks.0.norm1.weight", + "qwen_vl_interface.model.model.visual.blocks.0.norm1.bias" + ], + "checkpoint_content": "model state dict only", + "wandb": { + "status": "finished", + "wandb_url": "https://wandb.ai/dongqianyu99-zhejiang-university/latency-sensitive-bench/runs/adyat3gb", + "summary": { + "_runtime": 14102.327984431, + "_step": 5000, + "_timestamp": 1789146462.5902624, + "_wandb.runtime": 14102, + "batch/effective_tokens": 4754, + "batch/image_count": 16, + "batch/input_len_max": 300, + "batch/input_len_mean": 297.125, + "batch/padding_ratio": 0.009583333333333388, + "batch/pixel_values_rows": 4096, + "batch/size": 16, + "epoch": 0.89, + "eval/action_loss/samples": 3200, + "eval/action_loss/seconds": 44.19178483099677, + "eval/ant_rgb_state/latency_1/loss": 0.03447564318776131, + "eval/ant_rgb_state/latency_2/loss": 0.03418608382344246, + "eval/ant_rgb_state/loss": 0.03446578234434128, + "eval/latency_1/loss": 0.03447564318776131, + "eval/latency_2/loss": 0.03418608382344246, + "eval/loss": 0.03446578234434128, + "learning_rate/action_model": 5e-06, + "learning_rate/qwen_vl_interface": 5e-07, + "throughput/effective_tokens_per_sec": 1761.4305704480005, + "throughput/samples_per_sec": 5.92824760773412, + "timing/action_head_loss": 0.0014290429971879348, + "timing/backward": 0.9283071889949496, + "timing/checkpoint_total": 13.2971123069874, + "timing/data": 0.0004361040046205744, + "timing/dataloader_next": 0.0006223830132512376, + "timing/eval_action_loss_total": 44.19449000500026, + "timing/forward": 0.20492293399001937, + "timing/log_metrics_total": 0.005266011998173781, + "timing/lr_scheduler": 0.00010402999760117382, + "timing/model": 2.6987912710028468, + "timing/optimizer_step": 1.5619513980054762, + "timing/qwen_h2d": 0.0034667389991227537, + "timing/qwen_input_build_total": 0.02470728399930522, + "timing/qwen_processor": 0.020688475997303613, + "timing/train_step_total": 2.698942597999121, + "timing/vlm_forward": 0.17757584199716803, + "train/grad_norm_pre_clip": 5.912214279174805, + "train/loss": 0.03236494958400726 + }, + "verified_utc": "2026-09-11T17:14:33.800591+00:00", + "exit_code": 0, + "final_step": 5000, + "post_train_eval": false, + "checkpoint_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/checkpoints/steps_5000_pytorch_model.pt", + "checkpoint_size": 9785070315 + }, + "dataset_upload": [ + { + "repo_id": "latency-sensitive-bench/extra-envs-rollouts", + "repo_type": "dataset", + "prefix": "profile-latency-new/ant/20260911T112232Z-ant/raw", + "commit": "ab5bf104860c1e7dd54ffe09b2b8a3454d26ffa0", + "url": "https://huggingface.co/datasets/latency-sensitive-bench/extra-envs-rollouts/commit/ab5bf104860c1e7dd54ffe09b2b8a3454d26ffa0", + "verified_files": 6, + "bytes": 1800514299, + "verification": "Every file size; Git blob SHA1 for regular files and SHA256 for LFS files" + }, + { + "repo_id": "latency-sensitive-bench/extra-envs-rollouts", + "repo_type": "dataset", + "prefix": "profile-latency-new/ant/20260911T112232Z-ant/converted", + "commit": "12a5023f4280f51653c2cc67da437eedc9f7f71d", + "url": "https://huggingface.co/datasets/latency-sensitive-bench/extra-envs-rollouts/commit/12a5023f4280f51653c2cc67da437eedc9f7f71d", + "verified_files": 117, + "bytes": 1795473928, + "verification": "Every file size; Git blob SHA1 for regular files and SHA256 for LFS files" + } + ], + "data_validation": { + "episodes": [ + { + "split": "train", + "episode_idx": 0, + "seed": 2222, + "actual_rows": 1000, + "actual_return": 2643.70831951499 + }, + { + "split": "train", + "episode_idx": 2, + "seed": 2224, + "actual_rows": 1000, + "actual_return": 2552.704335546121 + }, + { + "split": "train", + "episode_idx": 4, + "seed": 2226, + "actual_rows": 1000, + "actual_return": 2707.9147548675537 + }, + { + "split": "train", + "episode_idx": 5, + "seed": 2227, + "actual_rows": 1000, + "actual_return": 2585.2526717185974 + }, + { + "split": "train", + "episode_idx": 6, + "seed": 2228, + "actual_rows": 1000, + "actual_return": 2512.4708308251575 + }, + { + "split": "train", + "episode_idx": 8, + "seed": 2230, + "actual_rows": 1000, + "actual_return": 2632.057837843895 + }, + { + "split": "train", + "episode_idx": 9, + "seed": 2231, + "actual_rows": 1000, + "actual_return": 2663.5257034003735 + }, + { + "split": "train", + "episode_idx": 10, + "seed": 2232, + "actual_rows": 1000, + "actual_return": 2557.4228100404143 + }, + { + "split": "train", + "episode_idx": 11, + "seed": 2233, + "actual_rows": 1000, + "actual_return": 2655.0031908750534 + }, + { + "split": "train", + "episode_idx": 12, + "seed": 2234, + "actual_rows": 1000, + "actual_return": 2529.6297677755356 + }, + { + "split": "train", + "episode_idx": 13, + "seed": 2235, + "actual_rows": 1000, + "actual_return": 2598.792264536023 + }, + { + "split": "train", + "episode_idx": 14, + "seed": 2236, + "actual_rows": 1000, + "actual_return": 2619.5885412991047 + }, + { + "split": "train", + "episode_idx": 15, + "seed": 2237, + "actual_rows": 1000, + "actual_return": 2713.6863983869553 + }, + { + "split": "train", + "episode_idx": 16, + "seed": 2238, + "actual_rows": 1000, + "actual_return": 2574.787629812956 + }, + { + "split": "train", + "episode_idx": 18, + "seed": 2241, + "actual_rows": 1000, + "actual_return": 2709.2145804166794 + }, + { + "split": "train", + "episode_idx": 19, + "seed": 2242, + "actual_rows": 1000, + "actual_return": 2631.69058534503 + }, + { + "split": "train", + "episode_idx": 20, + "seed": 2243, + "actual_rows": 1000, + "actual_return": 2668.6122784018517 + }, + { + "split": "train", + "episode_idx": 21, + "seed": 2244, + "actual_rows": 1000, + "actual_return": 2519.7310258597136 + }, + { + "split": "train", + "episode_idx": 22, + "seed": 2245, + "actual_rows": 1000, + "actual_return": 2580.592764019966 + }, + { + "split": "train", + "episode_idx": 23, + "seed": 2246, + "actual_rows": 1000, + "actual_return": 2585.969407478813 + }, + { + "split": "train", + "episode_idx": 24, + "seed": 2247, + "actual_rows": 1000, + "actual_return": 2634.7145904526114 + }, + { + "split": "train", + "episode_idx": 26, + "seed": 2249, + "actual_rows": 1000, + "actual_return": 2750.843462884426 + }, + { + "split": "train", + "episode_idx": 27, + "seed": 2250, + "actual_rows": 1000, + "actual_return": 2608.5302359461784 + }, + { + "split": "train", + "episode_idx": 28, + "seed": 2251, + "actual_rows": 1000, + "actual_return": 2545.0221658200026 + }, + { + "split": "train", + "episode_idx": 30, + "seed": 2253, + "actual_rows": 1000, + "actual_return": 2656.639006242156 + }, + { + "split": "train", + "episode_idx": 31, + "seed": 2254, + "actual_rows": 1000, + "actual_return": 2688.6480253338814 + }, + { + "split": "train", + "episode_idx": 32, + "seed": 2256, + "actual_rows": 1000, + "actual_return": 2622.6766557469964 + }, + { + "split": "train", + "episode_idx": 33, + "seed": 2257, + "actual_rows": 1000, + "actual_return": 2554.2388083845144 + }, + { + "split": "train", + "episode_idx": 34, + "seed": 2258, + "actual_rows": 1000, + "actual_return": 2697.263863325119 + }, + { + "split": "train", + "episode_idx": 35, + "seed": 2259, + "actual_rows": 1000, + "actual_return": 2558.7703088372946 + }, + { + "split": "train", + "episode_idx": 36, + "seed": 2260, + "actual_rows": 1000, + "actual_return": 2616.975213229656 + }, + { + "split": "train", + "episode_idx": 37, + "seed": 2262, + "actual_rows": 1000, + "actual_return": 2540.7197449803352 + }, + { + "split": "train", + "episode_idx": 38, + "seed": 2263, + "actual_rows": 1000, + "actual_return": 2629.547179341316 + }, + { + "split": "train", + "episode_idx": 39, + "seed": 2264, + "actual_rows": 1000, + "actual_return": 2689.9670471847057 + }, + { + "split": "train", + "episode_idx": 40, + "seed": 2265, + "actual_rows": 1000, + "actual_return": 2652.0200481824577 + }, + { + "split": "train", + "episode_idx": 41, + "seed": 2266, + "actual_rows": 1000, + "actual_return": 2568.2169385650195 + }, + { + "split": "train", + "episode_idx": 42, + "seed": 2267, + "actual_rows": 1000, + "actual_return": 2702.984243750572 + }, + { + "split": "train", + "episode_idx": 43, + "seed": 2268, + "actual_rows": 1000, + "actual_return": 2763.2135685682297 + }, + { + "split": "train", + "episode_idx": 44, + "seed": 2270, + "actual_rows": 1000, + "actual_return": 2623.3026285097003 + }, + { + "split": "train", + "episode_idx": 45, + "seed": 2271, + "actual_rows": 1000, + "actual_return": 2726.6655794382095 + }, + { + "split": "train", + "episode_idx": 46, + "seed": 2272, + "actual_rows": 1000, + "actual_return": 2596.1488404423 + }, + { + "split": "train", + "episode_idx": 48, + "seed": 2274, + "actual_rows": 1000, + "actual_return": 2761.562707066536 + }, + { + "split": "train", + "episode_idx": 49, + "seed": 2275, + "actual_rows": 1000, + "actual_return": 2669.6118823885918 + }, + { + "split": "train", + "episode_idx": 50, + "seed": 2276, + "actual_rows": 1000, + "actual_return": 2652.3150373995304 + }, + { + "split": "train", + "episode_idx": 51, + "seed": 2277, + "actual_rows": 1000, + "actual_return": 2723.6675519701676 + }, + { + "split": "train", + "episode_idx": 52, + "seed": 2279, + "actual_rows": 1000, + "actual_return": 2709.8260709047318 + }, + { + "split": "train", + "episode_idx": 53, + "seed": 2280, + "actual_rows": 1000, + "actual_return": 2618.568952411413 + }, + { + "split": "train", + "episode_idx": 54, + "seed": 2281, + "actual_rows": 1000, + "actual_return": 2621.0226818174124 + }, + { + "split": "train", + "episode_idx": 55, + "seed": 2282, + "actual_rows": 1000, + "actual_return": 2683.6981935900185 + }, + { + "split": "train", + "episode_idx": 56, + "seed": 2283, + "actual_rows": 1000, + "actual_return": 2701.301379352808 + }, + { + "split": "train", + "episode_idx": 57, + "seed": 2285, + "actual_rows": 1000, + "actual_return": 2678.820751875639 + }, + { + "split": "train", + "episode_idx": 59, + "seed": 2288, + "actual_rows": 1000, + "actual_return": 2518.8468287289143 + }, + { + "split": "train", + "episode_idx": 60, + "seed": 2289, + "actual_rows": 1000, + "actual_return": 2536.876379041001 + }, + { + "split": "train", + "episode_idx": 61, + "seed": 2290, + "actual_rows": 1000, + "actual_return": 2569.830728366971 + }, + { + "split": "train", + "episode_idx": 62, + "seed": 2292, + "actual_rows": 1000, + "actual_return": 2607.5661242082715 + }, + { + "split": "train", + "episode_idx": 63, + "seed": 2293, + "actual_rows": 1000, + "actual_return": 2661.9589318037033 + }, + { + "split": "train", + "episode_idx": 64, + "seed": 2294, + "actual_rows": 1000, + "actual_return": 2656.980154186487 + }, + { + "split": "train", + "episode_idx": 65, + "seed": 2295, + "actual_rows": 1000, + "actual_return": 2617.5452690571547 + }, + { + "split": "train", + "episode_idx": 66, + "seed": 2296, + "actual_rows": 1000, + "actual_return": 2580.553820222616 + }, + { + "split": "train", + "episode_idx": 67, + "seed": 2297, + "actual_rows": 1000, + "actual_return": 2610.305488182232 + }, + { + "split": "train", + "episode_idx": 68, + "seed": 2298, + "actual_rows": 1000, + "actual_return": 2722.1854515075684 + }, + { + "split": "train", + "episode_idx": 69, + "seed": 2299, + "actual_rows": 1000, + "actual_return": 2710.490860968828 + }, + { + "split": "train", + "episode_idx": 70, + "seed": 2301, + "actual_rows": 1000, + "actual_return": 2726.4224319159985 + }, + { + "split": "train", + "episode_idx": 71, + "seed": 2302, + "actual_rows": 1000, + "actual_return": 2579.610513707623 + }, + { + "split": "train", + "episode_idx": 72, + "seed": 2304, + "actual_rows": 1000, + "actual_return": 2618.2236045971513 + }, + { + "split": "train", + "episode_idx": 73, + "seed": 2305, + "actual_rows": 1000, + "actual_return": 2666.5393874943256 + }, + { + "split": "train", + "episode_idx": 74, + "seed": 2307, + "actual_rows": 1000, + "actual_return": 2600.8440006673336 + }, + { + "split": "train", + "episode_idx": 75, + "seed": 2308, + "actual_rows": 1000, + "actual_return": 2636.181053340435 + }, + { + "split": "train", + "episode_idx": 76, + "seed": 2309, + "actual_rows": 1000, + "actual_return": 2540.7215443961322 + }, + { + "split": "train", + "episode_idx": 78, + "seed": 2311, + "actual_rows": 1000, + "actual_return": 2524.6232791244984 + }, + { + "split": "train", + "episode_idx": 79, + "seed": 2312, + "actual_rows": 1000, + "actual_return": 2646.250018566847 + }, + { + "split": "train", + "episode_idx": 80, + "seed": 2313, + "actual_rows": 1000, + "actual_return": 2605.8088382310234 + }, + { + "split": "train", + "episode_idx": 82, + "seed": 2316, + "actual_rows": 1000, + "actual_return": 2650.0885524451733 + }, + { + "split": "train", + "episode_idx": 83, + "seed": 2317, + "actual_rows": 1000, + "actual_return": 2662.2191310562193 + }, + { + "split": "train", + "episode_idx": 84, + "seed": 2318, + "actual_rows": 1000, + "actual_return": 2637.3336541466415 + }, + { + "split": "train", + "episode_idx": 85, + "seed": 2320, + "actual_rows": 1000, + "actual_return": 2542.4085894823074 + }, + { + "split": "train", + "episode_idx": 86, + "seed": 2321, + "actual_rows": 1000, + "actual_return": 2594.00810235925 + }, + { + "split": "train", + "episode_idx": 87, + "seed": 2322, + "actual_rows": 1000, + "actual_return": 2652.956304550171 + }, + { + "split": "train", + "episode_idx": 88, + "seed": 2323, + "actual_rows": 1000, + "actual_return": 2641.8834931254387 + }, + { + "split": "train", + "episode_idx": 89, + "seed": 2324, + "actual_rows": 1000, + "actual_return": 2652.8989153131843 + }, + { + "split": "train", + "episode_idx": 90, + "seed": 2325, + "actual_rows": 1000, + "actual_return": 2654.362419515848 + }, + { + "split": "train", + "episode_idx": 91, + "seed": 2326, + "actual_rows": 1000, + "actual_return": 2601.472749352455 + }, + { + "split": "train", + "episode_idx": 92, + "seed": 2327, + "actual_rows": 1000, + "actual_return": 2615.7477973103523 + }, + { + "split": "train", + "episode_idx": 93, + "seed": 2328, + "actual_rows": 1000, + "actual_return": 2562.26792743057 + }, + { + "split": "train", + "episode_idx": 94, + "seed": 2330, + "actual_rows": 1000, + "actual_return": 2721.2280141040683 + }, + { + "split": "train", + "episode_idx": 95, + "seed": 2331, + "actual_rows": 1000, + "actual_return": 2588.2735750013962 + }, + { + "split": "train", + "episode_idx": 96, + "seed": 2332, + "actual_rows": 1000, + "actual_return": 2635.2205460742116 + }, + { + "split": "train", + "episode_idx": 97, + "seed": 2334, + "actual_rows": 1000, + "actual_return": 2631.2997711896896 + }, + { + "split": "train", + "episode_idx": 98, + "seed": 2335, + "actual_rows": 1000, + "actual_return": 2685.585558272898 + }, + { + "split": "train", + "episode_idx": 99, + "seed": 2336, + "actual_rows": 1000, + "actual_return": 2560.102152645588 + }, + { + "split": "val", + "episode_idx": 1, + "seed": 2223, + "actual_rows": 1000, + "actual_return": 2641.806855738163 + }, + { + "split": "val", + "episode_idx": 3, + "seed": 2225, + "actual_rows": 1000, + "actual_return": 2721.981551885605 + }, + { + "split": "val", + "episode_idx": 7, + "seed": 2229, + "actual_rows": 1000, + "actual_return": 2680.470741957426 + }, + { + "split": "val", + "episode_idx": 17, + "seed": 2240, + "actual_rows": 1000, + "actual_return": 2614.0244634775445 + }, + { + "split": "val", + "episode_idx": 25, + "seed": 2248, + "actual_rows": 1000, + "actual_return": 2723.4514393806458 + }, + { + "split": "val", + "episode_idx": 29, + "seed": 2252, + "actual_rows": 1000, + "actual_return": 2720.960786163807 + }, + { + "split": "val", + "episode_idx": 47, + "seed": 2273, + "actual_rows": 1000, + "actual_return": 2649.437492787838 + }, + { + "split": "val", + "episode_idx": 58, + "seed": 2287, + "actual_rows": 1000, + "actual_return": 2745.2619693707675 + }, + { + "split": "val", + "episode_idx": 77, + "seed": 2310, + "actual_rows": 1000, + "actual_return": 2674.53672555089 + }, + { + "split": "val", + "episode_idx": 81, + "seed": 2314, + "actual_rows": 1000, + "actual_return": 2629.836793853523 + } + ], + "total_episodes": 100, + "total_rows": 100000, + "pass_gate_count": 100, + "mean_return": 2635.193498437641, + "minimum_return": 2512.4708308251575, + "probe_train_rows": 90000, + "probe_val_rows": 10000, + "actual_train_rows": 90000, + "actual_val_rows": 10000, + "per_episode_probe_replay_match": true + }, + "code_provenance": { + "root_revision": "86df5ecef6735d5d824944e7acdee5bf204e1545", + "task_code_archive_sha256": "b0a0ca72b5c6eb65c16e5d5d70f59cad540260a27cb3a71109910326b940e135", + "iid_patch_sha256": "ceae6068634e4df2a553d8aee2cb70f7ef0640265330c65f75b9462b449010d0", + "sf_teacher_runtime_sha256": "2e4ba33a1c406bf3fa9b122f1cc66c13f1b0d7a96c89ec142e0428f184b4646d", + "sample_factory_revision": "4b7277842b17804fb928097a9689d889bd2f5cdc", + "starvla_revision": "f364fdf080434aea14bb2a19931e017f0af32d87", + "note": "Task code extracted from pinned root plus tracked IID runtime fix; archive runtime git metadata is unavailable." + }, + "gate_revision": { + "original_gate": { + "field": "episode_raw_return", + "operator": ">", + "threshold": 3000 + }, + "authorized_gate": { + "field": "episode_raw_return", + "operator": ">", + "threshold": 2500 + }, + "user_instruction": "\u8bf7\u4f7f\u75282500\u4f5c\u4e3aAnt\u6570\u636e\u95e8\u69db", + "accepted_episode_target": 100, + "change_scope": "Only rollout acceptance threshold; same selected teacher, clocks, reset seed, horizon, split, image/state/action contract and VLA training recipe.", + "historical_evidence": "Original E and 12-episode diagnostic remain unchanged." + }, + "normalization_source": "new Ant converted dataset and actual VLA training dataset_statistics.json" +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/task_contract.json b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..d798aa49d4cbe54f6cad3173b167b25e67bc8987 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/task_contract.json @@ -0,0 +1,94 @@ +{ + "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": 10.0, + "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": 10.0, + "registration_imports": [ + "latency_bench.envs.gymnasium_ant" + ], + "state_space": { + "labels": [ + "torso_z", + "torso_quaternion_w", + "torso_quaternion_x", + "torso_quaternion_y", + "torso_quaternion_z", + "front_left_hip_angle", + "front_left_ankle_angle", + "front_right_hip_angle", + "front_right_ankle_angle", + "back_left_hip_angle", + "back_left_ankle_angle", + "back_right_hip_angle", + "back_right_ankle_angle", + "torso_x_velocity", + "torso_y_velocity", + "torso_z_velocity", + "torso_angular_velocity_x", + "torso_angular_velocity_y", + "torso_angular_velocity_z", + "front_left_hip_angular_velocity", + "front_left_ankle_angular_velocity", + "front_right_hip_angular_velocity", + "front_right_ankle_angular_velocity", + "back_left_hip_angular_velocity", + "back_left_ankle_angular_velocity", + "back_right_hip_angular_velocity", + "back_right_ankle_angular_velocity" + ] + }, + "task_name": "ant_rgb_state" +} diff --git a/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/checkpoints/model.pt b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..9f0d762e5446b5234ebff78b5d473530ab5f5691 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01ce038a96b6479d74680235df1edd6ce586ee040dd1cfa55bca9a9dfa60e70f +size 10922682525 diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwengr00t-h1/hopper_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwengr00t-h1/hopper_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..089d8a475b85a7e0abad2677d08327d8237ce177 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwengr00t-h1/hopper_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe4fb89a88d9aab7f266a69921b32cfc00a0e2964664be3953988a8f4062d3ca +size 9976837923 diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/README.md b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/README.md new file mode 100644 index 0000000000000000000000000000000000000000..6b7f7d353647c7c4ef93b0857679a3149257a4dc --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/README.md @@ -0,0 +1,29 @@ +# hopper / qwenoft + +Training condition: `latency-aware`. Run: `hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k`. + +Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`. + +- Checkpoint: `checkpoints/model.pt` +- Selection: only published VLA checkpoint +- Checkpoint SHA256: `2c9456b87aaba7d89cd53481047badde32513375f31056c4464a72642cacbe42` +- 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. + +[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-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k" +snapshot_download("latency-sensitive-bench/benchmark-models", revision="", + allow_patterns=[prefix + "/**"]) +``` + +Use the verified import commit listed in the repository's import report. diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..6250389136e78a938f582fb53c6ddb698c7b496c --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c9456b87aaba7d89cd53481047badde32513375f31056c4464a72642cacbe42 +size 9785081249 diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/config.full.yaml b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/config.full.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ab49725208bc9ae23deed3e3c0413919637433b4 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/config.full.yaml @@ -0,0 +1,358 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: true + action_model: + action_model_type: MLP + action_dim: 3 + state_dim: 11 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_encoding: continuous_projector + task_objective: null + action_horizon: 1 + action_env_dim: 3 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted + data_mix: hopper_rgb_state_profile_20260911T180943Z + eval_data_mix: hopper_rgb_state_profile_20260911T180943Z__val + custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted/_generated_mixtures/hopper_rgb_state_profile_20260911T180943Z.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + 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: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + 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: 10.0 + 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: 10.0 + 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_rgb_state + active_action_dim: 3 +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: hopper_rgb_state_profile_20260911T180943Z + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: hopper_rgb_state_profile_20260911T180943Z + mixed_converted_name: hopper_rgb_state_profile_20260911T180943Z + 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: true + 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 +workspace_dir: /home/lzj/code/latency-sensitive-bench +run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla + dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted/hopper_rgb_state_profile_20260911T180943Z/latency_prompt_map.json + mode: single + values: + - 1 + - 2 + task: gymnasium + 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: 10.0 + 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: 10.0 + 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_rgb_state + task_name: hopper_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k +output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k +config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/h100/vla_train.yaml +is_debug: false +version_id: '0.21' diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/config.yaml b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ab49725208bc9ae23deed3e3c0413919637433b4 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/config.yaml @@ -0,0 +1,358 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: true + action_model: + action_model_type: MLP + action_dim: 3 + state_dim: 11 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_encoding: continuous_projector + task_objective: null + action_horizon: 1 + action_env_dim: 3 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted + data_mix: hopper_rgb_state_profile_20260911T180943Z + eval_data_mix: hopper_rgb_state_profile_20260911T180943Z__val + custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted/_generated_mixtures/hopper_rgb_state_profile_20260911T180943Z.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + 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: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + 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: 10.0 + 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: 10.0 + 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_rgb_state + active_action_dim: 3 +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: hopper_rgb_state_profile_20260911T180943Z + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: hopper_rgb_state_profile_20260911T180943Z + mixed_converted_name: hopper_rgb_state_profile_20260911T180943Z + 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: true + 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 +workspace_dir: /home/lzj/code/latency-sensitive-bench +run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla + dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted/hopper_rgb_state_profile_20260911T180943Z/latency_prompt_map.json + mode: single + values: + - 1 + - 2 + task: gymnasium + 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: 10.0 + 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: 10.0 + 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_rgb_state + task_name: hopper_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k +output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k +config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/h100/vla_train.yaml +is_debug: false +version_id: '0.21' diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/dataset_statistics.json b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..322dca9fdc722e8b3350e29c3c9fbc18f823a3ad --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/dataset_statistics.json @@ -0,0 +1,123 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.022998139262199402, + 0.4831850230693817, + 0.016577335074543953 + ], + "std": [ + 0.2603372633457184, + 0.6833056211471558, + 0.7595406770706177 + ], + "max": [ + 0.8152548670768738, + 1.0, + 1.0 + ], + "min": [ + -0.8057039976119995, + -1.0, + -1.0 + ], + "q01": [ + -0.4942622232437134, + -1.0, + -1.0 + ], + "q99": [ + 0.733130006790161, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.33439695835113525, + -0.47676873207092285, + 0.47354835271835327, + 0.5554091930389404, + 0.17205235362052917, + -0.0025759802665561438, + 0.0016160731902346015, + 0.0011788663687184453, + 0.015976371243596077, + 0.002401757752522826, + 0.01624964363873005 + ], + "std": [ + 0.33200088143348694, + 0.2534998655319214, + 0.27482420206069946, + 0.4218027889728546, + 0.6764597296714783, + 0.23773561418056488, + 0.5150550603866577, + 0.18555213510990143, + 0.28494536876678467, + 0.45271560549736023, + 0.5971301794052124 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.33900941133499146, + -0.8636440396308899, + -0.1049540376663208, + -0.45442226886749265, + -0.9769227361679077, + -0.8518737506866455, + -0.863742151260376, + -0.596899824142456, + -0.6311568546295167, + -1.0, + -1.0 + ], + "q99": [ + 0.8846877050399776, + 0.3958153772354122, + 0.9532253932952879, + 0.9580308675765992, + 0.9603813648223877, + 0.42569099426269497, + 0.9137406253814697, + 0.31418379783630346, + 0.7651577854156494, + 0.9602302312850948, + 1.0 + ] + }, + "num_transitions": 88817, + "num_trajectories": 90 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e358933e36025e3aa2d53263798a45967368e9 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json @@ -0,0 +1,123 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.02262929268181324, + 0.4847935140132904, + 0.02151433937251568 + ], + "std": [ + 0.2588505148887634, + 0.681768000125885, + 0.7605242133140564 + ], + "max": [ + 0.7959198355674744, + 1.0, + 1.0 + ], + "min": [ + -0.7861610651016235, + -1.0, + -1.0 + ], + "q01": [ + -0.48549440264701843, + -1.0, + -1.0 + ], + "q99": [ + 0.7299425488710404, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.34278014302253723, + -0.48208826780319214, + 0.48088178038597107, + 0.5591239929199219, + 0.17630372941493988, + -0.006248814985156059, + 0.005157782696187496, + 0.0004372408729977906, + 0.01563315838575363, + 0.003359832102432847, + 0.018366994336247444 + ], + "std": [ + 0.32974857091903687, + 0.24938634037971497, + 0.2650088667869568, + 0.4167846441268921, + 0.6752994656562805, + 0.23108573257923126, + 0.5158278942108154, + 0.1842319220304489, + 0.2808758616447449, + 0.4490443170070648, + 0.5966046452522278 + ], + "max": [ + 0.9829795360565186, + 0.57453453540802, + 0.9969793558120728, + 1.0, + 1.0, + 0.47722434997558594, + 0.9945762157440186, + 0.44636070728302, + 0.9959362745285034, + 1.0, + 1.0 + ], + "min": [ + -0.39860212802886963, + -0.9755522012710571, + -0.1488437056541443, + -0.7457688450813293, + -0.9961583018302917, + -0.9987747073173523, + -0.9836085438728333, + -0.9795570373535156, + -0.8917129635810852, + -1.0, + -1.0 + ], + "q01": [ + -0.3126556849479675, + -0.863114053606987, + -0.04237606108188629, + -0.43479173064231874, + -0.9768222767114639, + -0.7950224620103831, + -0.8634002166986465, + -0.5940668570995331, + -0.5733073079586029, + -1.0, + -1.0 + ], + "q99": [ + 0.9167150700092318, + 0.3906000924110415, + 0.9528681910037995, + 0.957846553325653, + 0.9608215284347534, + 0.3674080061912542, + 0.9136585640907289, + 0.30735854387283335, + 0.752859001159669, + 0.9454998314380646, + 1.0 + ] + }, + "num_transitions": 10000, + "num_trajectories": 10 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/latency_prompt_map.json b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..484eee358c2e672001f40e4b1813bfa052ffe51f --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/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 (100.00 ms). The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.", + "latency_raw_frames": 1, + "latency_ms": 100.0 + }, + "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 (200.00 ms). The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.", + "latency_raw_frames": 2, + "latency_ms": 200.0 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/manifest.json b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea0074d0af9cdca2135004f86f0409a21b3fbda --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/manifest.json @@ -0,0 +1,143 @@ +{ + "dataset_name": "hopper_rgb_state_profile_20260911T180943Z", + "env_name": "hopper_rgb_state", + "episodes": 90, + "frames": 88817, + "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 (100.00 ms). The environment runs at 10 FPS and observations are emitted at 10 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 (200.00 ms). The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action." + ], + "format": "lerobot_v2_image_parquet", + "source": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/raw", + "integration_name": "gymnasium", + "task_name": "hopper_rgb_state", + "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": 10.0, + "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": [ + 0.7003283500671387, + -0.18373166024684906, + -1.5099823474884033, + -1.6614010334014893, + -0.9186854362487793, + -0.3373064696788788, + -3.1125423908233643, + -4.973757743835449, + -9.478679656982422, + -10.0, + -10.0 + ], + "max": [ + 1.7507554292678833, + 0.19961893558502197, + 0.04018906503915787, + 0.1078878715634346, + 0.914368748664856, + 5.7077836990356445, + 3.0955286026000977, + 4.943385124206543, + 9.040213584899902, + 10.0, + 10.0 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted/hopper_rgb_state_profile_20260911T180943Z/latency_prompt_map.json", + "custom_mixtures_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted/_generated_mixtures/hopper_rgb_state_profile_20260911T180943Z.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": 10.0, + "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": 10.0, + "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_rgb_state" + }, + "validation_dataset_name": "hopper_rgb_state_profile_20260911T180943Z__val", + "validation_episodes": 10, + "validation_frames": 10000 +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/DONE b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/hardware.json b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/hardware.json new file mode 100644 index 0000000000000000000000000000000000000000..e8204e81807044975c0e0a0953d16d6835192f31 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/hardware.json @@ -0,0 +1,40 @@ +{ + "driver_version": "580.173.02", + "gpu_class": "1x-rtx3090", + "gpus": [ + { + "name": "NVIDIA GeForce RTX 3090", + "slot": 0 + } + ], + "instance_id": "instance_859cf1e47bca6046", + "topology_links": [], + "torch": { + "backends": { + "cuda_cudnn_sdp_enabled": true, + "cuda_flash_sdp_enabled": true, + "cuda_math_sdp_enabled": true, + "cuda_matmul_allow_tf32": false, + "cuda_mem_efficient_sdp_enabled": true, + "cudnn_allow_tf32": true, + "cudnn_benchmark": false + }, + "cuda_available": true, + "cuda_device_count": 1, + "cuda_version": "12.8", + "current_device": 0, + "current_device_name": "NVIDIA GeForce RTX 3090", + "device_properties": [ + { + "index": 0, + "major": 8, + "minor": 6, + "multi_processor_count": 82, + "name": "NVIDIA GeForce RTX 3090", + "total_memory": 25295257600 + } + ], + "float32_matmul_precision": "highest", + "version": "2.11.0+cu128" + } +} diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/latency_burst_model.json b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/latency_burst_model.json new file mode 100644 index 0000000000000000000000000000000000000000..1d402e53f0f814c206fb40d3f5366493189ae014 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/latency_burst_model.json @@ -0,0 +1,1322 @@ +{ + "burst_dwell_distribution": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "burst_dwell_lengths": [ + 1, + 1, + 1 + ], + "burst_merge_gap_records": 30, + "burst_rank_processes": [ + { + "draw_count": 3, + "dwell_length_spearman_rho": 0.0, + "level_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92644906044006, + 92.92818662166596, + 92.93339930534363, + 92.9386119890213, + 92.94382467269898, + 92.94903735637665, + 92.95425004005432, + 92.95946272373199, + 92.96467540740967, + 92.96988809108734, + 92.97510077476501, + 92.9803134584427, + 92.98552614212036, + 92.99073882579803, + 92.9959515094757, + 93.00116419315339, + 93.00637687683106, + 93.01158956050872, + 93.01680224418641, + 93.02201492786408, + 93.02722761154175, + 93.03244029521942, + 93.0376529788971, + 93.04286566257477, + 93.04807834625244, + 93.05329102993011, + 93.05850371360779, + 93.06371639728546, + 93.06892908096313, + 93.07414176464081, + 93.07935444831848, + 93.08456713199615, + 93.08977981567382, + 93.0949924993515, + 93.10020518302917, + 93.65123818159104, + 94.20227118015289, + 94.75330417871476, + 95.30433717727661, + 95.85537017583847, + 96.40640317440034, + 96.95743617296219, + 97.50846917152404, + 98.0595021700859, + 98.61053516864776, + 99.16156816720962, + 99.71260116577149, + 100.26363416433334, + 100.8146671628952, + 101.36570016145707, + 101.91673316001892, + 102.46776615858079, + 103.01879915714264, + 103.56983215570449, + 104.12086515426635, + 104.67189815282822, + 105.22293115139007, + 105.77396414995194, + 106.32499714851379, + 106.87603014707565, + 107.42706314563752, + 107.97809614419937, + 108.52912914276124, + 109.08016214132309, + 109.63119513988495, + 110.18222813844682, + 110.73326113700867, + 111.28429413557052, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781, + 111.46797180175781 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "level_residual_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "severity": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "spike_count": 3 + } + ], + "burst_slot_rank_templates": [ + { + "dwell_length": 1, + "slot_to_rank": { + "0": 0 + } + }, + { + "dwell_length": 1, + "slot_to_rank": { + "0": 0 + } + }, + { + "dwell_length": 1, + "slot_to_rank": { + "0": 0 + } + } + ], + "model_type": "hidden_regime", + "pre_worker_time_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 0.31311678886413574, + 0.31311678886413574, + 0.3165763258934021, + 0.32325554490089414, + 0.3290378570556641, + 0.34071471095085143, + 0.3509213447570801, + 0.35257425904273987, + 0.3555735468864441, + 0.3601503908634186, + 0.3644925594329834, + 0.3818242847919464, + 0.3849796652793884, + 0.43671417236328125, + 0.4749835133552551, + 0.4945000410079956, + 0.5159845948219299, + 0.5300548076629639, + 0.5394640564918518, + 0.547340989112854, + 0.5548242330551147, + 0.5603091716766357, + 0.5666623711585999, + 0.5706260204315186, + 0.5731815695762634, + 0.5773470401763916, + 0.5807499289512634, + 0.5849419832229614, + 0.5887086987495422, + 0.5918290615081787, + 0.5939978957176208, + 0.5969480276107788, + 0.5994340777397156, + 0.6025159358978271, + 0.6040467619895935, + 0.6064813137054443, + 0.6088453531265259, + 0.6113431453704834, + 0.6135084629058838, + 0.6157195568084717, + 0.6180734634399414, + 0.6201481819152832, + 0.6233775615692139, + 0.6259479522705078, + 0.6277621388435364, + 0.6300039291381836, + 0.6324813365936279, + 0.6342650651931763, + 0.6360381841659546, + 0.6377451419830322, + 0.639049768447876, + 0.640360951423645, + 0.6418464183807373, + 0.6428799629211426, + 0.6441222429275513, + 0.6458930969238281, + 0.6482654809951782, + 0.6496939659118652, + 0.6526684761047363, + 0.6541144847869873, + 0.6560317873954773, + 0.658473014831543, + 0.659576952457428, + 0.6612474918365479, + 0.6628846526145935, + 0.6641979217529297, + 0.6656185388565063, + 0.6666920185089111, + 0.6680689454078674, + 0.6693181991577148, + 0.6703876256942749, + 0.6712313890457153, + 0.6727586388587952, + 0.6742727756500244, + 0.6758086681365967, + 0.6774241924285889, + 0.6792400479316711, + 0.6818399429321289, + 0.683896005153656, + 0.6866179704666138, + 0.6883576512336731, + 0.6901149749755859, + 0.692481517791748, + 0.6947081089019775, + 0.697051465511322, + 0.698936939239502, + 0.7017368674278259, + 0.7050299644470215, + 0.70822674036026, + 0.7101070880889893, + 0.7132005095481873, + 0.7152360677719116, + 0.7168729901313782, + 0.7200279235839844, + 0.7235506176948547, + 0.7269525527954102, + 0.7312224507331848, + 0.7360110282897949, + 0.7416163682937622, + 0.7470424175262451, + 0.7538335919380188, + 0.7591180801391602, + 0.7654633522033691, + 0.7710039615631104, + 0.7774527072906494, + 0.7881929874420166, + 0.8031460642814636, + 0.8192280530929565, + 0.8465723991394043, + 0.8769099712371826, + 0.9416267275810242, + 0.9441980957984923, + 0.9461143732070924, + 0.9521929323673245, + 0.9566469669342051, + 0.9747528433799744, + 0.979430532455442, + 1.0052420735359195, + 1.0194490909576401, + 1.0595047175884362, + 1.2158348947763677, + 1.3550479412078857, + 1.3550479412078857 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "regime_step_counts": { + "burst": 3, + "calm": 2072 + }, + "regime_transition_counts": { + "burst": { + "burst": 0, + "calm": 3 + }, + "calm": { + "burst": 3, + "calm": 2064 + } + }, + "reset_scope": "session", + "schema_version": 12, + "spike_median_multiplier": 1.25, + "spike_threshold_ms_by_worker_slot": { + "0": 87.82212123274803 + }, + "worker_count": 1 +} diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/latency_distribution.json b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/latency_distribution.json new file mode 100644 index 0000000000000000000000000000000000000000..59cde1722b922a5e61b79b6e5c535c5fe9b10c7c --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/latency_distribution.json @@ -0,0 +1,1027 @@ +{ + "schema_version": 3, + "worker_slots": { + "0": { + "all": { + "count": 2075, + "observation_to_action_latency_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 65.19399881362915, + 65.19399881362915, + 65.21452818512917, + 65.37617138624191, + 65.54988111257553, + 65.60978311300278, + 65.85620288848877, + 66.11677795648575, + 66.1667419910431, + 66.25579528808593, + 66.3200498342514, + 66.37821425199509, + 66.44661968946457, + 67.40388679504395, + 67.9565160870552, + 68.30614387989044, + 68.86876726150513, + 69.23061203956604, + 69.40943151712418, + 69.708052277565, + 69.82890748977661, + 69.99191188812256, + 70.07996428012848, + 70.20106554031372, + 70.2888200879097, + 70.34249114990234, + 70.42751479148865, + 70.50662112236023, + 70.5581624507904, + 70.60912585258484, + 70.65479511022568, + 70.69437503814697, + 70.74371039867401, + 70.80917811393738, + 70.83664780855179, + 70.88321900367737, + 70.91019904613495, + 70.95217895507812, + 70.97798812389374, + 71.01112449169159, + 71.03684651851654, + 71.07607984542847, + 71.12114173173904, + 71.14498901367188, + 71.169668674469, + 71.19082713127136, + 71.21074295043945, + 71.24556457996368, + 71.27112966775894, + 71.28998637199402, + 71.31158643960953, + 71.34597957134247, + 71.36409616470337, + 71.39237093925476, + 71.41189247369766, + 71.44127345085144, + 71.47214812040329, + 71.49239921569824, + 71.51301550865173, + 71.53032338619232, + 71.5557844042778, + 71.5749728679657, + 71.59549480676651, + 71.6154580116272, + 71.63657933473587, + 71.6589138507843, + 71.68088454008102, + 71.70165157318115, + 71.73091351985931, + 71.75631403923035, + 71.77797484397888, + 71.82077741622925, + 71.85434252023697, + 71.88232922554016, + 71.9016506075859, + 71.91977643966675, + 71.95200443267822, + 71.98209404945374, + 72.0122202038765, + 72.03439712524414, + 72.06454348564148, + 72.09861707687378, + 72.12148833274841, + 72.1564769744873, + 72.1896619796753, + 72.22209119796753, + 72.27087277173996, + 72.31662225723267, + 72.35859662294388, + 72.4115800857544, + 72.43648117780685, + 72.47373795509338, + 72.49812859296799, + 72.53804278373718, + 72.58772403001785, + 72.64632666110992, + 72.70239788293839, + 72.79391694068909, + 72.83307409286499, + 72.89201402664185, + 72.95603406429291, + 73.05068588256836, + 73.21339404582977, + 73.34779798984528, + 73.54553669691086, + 73.78722310066223, + 74.11802303791046, + 74.58567237854004, + 75.28934186697006, + 76.44343304634094, + 77.00749260187149, + 77.320473575592, + 77.51085505485536, + 78.1938346505165, + 78.28879662752153, + 78.42176166176796, + 79.36353144645672, + 81.95102273225795, + 83.81126960515967, + 93.65813264846805, + 102.26191507876086, + 112.13530778884888, + 112.13530778884888 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "spearman_rho": 0.9980124420738008, + "worker_service_time_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 64.81042885780334, + 64.81042885780334, + 64.8304044932127, + 64.86529658436775, + 65.09479154348374, + 65.18544340133667, + 65.45056700706482, + 65.71252375841141, + 65.7791820526123, + 65.83106318712234, + 65.96416923999786, + 65.99974170923232, + 66.05729752779007, + 66.85541200637817, + 67.4124995470047, + 67.70765841007233, + 68.38320344686508, + 68.66614484786987, + 68.86086118221283, + 69.11453056335449, + 69.2644213438034, + 69.38441181182861, + 69.49850225448608, + 69.59222090244293, + 69.66973400115967, + 69.74627423286438, + 69.80929481983185, + 69.88673007488251, + 69.92713761329651, + 69.97099304199219, + 70.01391452550888, + 70.07167446613312, + 70.1147900223732, + 70.16800880432129, + 70.20960211753845, + 70.24057853221893, + 70.27172857522964, + 70.30395483970642, + 70.33524876832962, + 70.36733794212341, + 70.41446840763092, + 70.43638014793396, + 70.47007262706757, + 70.49437403678894, + 70.52942305803299, + 70.54843187332153, + 70.56563359498978, + 70.58997797966003, + 70.61523360013962, + 70.63820695877075, + 70.65534472465515, + 70.68713617324829, + 70.72156208753586, + 70.74655199050903, + 70.77104866504669, + 70.794921875, + 70.81391477584839, + 70.83501505851746, + 70.85863208770752, + 70.87805342674255, + 70.89673417806625, + 70.91481804847717, + 70.93379074335098, + 70.95436489582062, + 70.9727611541748, + 70.99777722358704, + 71.01445686817169, + 71.04416513442993, + 71.07488167285919, + 71.09937310218811, + 71.1260045170784, + 71.14588451385498, + 71.17757761478424, + 71.20317506790161, + 71.22922629117966, + 71.26177847385406, + 71.28523004055023, + 71.31312823295593, + 71.33135783672333, + 71.35811042785645, + 71.38167172670364, + 71.40552186965942, + 71.44026362895966, + 71.4722410440445, + 71.50916689634323, + 71.55513215065002, + 71.59390467405319, + 71.63793969154358, + 71.6769991517067, + 71.70788717269897, + 71.74298250675201, + 71.7811050415039, + 71.81722241640091, + 71.84697794914246, + 71.89713567495346, + 71.96147060394287, + 72.00608330965042, + 72.07237100601196, + 72.13394355773926, + 72.19530701637268, + 72.25350522994995, + 72.34730696678162, + 72.50979733467102, + 72.63740396499634, + 72.84575146436691, + 73.07518124580383, + 73.36473077535629, + 73.83938801288605, + 74.32575643062592, + 75.57429695129395, + 76.11366033554077, + 76.45826106667515, + 76.83195266723635, + 77.16471412181853, + 77.66161592006684, + 77.73926329612732, + 78.54240913391091, + 81.13938184976583, + 83.1561977505683, + 93.00029541254047, + 101.59529724419284, + 111.46797180175781, + 111.46797180175781 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + } + }, + "steady": { + "count": 2072, + "observation_to_action_latency_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 65.19399881362915, + 65.19399881362915, + 65.21447089385987, + 65.37542019462586, + 65.54987103176117, + 65.60966022491455, + 65.85360446739197, + 66.113779296875, + 66.16652703666686, + 66.25572955894471, + 66.31964143466949, + 66.37805958938598, + 66.44557957172394, + 67.40347755432128, + 67.95384462833404, + 68.3040751028061, + 68.86173973083496, + 69.22473413944245, + 69.40377369403839, + 69.70454369068146, + 69.82808116436004, + 69.99165661334992, + 70.07831597328186, + 70.19712745666504, + 70.2876419210434, + 70.3415141248703, + 70.42468881607056, + 70.50353671073914, + 70.55655439853668, + 70.60617962837219, + 70.65110831737519, + 70.69143896102905, + 70.74109094619752, + 70.8089477443695, + 70.83344268321991, + 70.88257723331452, + 70.90947210788727, + 70.94953246593475, + 70.9757197189331, + 71.01045125961303, + 71.03570990562439, + 71.07419350147248, + 71.11981529712676, + 71.14466162681579, + 71.16853910923004, + 71.19018000125885, + 71.20882227420807, + 71.24291341304779, + 71.26965581893921, + 71.28910193443298, + 71.30903896331787, + 71.34541156291962, + 71.3635185432434, + 71.3916244506836, + 71.41094114780427, + 71.43986271858215, + 71.47048921585083, + 71.49185324668885, + 71.51238204956054, + 71.52781995773316, + 71.55354582309722, + 71.57390081882477, + 71.59174089431762, + 71.61493656635284, + 71.6342034482956, + 71.65483741283417, + 71.68058023452758, + 71.70002612113953, + 71.72443329334259, + 71.75478495121003, + 71.77438542366028, + 71.81701493263245, + 71.84875475883484, + 71.87945019245147, + 71.90045991420746, + 71.91874521255494, + 71.94669437408447, + 71.98143951892852, + 72.01119516849518, + 72.0328631067276, + 72.06257130146027, + 72.09504079818726, + 72.11566365242004, + 72.15310551643371, + 72.18850584506988, + 72.21814324855805, + 72.26514148712158, + 72.31500059127808, + 72.35579874992371, + 72.40864204883576, + 72.43190546512604, + 72.46693255901337, + 72.49548690319061, + 72.53481489181519, + 72.58008307933807, + 72.64314253807068, + 72.69793500900269, + 72.78377663612366, + 72.82674848079681, + 72.88684828281403, + 72.93725447654724, + 73.03033211231232, + 73.20079249858856, + 73.33228698730468, + 73.50521060466767, + 73.73466797351837, + 74.04130051136016, + 74.44832262992858, + 75.16131977558135, + 76.2820675754547, + 76.88091934204103, + 76.94890914344788, + 77.14981128501891, + 77.46755316638948, + 78.03063362503056, + 78.24113952636718, + 78.38724931049347, + 78.70385138702399, + 80.69423282146485, + 83.1145306940078, + 83.92277062034601, + 84.44702100753784, + 84.44702100753784 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "spearman_rho": 0.9980037963516655, + "worker_service_time_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 64.81042885780334, + 64.81042885780334, + 64.83034874725342, + 64.8652042169571, + 65.09434249591827, + 65.18473916053772, + 65.44755630970002, + 65.70904842376709, + 65.7790016708374, + 65.82948631858825, + 65.96403185939789, + 65.99917395210267, + 66.05419579982758, + 66.85226134777069, + 67.41213180541992, + 67.70523978710175, + 68.37709033489227, + 68.6659171819687, + 68.85855054855347, + 69.11082427978516, + 69.26426580905914, + 69.38339400291443, + 69.49818974494934, + 69.59014869213104, + 69.66760065555573, + 69.74625440597534, + 69.80519919395446, + 69.88650359630584, + 69.92661521434783, + 69.96951825618744, + 70.01145081996918, + 70.07099788188934, + 70.11137570858001, + 70.16706781387329, + 70.20938957214355, + 70.24025132656098, + 70.26918590068817, + 70.30251583099366, + 70.33475484848023, + 70.36707436561585, + 70.4130216884613, + 70.43617479801178, + 70.4693127822876, + 70.49378530979156, + 70.52594029903412, + 70.54812473297119, + 70.5624710559845, + 70.58988870143891, + 70.61189743995666, + 70.63650825500488, + 70.65514147758483, + 70.68650047779083, + 70.72054006099701, + 70.74340092658997, + 70.77034149169921, + 70.79453890323639, + 70.81376779079437, + 70.83277872562408, + 70.85774645805358, + 70.87755789279937, + 70.8952799797058, + 70.91331553459167, + 70.93301747322083, + 70.95305408000947, + 70.97179078102111, + 70.99544564723969, + 71.01263489723206, + 71.04232339382172, + 71.07317966461181, + 71.09767675876617, + 71.12224251270294, + 71.14307947158814, + 71.1765646982193, + 71.20110731601716, + 71.22757455825806, + 71.26078465461731, + 71.28300664424896, + 71.31065947055816, + 71.32941711902619, + 71.35752510547638, + 71.3804721879959, + 71.40329875946045, + 71.4374256324768, + 71.47053267478942, + 71.50463972568512, + 71.55248319149017, + 71.58942151069641, + 71.63497022628785, + 71.67235461711884, + 71.70529507637023, + 71.73997480869293, + 71.77655177116394, + 71.81513391971588, + 71.84466456413269, + 71.89355994224549, + 71.95444693088531, + 72.0025963306427, + 72.05938720703125, + 72.1252225112915, + 72.19015914440155, + 72.24081826210022, + 72.335604429245, + 72.48756666660309, + 72.61886465549469, + 72.82262350082398, + 73.05337915420532, + 73.28593082427979, + 73.7462468290329, + 74.27689339637756, + 75.49606513023376, + 75.9689773273468, + 76.06074317169188, + 76.27554173469544, + 76.56049769020082, + 77.12394835662843, + 77.4304215621948, + 77.7176802444458, + 77.9243575134278, + 80.04920254230532, + 82.06012575626357, + 83.2668972358703, + 83.78737902641296, + 83.78737902641296 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + } + } + } + } +} diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/latency_profile.png b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/latency_profile.png new file mode 100644 index 0000000000000000000000000000000000000000..9e1413a55e254fa732a9544836153c7f3f798a8b Binary files /dev/null and b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/latency_profile.png differ diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/profile.json b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/profile.json new file mode 100644 index 0000000000000000000000000000000000000000..f326bbb79f0cad25de15e0e64806a9ac00a43afc --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/profile.json @@ -0,0 +1,66 @@ +{ + "burst_model_path": "latency_burst_model.json", + "distribution_path": "latency_distribution.json", + "env_fps": 10, + "frame_ms": 100.0, + "gpu_class": "1x-rtx3090", + "instance_id": "instance_859cf1e47bca6046", + "latency_kind": "observation_to_action_latency", + "latency_method": "temporal", + "model_id": "qwenoft", + "n_admitted_observations": 2075, + "n_capacity_drops": 1, + "n_observation_attempts": 2076, + "per_slot_summary": { + "0": { + "admitted_count": 2075, + "mean_observation_to_action_latency_ms": 71.62769928219807, + "mean_worker_service_time_ms": 70.97048402751784, + "p95_observation_to_action_latency_ms": 74.10973887443542, + "p95_worker_service_time_ms": 73.34952919483185, + "p99_worker_service_time_ms": 76.0833806705475 + } + }, + "provenance": { + "base_config": "/workspace/tasks/20260911T023128Z-p-only4/hopper/profile.yaml", + "checkpoint_kind": "best", + "model_artifact": { + "checkpoint": "checkpoints/steps_5000_pytorch_model.pt", + "model_config": "config.full.yaml", + "path_in_repo": "OpenVLA/zero-latency/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k", + "repo_id": "latency-sensitive-bench/extra-envs-checkpoints", + "source": "local" + }, + "session_ids": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + "sample_model_type": "hidden_regime", + "source_run_id": "20260911T034939618615Z", + "summary": { + "frame_ms": 100.0, + "max_ms": 112.13530778884888, + "mean_effective_frames": 0.7162769928219807, + "mean_ms": 71.62769928219807, + "min_ms": 65.19399881362915, + "n_samples": 2075, + "p50_frames": 0.715749728679657, + "p50_ms": 71.5749728679657, + "p90_frames": 0.7304598674774171, + "p90_ms": 73.04598674774171, + "p95_frames": 0.7410973887443543, + "p95_ms": 74.10973887443542, + "p99_frames": 0.7696984185695647, + "p99_ms": 76.96984185695646, + "prob_latency_gt_1_frame": 0.00048192771084337347, + "prob_latency_gt_2_frames": 0.0, + "prob_latency_gt_3_frames": 0.0, + "std_ms": 2.032231876669252 + }, + "visualization_path": "latency_profile.png", + "workload_id": "hopper" +} diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/provenance.json b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..669a3410d2713b937cdf00bc2ea2b31c497caa3f --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/provenance.json @@ -0,0 +1,34 @@ +{ + "task": "hopper", + "model": "qwenoft", + "training_condition": "latency-aware", + "training_run_id": "hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k", + "source": { + "repo_id": "latency-sensitive-bench/Standard-Pipeline", + "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", + "path": "hopper/profile_latency/OpenVLA", + "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/OpenVLA" + }, + "hf_repo_id": "latency-sensitive-bench/benchmark-models", + "hf_path": "latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k", + "checkpoint": { + "source_file": "hopper/profile_latency/OpenVLA/checkpoints/steps_5000_pytorch_model.pt", + "source_sha256": "2c9456b87aaba7d89cd53481047badde32513375f31056c4464a72642cacbe42", + "source_bytes": 9785081249, + "file": "checkpoints/model.pt", + "selection_rule": "only published VLA checkpoint", + "method": "copy", + "sha256": "2c9456b87aaba7d89cd53481047badde32513375f31056c4464a72642cacbe42", + "bytes": 9785081249 + }, + "config_source": "hopper/profile_latency/OpenVLA/config.full.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 +} diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/source/config.yaml b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/source/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..873a6ae04bdccc381e697eb769c5b5bbc329c1e3 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/source/config.yaml @@ -0,0 +1,87 @@ +checkpoint: + local: + keep_last_n: 1 + save_best_model: false + save_final_model: true + save_pt_file: true + save_safetensors_file: false + save_training_state: false + sync: + enabled: false + keep_last_n: 0 + repo_id: null +datasets: + vla_data: + data_mix: hopper_rgb_state_profile_20260911T180943Z + dataset_py: lerobot_datasets + eval_data_mix: hopper_rgb_state_profile_20260911T180943Z__val + latency_curriculum: + enabled: false + per_device_batch_size: 16 +framework: + action_model: + action_dim: 3 + action_env_dim: 3 + action_hidden_dim: 2560 + action_horizon: 1 + action_model_type: MLP + loss_type: l1 + state_dim: 11 + state_encoding: continuous_projector + task_objective: null + kv_memory: + enabled: false + packed_train: false + rebased_sink: true + rollout_len: 8 + window: 4 + name: QwenOFT + qwenvl: + attn_implementation: flash_attention_2 + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + enable_gradient_checkpointing: true +output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k +rl_games: + env_eval: + enabled: false + task: gymnasium +run_id: hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k +run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla +seed: 42 +trainer: + distributed_backend: deepspeed + eval_action_classification: false + eval_action_classification_interval: null + eval_interval: 500 + eval_num_batches: 200 + freeze_llm_layers: [] + freeze_modules: '' + freeze_tied_embedding: false + freeze_vit: false + gradient_accumulation_steps: 1 + is_resume: false + learning_rate: + action_model: 0.0001 + base: 2.0e-05 + qwen_vl_interface: 1.0e-05 + logging_frequency: 1 + lr_scheduler_type: cosine_with_min_lr + max_train_steps: 5000 + num_warmup_steps: 100 + optimizer: + betas: + - 0.9 + - 0.95 + eps: 1.0e-08 + fused: true + weight_decay: 1.0e-08 + per_latency_eval_num_batches: null + pretrained_checkpoint: null + profile_timing: + enabled: true + log_interval: 10 + save_interval: 500 + scheduler_specific_kwargs: + min_lr: 1.0e-06 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/source/provenance.json b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/source/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..53619a015bb31e1194c3c7d3b83abd60c8dc287e --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/source/provenance.json @@ -0,0 +1,820 @@ +{ + "run_id": "20260911T180943Z-hopper", + "final_step": 5000, + "exit_code": 0, + "checkpoint_name": "steps_5000_pytorch_model.pt", + "checkpoint_size": 9785081249, + "checkpoint_sha256": "2c9456b87aaba7d89cd53481047badde32513375f31056c4464a72642cacbe42", + "state_dict_entries": 732, + "state_dict_key_examples": [ + "qwen_vl_interface.model.model.visual.patch_embed.proj.weight", + "qwen_vl_interface.model.model.visual.patch_embed.proj.bias", + "qwen_vl_interface.model.model.visual.pos_embed.weight", + "qwen_vl_interface.model.model.visual.blocks.0.norm1.weight", + "qwen_vl_interface.model.model.visual.blocks.0.norm1.bias" + ], + "checkpoint_content": "model state dict only", + "wandb": { + "state": "finished", + "summary": { + "_runtime": 12887.055035223, + "_step": 5000, + "_timestamp": 1789168886.562035, + "_wandb.runtime": 12887, + "batch/effective_tokens": 2640, + "batch/image_count": 16, + "batch/input_len_max": 165, + "batch/input_len_mean": 165, + "batch/padding_ratio": 0, + "batch/pixel_values_rows": 4096, + "batch/size": 16, + "epoch": 0.9, + "eval/action_loss/samples": 3200, + "eval/action_loss/seconds": 29.00665699999081, + "eval/hopper_rgb_state/latency_1/loss": 0.015956107527017593, + "eval/hopper_rgb_state/loss": 0.015956107527017593, + "eval/latency_1/loss": 0.015956107527017593, + "eval/loss": 0.015956107527017593, + "learning_rate/action_model": 5e-06, + "learning_rate/qwen_vl_interface": 5e-07, + "throughput/effective_tokens_per_sec": 1064.2968362444833, + "throughput/samples_per_sec": 6.450283856027171, + "timing/action_head_loss": 0.0016742919979151338, + "timing/backward": 0.7752675079973415, + "timing/checkpoint_total": 13.517078855002184, + "timing/data": 0.00044024801172781736, + "timing/dataloader_next": 0.0006373850046657026, + "timing/eval_action_loss_total": 29.009374604996992, + "timing/forward": 0.15355812601046637, + "timing/log_metrics_total": 0.005541367994737811, + "timing/lr_scheduler": 8.582200098317116e-05, + "timing/model": 2.480336508000619, + "timing/optimizer_step": 1.5480549599888036, + "timing/qwen_h2d": 0.0031774929957464337, + "timing/qwen_input_build_total": 0.020895038003800437, + "timing/qwen_processor": 0.01715597600559704, + "timing/train_step_total": 2.4805109910084866, + "timing/vlm_forward": 0.13031690299976617, + "train/grad_norm_pre_clip": 15.139167785644531, + "train/loss": 0.014269337058067322 + }, + "url": "https://wandb.ai/dongqianyu99-zhejiang-university/latency-sensitive-bench/runs/biefsdo4", + "exit_code": 0, + "completed_utc": "2026-09-11T23:21:31Z" + }, + "dataset_upload": [ + { + "repo_id": "latency-sensitive-bench/extra-envs-rollouts", + "repo_type": "dataset", + "prefix": "profile-latency-new/hopper/20260911T180943Z-hopper/raw", + "commit": "f2cd7441fea202de16d341a6c30d7610f4ad0838", + "url": "https://huggingface.co/datasets/latency-sensitive-bench/extra-envs-rollouts/commit/f2cd7441fea202de16d341a6c30d7610f4ad0838", + "verified_files": 6, + "bytes": 2542898636, + "verification": "Every file size; Git blob SHA1 for regular files and SHA256 for LFS files" + }, + { + "repo_id": "latency-sensitive-bench/extra-envs-rollouts", + "repo_type": "dataset", + "prefix": "profile-latency-new/hopper/20260911T180943Z-hopper/converted", + "commit": "6f1ec3a2d26adf88ec4281f6bdbe7be48303fe64", + "url": "https://huggingface.co/datasets/latency-sensitive-bench/extra-envs-rollouts/commit/6f1ec3a2d26adf88ec4281f6bdbe7be48303fe64", + "verified_files": 117, + "bytes": 2541581158, + "verification": "Every file size; Git blob SHA1 for regular files and SHA256 for LFS files" + } + ], + "data_validation": { + "episodes": [ + { + "split": "train", + "episode_idx": 0, + "seed": 3333, + "actual_rows": 1000, + "actual_return": 3666.6915742754936 + }, + { + "split": "train", + "episode_idx": 2, + "seed": 3335, + "actual_rows": 1000, + "actual_return": 3651.1633432507515 + }, + { + "split": "train", + "episode_idx": 4, + "seed": 3337, + "actual_rows": 1000, + "actual_return": 3659.8270612955093 + }, + { + "split": "train", + "episode_idx": 5, + "seed": 3338, + "actual_rows": 1000, + "actual_return": 3663.8320927023888 + }, + { + "split": "train", + "episode_idx": 6, + "seed": 3339, + "actual_rows": 1000, + "actual_return": 3648.6879789233208 + }, + { + "split": "train", + "episode_idx": 8, + "seed": 3343, + "actual_rows": 1000, + "actual_return": 3753.7137526273727 + }, + { + "split": "train", + "episode_idx": 9, + "seed": 3344, + "actual_rows": 1000, + "actual_return": 3668.0288415551186 + }, + { + "split": "train", + "episode_idx": 10, + "seed": 3345, + "actual_rows": 1000, + "actual_return": 3659.7238799333572 + }, + { + "split": "train", + "episode_idx": 11, + "seed": 3346, + "actual_rows": 1000, + "actual_return": 3661.552826344967 + }, + { + "split": "train", + "episode_idx": 12, + "seed": 3349, + "actual_rows": 877, + "actual_return": 3353.1152487397194 + }, + { + "split": "train", + "episode_idx": 13, + "seed": 3352, + "actual_rows": 920, + "actual_return": 3483.5199750065804 + }, + { + "split": "train", + "episode_idx": 14, + "seed": 3347, + "actual_rows": 1000, + "actual_return": 3769.1338381767273 + }, + { + "split": "train", + "episode_idx": 15, + "seed": 3348, + "actual_rows": 1000, + "actual_return": 3664.1757635474205 + }, + { + "split": "train", + "episode_idx": 16, + "seed": 3350, + "actual_rows": 1000, + "actual_return": 3635.382632493973 + }, + { + "split": "train", + "episode_idx": 18, + "seed": 3354, + "actual_rows": 1000, + "actual_return": 3668.5161008238792 + }, + { + "split": "train", + "episode_idx": 19, + "seed": 3357, + "actual_rows": 1000, + "actual_return": 3667.794293284416 + }, + { + "split": "train", + "episode_idx": 20, + "seed": 3359, + "actual_rows": 1000, + "actual_return": 3644.1916761398315 + }, + { + "split": "train", + "episode_idx": 21, + "seed": 3361, + "actual_rows": 1000, + "actual_return": 3630.3504772782326 + }, + { + "split": "train", + "episode_idx": 22, + "seed": 3362, + "actual_rows": 1000, + "actual_return": 3666.6928303837776 + }, + { + "split": "train", + "episode_idx": 23, + "seed": 3365, + "actual_rows": 1000, + "actual_return": 3723.548827588558 + }, + { + "split": "train", + "episode_idx": 24, + "seed": 3367, + "actual_rows": 1000, + "actual_return": 3646.3406707644463 + }, + { + "split": "train", + "episode_idx": 26, + "seed": 3369, + "actual_rows": 1000, + "actual_return": 3680.6361914277077 + }, + { + "split": "train", + "episode_idx": 27, + "seed": 3370, + "actual_rows": 1000, + "actual_return": 3655.40633392334 + }, + { + "split": "train", + "episode_idx": 28, + "seed": 3374, + "actual_rows": 817, + "actual_return": 3076.763543844223 + }, + { + "split": "train", + "episode_idx": 30, + "seed": 3373, + "actual_rows": 1000, + "actual_return": 3680.408108472824 + }, + { + "split": "train", + "episode_idx": 31, + "seed": 3375, + "actual_rows": 1000, + "actual_return": 3719.736001729965 + }, + { + "split": "train", + "episode_idx": 32, + "seed": 3376, + "actual_rows": 1000, + "actual_return": 3625.328989505768 + }, + { + "split": "train", + "episode_idx": 33, + "seed": 3377, + "actual_rows": 1000, + "actual_return": 3658.801306784153 + }, + { + "split": "train", + "episode_idx": 34, + "seed": 3378, + "actual_rows": 1000, + "actual_return": 3648.415136575699 + }, + { + "split": "train", + "episode_idx": 35, + "seed": 3379, + "actual_rows": 1000, + "actual_return": 3654.3165352344513 + }, + { + "split": "train", + "episode_idx": 36, + "seed": 3380, + "actual_rows": 1000, + "actual_return": 3653.875044286251 + }, + { + "split": "train", + "episode_idx": 37, + "seed": 3381, + "actual_rows": 1000, + "actual_return": 3655.5150515437126 + }, + { + "split": "train", + "episode_idx": 38, + "seed": 3382, + "actual_rows": 1000, + "actual_return": 3673.6515297293663 + }, + { + "split": "train", + "episode_idx": 39, + "seed": 3383, + "actual_rows": 1000, + "actual_return": 3658.504702627659 + }, + { + "split": "train", + "episode_idx": 40, + "seed": 3384, + "actual_rows": 1000, + "actual_return": 3663.9864615797997 + }, + { + "split": "train", + "episode_idx": 41, + "seed": 3385, + "actual_rows": 1000, + "actual_return": 3661.3572192788124 + }, + { + "split": "train", + "episode_idx": 42, + "seed": 3387, + "actual_rows": 1000, + "actual_return": 3633.1511325240135 + }, + { + "split": "train", + "episode_idx": 43, + "seed": 3388, + "actual_rows": 1000, + "actual_return": 3664.4560843110085 + }, + { + "split": "train", + "episode_idx": 44, + "seed": 3391, + "actual_rows": 1000, + "actual_return": 3648.8136288523674 + }, + { + "split": "train", + "episode_idx": 45, + "seed": 3393, + "actual_rows": 901, + "actual_return": 3388.605288386345 + }, + { + "split": "train", + "episode_idx": 46, + "seed": 3395, + "actual_rows": 926, + "actual_return": 3507.439621448517 + }, + { + "split": "train", + "episode_idx": 48, + "seed": 3397, + "actual_rows": 1000, + "actual_return": 3641.3666764497757 + }, + { + "split": "train", + "episode_idx": 49, + "seed": 3399, + "actual_rows": 1000, + "actual_return": 3681.385838329792 + }, + { + "split": "train", + "episode_idx": 50, + "seed": 3401, + "actual_rows": 1000, + "actual_return": 3627.1116198301315 + }, + { + "split": "train", + "episode_idx": 51, + "seed": 3403, + "actual_rows": 1000, + "actual_return": 3755.0067950487137 + }, + { + "split": "train", + "episode_idx": 52, + "seed": 3405, + "actual_rows": 1000, + "actual_return": 3654.9195495843887 + }, + { + "split": "train", + "episode_idx": 53, + "seed": 3408, + "actual_rows": 822, + "actual_return": 3103.7388365268707 + }, + { + "split": "train", + "episode_idx": 54, + "seed": 3406, + "actual_rows": 1000, + "actual_return": 3645.0947138667107 + }, + { + "split": "train", + "episode_idx": 55, + "seed": 3407, + "actual_rows": 1000, + "actual_return": 3655.4239656329155 + }, + { + "split": "train", + "episode_idx": 56, + "seed": 3410, + "actual_rows": 1000, + "actual_return": 3648.959351658821 + }, + { + "split": "train", + "episode_idx": 57, + "seed": 3411, + "actual_rows": 1000, + "actual_return": 3674.377905368805 + }, + { + "split": "train", + "episode_idx": 59, + "seed": 3413, + "actual_rows": 1000, + "actual_return": 3650.8543192744255 + }, + { + "split": "train", + "episode_idx": 60, + "seed": 3415, + "actual_rows": 928, + "actual_return": 3497.252098798752 + }, + { + "split": "train", + "episode_idx": 61, + "seed": 3416, + "actual_rows": 1000, + "actual_return": 3652.530795931816 + }, + { + "split": "train", + "episode_idx": 62, + "seed": 3417, + "actual_rows": 1000, + "actual_return": 3637.32221609354 + }, + { + "split": "train", + "episode_idx": 63, + "seed": 3419, + "actual_rows": 1000, + "actual_return": 3779.3595331907272 + }, + { + "split": "train", + "episode_idx": 64, + "seed": 3420, + "actual_rows": 1000, + "actual_return": 3657.5068569779396 + }, + { + "split": "train", + "episode_idx": 65, + "seed": 3421, + "actual_rows": 1000, + "actual_return": 3777.8512984514236 + }, + { + "split": "train", + "episode_idx": 66, + "seed": 3422, + "actual_rows": 1000, + "actual_return": 3668.410031735897 + }, + { + "split": "train", + "episode_idx": 67, + "seed": 3423, + "actual_rows": 1000, + "actual_return": 3663.460659146309 + }, + { + "split": "train", + "episode_idx": 68, + "seed": 3424, + "actual_rows": 1000, + "actual_return": 3635.0319840312004 + }, + { + "split": "train", + "episode_idx": 69, + "seed": 3425, + "actual_rows": 998, + "actual_return": 3758.966288924217 + }, + { + "split": "train", + "episode_idx": 70, + "seed": 3427, + "actual_rows": 1000, + "actual_return": 3643.151776909828 + }, + { + "split": "train", + "episode_idx": 71, + "seed": 3428, + "actual_rows": 1000, + "actual_return": 3691.0575286746025 + }, + { + "split": "train", + "episode_idx": 72, + "seed": 3429, + "actual_rows": 1000, + "actual_return": 3646.7782967686653 + }, + { + "split": "train", + "episode_idx": 73, + "seed": 3430, + "actual_rows": 1000, + "actual_return": 3650.3808391690254 + }, + { + "split": "train", + "episode_idx": 74, + "seed": 3431, + "actual_rows": 1000, + "actual_return": 3681.0871458649635 + }, + { + "split": "train", + "episode_idx": 75, + "seed": 3432, + "actual_rows": 1000, + "actual_return": 3716.7892948389053 + }, + { + "split": "train", + "episode_idx": 76, + "seed": 3433, + "actual_rows": 1000, + "actual_return": 3680.078442156315 + }, + { + "split": "train", + "episode_idx": 78, + "seed": 3436, + "actual_rows": 1000, + "actual_return": 3682.9771634936333 + }, + { + "split": "train", + "episode_idx": 79, + "seed": 3437, + "actual_rows": 1000, + "actual_return": 3649.6008907556534 + }, + { + "split": "train", + "episode_idx": 80, + "seed": 3439, + "actual_rows": 1000, + "actual_return": 3662.393703520298 + }, + { + "split": "train", + "episode_idx": 82, + "seed": 3441, + "actual_rows": 1000, + "actual_return": 3652.5504442453384 + }, + { + "split": "train", + "episode_idx": 83, + "seed": 3443, + "actual_rows": 1000, + "actual_return": 3632.5786336660385 + }, + { + "split": "train", + "episode_idx": 84, + "seed": 3444, + "actual_rows": 1000, + "actual_return": 3654.980935573578 + }, + { + "split": "train", + "episode_idx": 85, + "seed": 3445, + "actual_rows": 1000, + "actual_return": 3660.7770435214043 + }, + { + "split": "train", + "episode_idx": 86, + "seed": 3446, + "actual_rows": 1000, + "actual_return": 3666.435356259346 + }, + { + "split": "train", + "episode_idx": 87, + "seed": 3447, + "actual_rows": 1000, + "actual_return": 3651.312874853611 + }, + { + "split": "train", + "episode_idx": 88, + "seed": 3448, + "actual_rows": 1000, + "actual_return": 3662.263320147991 + }, + { + "split": "train", + "episode_idx": 89, + "seed": 3449, + "actual_rows": 1000, + "actual_return": 3726.8336040973663 + }, + { + "split": "train", + "episode_idx": 90, + "seed": 3450, + "actual_rows": 1000, + "actual_return": 3651.4421622157097 + }, + { + "split": "train", + "episode_idx": 91, + "seed": 3451, + "actual_rows": 1000, + "actual_return": 3676.0585535764694 + }, + { + "split": "train", + "episode_idx": 92, + "seed": 3453, + "actual_rows": 817, + "actual_return": 3079.6246042251587 + }, + { + "split": "train", + "episode_idx": 93, + "seed": 3454, + "actual_rows": 1000, + "actual_return": 3617.6154170036316 + }, + { + "split": "train", + "episode_idx": 94, + "seed": 3461, + "actual_rows": 811, + "actual_return": 3057.7498267292976 + }, + { + "split": "train", + "episode_idx": 95, + "seed": 3455, + "actual_rows": 1000, + "actual_return": 3652.219022333622 + }, + { + "split": "train", + "episode_idx": 96, + "seed": 3456, + "actual_rows": 1000, + "actual_return": 3639.2247934937477 + }, + { + "split": "train", + "episode_idx": 97, + "seed": 3457, + "actual_rows": 1000, + "actual_return": 3675.2209025621414 + }, + { + "split": "train", + "episode_idx": 98, + "seed": 3459, + "actual_rows": 1000, + "actual_return": 3676.3608739972115 + }, + { + "split": "train", + "episode_idx": 99, + "seed": 3460, + "actual_rows": 1000, + "actual_return": 3655.0186158418655 + }, + { + "split": "val", + "episode_idx": 1, + "seed": 3334, + "actual_rows": 1000, + "actual_return": 3646.8913483023643 + }, + { + "split": "val", + "episode_idx": 3, + "seed": 3336, + "actual_rows": 1000, + "actual_return": 3678.674166083336 + }, + { + "split": "val", + "episode_idx": 7, + "seed": 3340, + "actual_rows": 1000, + "actual_return": 3680.9379561543465 + }, + { + "split": "val", + "episode_idx": 17, + "seed": 3351, + "actual_rows": 1000, + "actual_return": 3649.780366063118 + }, + { + "split": "val", + "episode_idx": 25, + "seed": 3368, + "actual_rows": 1000, + "actual_return": 3660.5823563933372 + }, + { + "split": "val", + "episode_idx": 29, + "seed": 3372, + "actual_rows": 1000, + "actual_return": 3708.77580422163 + }, + { + "split": "val", + "episode_idx": 47, + "seed": 3396, + "actual_rows": 1000, + "actual_return": 3656.931324362755 + }, + { + "split": "val", + "episode_idx": 58, + "seed": 3412, + "actual_rows": 1000, + "actual_return": 3665.4246680140495 + }, + { + "split": "val", + "episode_idx": 77, + "seed": 3434, + "actual_rows": 1000, + "actual_return": 3636.464349627495 + }, + { + "split": "val", + "episode_idx": 81, + "seed": 3440, + "actual_rows": 1000, + "actual_return": 3681.014655470848 + } + ], + "total_episodes": 100, + "total_rows": 98817, + "pass_gate_count": 100, + "mean_return": 3633.191219932437, + "minimum_return": 3057.7498267292976, + "probe_train_rows": 88817, + "probe_val_rows": 10000, + "actual_train_rows": 88817, + "actual_val_rows": 10000, + "per_episode_probe_replay_match": true + }, + "code_provenance": { + "root_revision": "86df5ecef6735d5d824944e7acdee5bf204e1545", + "task_code_archive_sha256": "b0a0ca72b5c6eb65c16e5d5d70f59cad540260a27cb3a71109910326b940e135", + "iid_patch_sha256": "ceae6068634e4df2a553d8aee2cb70f7ef0640265330c65f75b9462b449010d0", + "sf_teacher_runtime_sha256": "2e4ba33a1c406bf3fa9b122f1cc66c13f1b0d7a96c89ec142e0428f184b4646d", + "sample_factory_revision": "4b7277842b17804fb928097a9689d889bd2f5cdc", + "starvla_revision": "f364fdf080434aea14bb2a19931e017f0af32d87", + "note": "Task code extracted from pinned root plus tracked IID runtime fix; archive runtime git metadata is unavailable." + }, + "gate_revision": { + "original_gate": 3000, + "effective_gate": 3000, + "operator": ">", + "field": "episode_raw_return", + "changed": false, + "basis": "Bounded original-condition action-IID probe accepted10/12 at original3000, so preserve source quality threshold.", + "accepted_episodes": 100 + }, + "normalization_source": "new Hopper converted dataset and actual VLA training dataset_statistics.json" +} diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/task_contract.json b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..7637a7f4aa1370962370250374850b9fa4dc2373 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/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": 10.0, + "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": 10.0, + "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_rgb_state" +} diff --git a/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/checkpoints/model.pt b/archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..e7d7d25cde3e4f80211075478052337a3aa0886e --- /dev/null +++ b/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 diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..b5d18bb10eee83e9ffedbb1eee7c28a5f406218e --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b +size 9976860963 diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/README.md b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e3969e51781f9174ea394a1f9d9d725fcc468adc --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/README.md @@ -0,0 +1,29 @@ +# walker2d / qwenoft + +Training condition: `latency-aware`. Run: `walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k`. + +Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`. + +- Checkpoint: `checkpoints/model.pt` +- Selection: only published VLA checkpoint +- Checkpoint SHA256: `cbd8a14cfa3fe1a97b6d131294e0264e43e0267943189f776b4191922ee4559d` +- 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. + +[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence. + +## Download + +```python +from huggingface_hub import snapshot_download +prefix = "latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k" +snapshot_download("latency-sensitive-bench/benchmark-models", revision="", + allow_patterns=[prefix + "/**"]) +``` + +Use the verified import commit listed in the repository's import report. diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..14e3c194bac41a6d2dab88f70687ad2fe9b0cfd3 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbd8a14cfa3fe1a97b6d131294e0264e43e0267943189f776b4191922ee4559d +size 9785142689 diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/config.full.yaml b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/config.full.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3bdcc2d2be445b159a5f3300081f7a9f588b8529 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/config.full.yaml @@ -0,0 +1,396 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: true + action_model: + action_model_type: MLP + action_dim: 6 + state_dim: 17 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_encoding: continuous_projector + task_objective: null + action_horizon: 1 + action_env_dim: 6 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/converted + data_mix: walker2d_rgb_state_profile_20260912T092949Z + eval_data_mix: walker2d_rgb_state_profile_20260912T092949Z__val + custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/converted/_generated_mixtures/walker2d_rgb_state_profile_20260912T092949Z.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + 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: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + gymnasium_task_contract: + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Walker2d robot forward while keeping its torso upright. + Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, + right foot, left thigh, left leg, and left foot. + env_fps: 10.0 + env_id: LatencyBench/Walker2dContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Walker2d-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 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 10.0 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + task_name: walker2d_rgb_state + active_action_dim: 6 +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: walker2d_rgb_state_profile_20260912T092949Z + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: walker2d_rgb_state_profile_20260912T092949Z + mixed_converted_name: walker2d_rgb_state_profile_20260912T092949Z + 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: true + 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 +workspace_dir: /home/lzj/code/latency-sensitive-bench +run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/vla +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/vla + dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/converted + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/converted/walker2d_rgb_state_profile_20260912T092949Z/latency_prompt_map.json + mode: single + values: + - 1 + - 2 + task: gymnasium + gymnasium: + task_contract: + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Walker2d robot forward while keeping its torso upright. + Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, + right foot, left thigh, left leg, and left foot. + env_fps: 10.0 + env_id: LatencyBench/Walker2dContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Walker2d-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 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 10.0 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + task_name: walker2d_rgb_state + task_name: walker2d_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k +output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/vla/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k +config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/h100/vla_train.yaml +is_debug: false +version_id: '0.21' diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/config.yaml b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3bdcc2d2be445b159a5f3300081f7a9f588b8529 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/config.yaml @@ -0,0 +1,396 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: true + action_model: + action_model_type: MLP + action_dim: 6 + state_dim: 17 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_encoding: continuous_projector + task_objective: null + action_horizon: 1 + action_env_dim: 6 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/converted + data_mix: walker2d_rgb_state_profile_20260912T092949Z + eval_data_mix: walker2d_rgb_state_profile_20260912T092949Z__val + custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/converted/_generated_mixtures/walker2d_rgb_state_profile_20260912T092949Z.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + 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: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + gymnasium_task_contract: + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Walker2d robot forward while keeping its torso upright. + Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, + right foot, left thigh, left leg, and left foot. + env_fps: 10.0 + env_id: LatencyBench/Walker2dContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Walker2d-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 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 10.0 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + task_name: walker2d_rgb_state + active_action_dim: 6 +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: walker2d_rgb_state_profile_20260912T092949Z + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: walker2d_rgb_state_profile_20260912T092949Z + mixed_converted_name: walker2d_rgb_state_profile_20260912T092949Z + 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: true + 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 +workspace_dir: /home/lzj/code/latency-sensitive-bench +run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/vla +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/vla + dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/converted + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/converted/walker2d_rgb_state_profile_20260912T092949Z/latency_prompt_map.json + mode: single + values: + - 1 + - 2 + task: gymnasium + gymnasium: + task_contract: + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Walker2d robot forward while keeping its torso upright. + Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, + right foot, left thigh, left leg, and left foot. + env_fps: 10.0 + env_id: LatencyBench/Walker2dContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Walker2d-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 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 10.0 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + task_name: walker2d_rgb_state + task_name: walker2d_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k +output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/vla/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k +config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/h100/vla_train.yaml +is_debug: false +version_id: '0.21' diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/dataset_statistics.json b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..3c992bae026cb655c540048e0dcbb0dfb423bf58 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/dataset_statistics.json @@ -0,0 +1,180 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.4944669008255005, + 0.6347032785415649, + 0.5284651517868042, + 0.982084333896637, + 0.7498865127563477, + 0.3223438262939453 + ], + "std": [ + 0.7232871651649475, + 0.6772997975349426, + 0.7492502331733704, + 0.08576280623674361, + 0.43449321389198303, + 0.8466201424598694 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + 0.0, + -1.0, + -1.0 + ], + "q01": [ + -1.0, + -1.0, + -1.0, + 0.5344227284193039, + -0.6786504459381103, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.09925076365470886, + -0.038648512214422226, + 0.5415859222412109, + 0.5668906569480896, + 0.39615780115127563, + 0.3135105073451996, + 0.6150383353233337, + 0.3208809494972229, + -0.16915184259414673, + -0.031262025237083435, + -0.013657420873641968, + 0.009614686481654644, + -0.09996035695075989, + -0.07044283300638199, + -0.016576984897255898, + -0.026138588786125183, + -0.1820809543132782 + ], + "std": [ + 0.2604527175426483, + 0.3017294406890869, + 0.39846158027648926, + 0.3285336196422577, + 0.4541752338409424, + 0.3007560670375824, + 0.2675665616989136, + 0.4651698172092438, + 0.33045694231987, + 0.3108684718608856, + 0.40756914019584656, + 0.4765605628490448, + 0.5269289612770081, + 0.5424656271934509, + 0.32406172156333923, + 0.4408577084541321, + 0.5630635619163513 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.4896830064058304, + -0.719413949251175, + -0.669249347448349, + -0.36913287043571474, + -0.7948353081941605, + -0.6900431627035141, + -0.2929621422290802, + -0.7326109766960144, + -0.9386063790321351, + -0.5822515177726746, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q99": [ + 0.6999427938461306, + 0.5288391351699846, + 0.9718325519561768, + 0.9274609363079073, + 0.9418661379814148, + 0.7052002274990088, + 0.8861017107963565, + 0.9377889406681061, + 0.7605115771293646, + 0.68762526512146, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ] + }, + "num_transitions": 87052, + "num_trajectories": 90 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..bacad4dd9438b558720c6060d2d7d966f9283b36 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json @@ -0,0 +1,180 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.4962558448314667, + 0.626217246055603, + 0.5222503542900085, + 0.9820914268493652, + 0.7401354312896729, + 0.3194097578525543 + ], + "std": [ + 0.7217729091644287, + 0.6857077479362488, + 0.7502380013465881, + 0.08482990413904157, + 0.44005393981933594, + 0.8470587730407715 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + 0.0, + -1.0, + -1.0 + ], + "q01": [ + -1.0, + -1.0, + -1.0, + 0.5662413769960404, + -0.666657361984253, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.09460366517305374, + -0.03752301260828972, + 0.5487568974494934, + 0.562300980091095, + 0.39412277936935425, + 0.3122585117816925, + 0.6065791845321655, + 0.31886041164398193, + -0.1585373878479004, + -0.03125736489892006, + -0.011883462779223919, + 0.006754553411155939, + -0.09752458333969116, + -0.07064453512430191, + -0.016498375684022903, + -0.025585465133190155, + -0.18268170952796936 + ], + "std": [ + 0.25703251361846924, + 0.306450754404068, + 0.3891076445579529, + 0.3312922716140747, + 0.45703452825546265, + 0.2963048815727234, + 0.276064395904541, + 0.4649234414100647, + 0.33390170335769653, + 0.3093952238559723, + 0.41489359736442566, + 0.4803824722766876, + 0.5347743630409241, + 0.5472173094749451, + 0.32215026021003723, + 0.4493107497692108, + 0.5645248293876648 + ], + "max": [ + 0.790878176689148, + 0.9916481971740723, + 1.0, + 0.980484127998352, + 0.9965674877166748, + 0.8545539379119873, + 0.9251037836074829, + 0.9847626686096191, + 0.987815260887146, + 0.8139623403549194, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -0.6960445642471313, + -0.8045408725738525, + -0.9902843236923218, + -0.6551779508590698, + -0.9393892288208008, + -0.9327083230018616, + -0.6576221585273743, + -0.8119556903839111, + -0.986156165599823, + -0.7416363954544067, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.4923044937849045, + -0.708883695602417, + -0.5382996904850006, + -0.36911166667938233, + -0.7940302550792694, + -0.6420850110054016, + -0.28745206773281096, + -0.7374403268098831, + -0.9400115501880646, + -0.5844572883844376, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q99": [ + 0.6791199707984922, + 0.546788519620895, + 0.9726598012447357, + 0.9238831114768981, + 0.944482626914978, + 0.6942272436618804, + 0.8820822370052336, + 0.9389757359027862, + 0.7519717931747423, + 0.6876130568981168, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ] + }, + "num_transitions": 9678, + "num_trajectories": 10 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/latency_prompt_map.json b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..4c8c5420e53c751882b7c759ae17715989cf8c49 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/latency_prompt_map.json @@ -0,0 +1,12 @@ +{ + "1": { + "prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 1 raw frames (100.00 ms). The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.", + "latency_raw_frames": 1, + "latency_ms": 100.0 + }, + "2": { + "prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 2 raw frames (200.00 ms). The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.", + "latency_raw_frames": 2, + "latency_ms": 200.0 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/manifest.json b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..1be0117b7ac9b78a5d4717ad260b94bd8265224a --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/manifest.json @@ -0,0 +1,185 @@ +{ + "dataset_name": "walker2d_rgb_state_profile_20260912T092949Z", + "env_name": "walker2d_rgb_state", + "episodes": 90, + "frames": 87052, + "task_prompts": [ + "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 1 raw frames (100.00 ms). The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.", + "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 2 raw frames (200.00 ms). The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action." + ], + "format": "lerobot_v2_image_parquet", + "source": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/raw", + "integration_name": "gymnasium", + "task_name": "walker2d_rgb_state", + "action_layout": "gymnasium_continuous_v1", + "action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "carrier_action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "action_dim": 6, + "active_action_dim": 6, + "action_carrier": "native", + "rows_unit": "decision_step", + "obs_fps": 10.0, + "obs_stride_raw_frames": 1, + "uses_state": true, + "state_dim": 17, + "state_labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.8002559542655945, + -0.4052939713001251, + -2.721090078353882, + -2.743088960647583, + -1.4680683612823486, + -0.7136482000350952, + -1.6744592189788818, + -1.3974136114120483, + -0.23580805957317352, + -3.591466188430786, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0 + ], + "max": [ + 1.6685550212860107, + 0.997637927532196, + 0.1443042755126953, + 0.4510042369365692, + 1.3804264068603516, + 0.32474857568740845, + 0.28670230507850647, + 1.4149495363235474, + 8.862671852111816, + 3.8120992183685303, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/converted/walker2d_rgb_state_profile_20260912T092949Z/latency_prompt_map.json", + "custom_mixtures_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/converted/_generated_mixtures/walker2d_rgb_state_profile_20260912T092949Z.json", + "gymnasium_task": { + "action_space": { + "dtype": "float32", + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "type": "box" + }, + "base_prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot.", + "env_fps": 10.0, + "env_id": "LatencyBench/Walker2dContinuous-v0", + "frame_stack": 1, + "make_kwargs": { + "base_env_id": "Walker2d-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, + 0.0, + 0.0, + 0.0 + ], + "obs_fps": 10.0, + "registration_imports": [ + "latency_bench.envs.gymnasium_walker2d" + ], + "state_space": { + "labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ] + }, + "task_name": "walker2d_rgb_state" + }, + "validation_dataset_name": "walker2d_rgb_state_profile_20260912T092949Z__val", + "validation_episodes": 10, + "validation_frames": 9678 +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/DONE b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/hardware.json b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/hardware.json new file mode 100644 index 0000000000000000000000000000000000000000..e8204e81807044975c0e0a0953d16d6835192f31 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/hardware.json @@ -0,0 +1,40 @@ +{ + "driver_version": "580.173.02", + "gpu_class": "1x-rtx3090", + "gpus": [ + { + "name": "NVIDIA GeForce RTX 3090", + "slot": 0 + } + ], + "instance_id": "instance_859cf1e47bca6046", + "topology_links": [], + "torch": { + "backends": { + "cuda_cudnn_sdp_enabled": true, + "cuda_flash_sdp_enabled": true, + "cuda_math_sdp_enabled": true, + "cuda_matmul_allow_tf32": false, + "cuda_mem_efficient_sdp_enabled": true, + "cudnn_allow_tf32": true, + "cudnn_benchmark": false + }, + "cuda_available": true, + "cuda_device_count": 1, + "cuda_version": "12.8", + "current_device": 0, + "current_device_name": "NVIDIA GeForce RTX 3090", + "device_properties": [ + { + "index": 0, + "major": 8, + "minor": 6, + "multi_processor_count": 82, + "name": "NVIDIA GeForce RTX 3090", + "total_memory": 25295257600 + } + ], + "float32_matmul_precision": "highest", + "version": "2.11.0+cu128" + } +} diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/latency_burst_model.json b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/latency_burst_model.json new file mode 100644 index 0000000000000000000000000000000000000000..e1e6d9259f92d6d826441e270750e7712bf1e60a --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/latency_burst_model.json @@ -0,0 +1,1322 @@ +{ + "burst_dwell_distribution": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "burst_dwell_lengths": [ + 1, + 1, + 1 + ], + "burst_merge_gap_records": 30, + "burst_rank_processes": [ + { + "draw_count": 3, + "dwell_length_spearman_rho": 0.0, + "level_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.64467597007751, + 86.734783680439, + 87.00510681152343, + 87.27542994260789, + 87.54575307369232, + 87.81607620477676, + 88.0863993358612, + 88.35672246694566, + 88.6270455980301, + 88.89736872911453, + 89.16769186019897, + 89.43801499128341, + 89.70833812236786, + 89.9786612534523, + 90.24898438453674, + 90.51930751562118, + 90.78963064670563, + 91.05995377779007, + 91.33027690887451, + 91.60060003995895, + 91.8709231710434, + 92.14124630212784, + 92.41156943321228, + 92.68189256429672, + 92.95221569538117, + 93.22253882646561, + 93.49286195755005, + 93.76318508863449, + 94.03350821971894, + 94.30383135080338, + 94.57415448188782, + 94.84447761297226, + 95.11480074405671, + 95.38512387514115, + 95.65544700622559, + 95.80195389032365, + 95.94846077442169, + 96.09496765851975, + 96.2414745426178, + 96.38798142671585, + 96.5344883108139, + 96.68099519491196, + 96.82750207901, + 96.97400896310806, + 97.12051584720612, + 97.26702273130417, + 97.41352961540223, + 97.56003649950027, + 97.70654338359833, + 97.85305026769637, + 97.99955715179443, + 98.1460640358925, + 98.29257091999054, + 98.4390778040886, + 98.58558468818664, + 98.7320915722847, + 98.87859845638275, + 99.0251053404808, + 99.17161222457885, + 99.31811910867691, + 99.46462599277497, + 99.61113287687301, + 99.75763976097107, + 99.90414664506912, + 100.05065352916718, + 100.19716041326522, + 100.34366729736328, + 100.49017418146133, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402, + 100.53900980949402 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "level_residual_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "severity": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "spike_count": 3 + } + ], + "burst_slot_rank_templates": [ + { + "dwell_length": 1, + "slot_to_rank": { + "0": 0 + } + }, + { + "dwell_length": 1, + "slot_to_rank": { + "0": 0 + } + }, + { + "dwell_length": 1, + "slot_to_rank": { + "0": 0 + } + } + ], + "model_type": "hidden_regime", + "pre_worker_time_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 0.2871279716491699, + 0.2871279716491699, + 0.3000966912508011, + 0.3125195586681366, + 0.3222240471839905, + 0.3309027588367462, + 0.33220982551574707, + 0.33615071773529054, + 0.34000066518783567, + 0.3445212626457214, + 0.35144575595855715, + 0.3605480372905731, + 0.36516556739807127, + 0.417451810836792, + 0.5077130913734436, + 0.5416164875030518, + 0.5575604438781738, + 0.5679127693176269, + 0.5778009295463562, + 0.5856747627258301, + 0.5923689246177674, + 0.5970578193664551, + 0.6007380723953247, + 0.6050690412521362, + 0.6085355162620545, + 0.6125645637512207, + 0.6163313388824463, + 0.6203382730484008, + 0.6243826389312744, + 0.6274452209472656, + 0.6306731224060058, + 0.633169412612915, + 0.635418975353241, + 0.6376892566680908, + 0.6397212743759155, + 0.6422977685928345, + 0.6441904902458191, + 0.6462940216064453, + 0.6483324766159058, + 0.6513290643692017, + 0.6537760257720947, + 0.657095193862915, + 0.6599553108215332, + 0.6619826078414917, + 0.6641056776046753, + 0.6661466121673584, + 0.6684087514877319, + 0.6695426940917969, + 0.6714422941207886, + 0.6728639125823974, + 0.6742174506187439, + 0.6758885383605957, + 0.6775458693504334, + 0.6791774749755859, + 0.6806173920631409, + 0.6820759773254395, + 0.6841613054275513, + 0.6858915328979492, + 0.6874943017959595, + 0.6891242265701294, + 0.6925053238868714, + 0.6948971748352051, + 0.6978367328643799, + 0.7002923250198364, + 0.7020790815353394, + 0.7040354251861572, + 0.705716609954834, + 0.707164192199707, + 0.7092588067054748, + 0.7109628677368164, + 0.7128337740898132, + 0.7143014669418335, + 0.716428017616272, + 0.718038272857666, + 0.719979465007782, + 0.722154974937439, + 0.7243303060531616, + 0.7261616230010987, + 0.7283614039421081, + 0.7306269884109498, + 0.7336044073104858, + 0.7368490695953369, + 0.7397679209709167, + 0.7427667856216431, + 0.7457111358642579, + 0.7481389045715332, + 0.751095712184906, + 0.7529307126998901, + 0.7558730483055115, + 0.7581016540527343, + 0.7609253048896789, + 0.7642731666564941, + 0.767168390750885, + 0.7698051929473877, + 0.7736105918884277, + 0.7770744323730469, + 0.7799339890480042, + 0.7838371276855468, + 0.7889614105224609, + 0.7920980215072632, + 0.7968101620674133, + 0.8028519153594971, + 0.8096318721771241, + 0.8171645402908325, + 0.8260717749595643, + 0.8360280990600586, + 0.8494804501533508, + 0.8625362396240234, + 0.8821966767311097, + 0.919889736175537, + 0.976528728008272, + 0.9891926014423378, + 1.0017096090316777, + 1.0116808032989506, + 1.0215084385871889, + 1.0286476433277132, + 1.0351726627349853, + 1.0525703740119934, + 1.082165348529816, + 1.0893350529670716, + 1.1060434979200409, + 1.1279549598693848, + 1.1279549598693848 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "regime_step_counts": { + "burst": 3, + "calm": 3892 + }, + "regime_transition_counts": { + "burst": { + "burst": 0, + "calm": 3 + }, + "calm": { + "burst": 3, + "calm": 3884 + } + }, + "reset_scope": "session", + "schema_version": 12, + "spike_median_multiplier": 1.25, + "spike_threshold_ms_by_worker_slot": { + "0": 86.57148361206055 + }, + "worker_count": 1 +} diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/latency_distribution.json b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/latency_distribution.json new file mode 100644 index 0000000000000000000000000000000000000000..b38e74471cbc78e0c5b711175a994369bd71e08a --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/latency_distribution.json @@ -0,0 +1,1027 @@ +{ + "schema_version": 3, + "worker_slots": { + "0": { + "all": { + "count": 3895, + "observation_to_action_latency_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 64.21888089179993, + 64.21888089179993, + 64.26744388699531, + 64.46230773687363, + 64.66379324674607, + 64.89459874749184, + 65.04965202331543, + 65.14420080184937, + 65.27448462486267, + 65.32612436056137, + 65.44193125247955, + 65.54984476804734, + 65.60522656440735, + 66.6580442905426, + 67.43931007385254, + 68.07540552616119, + 68.45212668180466, + 68.74475541114808, + 68.93804426193238, + 69.10382010936738, + 69.19791586399079, + 69.27610993385315, + 69.38696476221085, + 69.47144668102264, + 69.53326894044876, + 69.58634305000305, + 69.65139049291611, + 69.70361912250519, + 69.74212255477906, + 69.77380666732788, + 69.82166377305984, + 69.85122108459473, + 69.88792041540145, + 69.91167421340943, + 69.94627538919448, + 69.97577981948852, + 70.00295335054398, + 70.03254795074463, + 70.0596283197403, + 70.08194353580475, + 70.10447882413864, + 70.1274299621582, + 70.14408979415893, + 70.16187624931335, + 70.18096616268159, + 70.20358176231385, + 70.22562551498413, + 70.24441020488739, + 70.25932915210724, + 70.28569169044495, + 70.31029176712036, + 70.33195090293884, + 70.35108722448349, + 70.37104334831238, + 70.40294820070267, + 70.42530269622803, + 70.44491225481033, + 70.46375651359558, + 70.47658450603485, + 70.49450085163116, + 70.51512625217438, + 70.53450798988342, + 70.55166764259339, + 70.57121002674103, + 70.58782054185868, + 70.60449481010437, + 70.62178468704224, + 70.64538116455078, + 70.6610111117363, + 70.68199644088745, + 70.70090284347535, + 70.71804141998291, + 70.73997579813003, + 70.76166491508484, + 70.78612376451493, + 70.81402132511138, + 70.84088504314423, + 70.87055168151855, + 70.90500563383102, + 70.93476188182831, + 70.96168086528778, + 70.98515176773071, + 71.0100483417511, + 71.03640780448913, + 71.05892330408096, + 71.08110203742982, + 71.10168570280075, + 71.1350690126419, + 71.16858087778091, + 71.19318833351136, + 71.22100743055344, + 71.25229752063751, + 71.28433256149292, + 71.30739164352417, + 71.33299107551575, + 71.3687974691391, + 71.39627569913864, + 71.435498046875, + 71.47914789915085, + 71.52327086925507, + 71.56817677021027, + 71.63192391395569, + 71.68392897844315, + 71.7507515668869, + 71.84099113941193, + 71.91955304145813, + 72.06988722085953, + 72.29740436077118, + 72.64941691160202, + 73.50347318649293, + 74.43839849233628, + 74.50578736782074, + 74.56680265903474, + 74.60346013188362, + 74.66835722446442, + 74.76408451199532, + 74.85193955421448, + 75.35295803785326, + 75.85356700181961, + 84.02688551187528, + 92.33079797923779, + 101.24016690254211, + 101.24016690254211 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "spearman_rho": 0.9962526864986927, + "worker_service_time_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 63.82746982574463, + 63.82746982574463, + 63.92493312239647, + 64.06386149644851, + 64.26113409757615, + 64.53079591751099, + 64.67386532783509, + 64.76888129115105, + 64.8894479894638, + 64.96433173656463, + 65.04352538585663, + 65.13859939455986, + 65.21461226940156, + 66.16340847015381, + 66.85050959587097, + 67.493039393425, + 67.849141061306, + 68.12691159248352, + 68.3059456706047, + 68.43858327865601, + 68.54641152620316, + 68.63038969039917, + 68.72071390151977, + 68.80180246829987, + 68.86677287817001, + 68.91922354698181, + 68.97205686569214, + 69.01177797317504, + 69.06502404212952, + 69.10255327224732, + 69.13925127983093, + 69.1760745048523, + 69.20698500871659, + 69.23804593086243, + 69.2644897222519, + 69.29399082660674, + 69.32176500558853, + 69.34696702957153, + 69.37006133794785, + 69.39575870037079, + 69.4202886223793, + 69.44288921356201, + 69.46471593379974, + 69.48130025863648, + 69.5000395655632, + 69.51833429336548, + 69.5362491607666, + 69.5574676990509, + 69.57567809820175, + 69.59754242897034, + 69.62273967266083, + 69.63747501373291, + 69.66297578811646, + 69.68167729377747, + 69.70806875228882, + 69.72895283699036, + 69.7458103299141, + 69.76441006660461, + 69.77901536226273, + 69.79512314796447, + 69.81000846624374, + 69.82767796516418, + 69.84250817298889, + 69.86159727573394, + 69.87757424116134, + 69.89953441619873, + 69.919504404068, + 69.9412291765213, + 69.95989866256714, + 69.97936544418334, + 69.99937173128129, + 70.01988303661346, + 70.03974276781082, + 70.06396021842957, + 70.08396409749984, + 70.1135217666626, + 70.13642358779907, + 70.15888624191284, + 70.18657667636872, + 70.21063661575317, + 70.23414570093155, + 70.2652428150177, + 70.28892891407013, + 70.32105104923248, + 70.33835902214051, + 70.36597990989685, + 70.3919090628624, + 70.41169013977051, + 70.4380200624466, + 70.46836476325988, + 70.49924392700196, + 70.51999247074127, + 70.55594639778137, + 70.5849479675293, + 70.6114976644516, + 70.64248011112213, + 70.67629051208496, + 70.72400040626526, + 70.76106050014496, + 70.80091683864593, + 70.84916614294052, + 70.89379096031189, + 70.94596419334411, + 71.01326558589935, + 71.08510189056396, + 71.18451704978942, + 71.31417214870453, + 71.499387383461, + 71.86696890592575, + 72.52735633850098, + 73.49062955379486, + 73.56633122086525, + 73.62575006008149, + 73.70218905806541, + 73.82927883386613, + 73.89994262456894, + 74.03089104652405, + 74.42580151557922, + 74.97561591863632, + 83.3456894540788, + 91.62312696755146, + 100.53900980949402, + 100.53900980949402 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + } + }, + "steady": { + "count": 3892, + "observation_to_action_latency_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 64.21888089179993, + 64.21888089179993, + 64.26729849910735, + 64.46222882843017, + 64.66291616725921, + 64.89447894287109, + 65.04953873825073, + 65.14368352890014, + 65.27354646110534, + 65.32604718589782, + 65.44180738735199, + 65.54967481040954, + 65.60513632774354, + 66.65711528778075, + 67.435560131073, + 68.07530255794525, + 68.4492192029953, + 68.74420424938202, + 68.93682938575745, + 69.10214092254638, + 69.19769524097443, + 69.27595851421356, + 69.38678356647492, + 69.47117605686188, + 69.5328344297409, + 69.58632252216339, + 69.65088012218476, + 69.70318710803986, + 69.74202722549438, + 69.77315920352936, + 69.82142517089844, + 69.85107939243316, + 69.88772933483123, + 69.9112668466568, + 69.94601192474366, + 69.97563450813294, + 70.00201094150543, + 70.0318727684021, + 70.05896360397338, + 70.08169354915618, + 70.10433425903321, + 70.1270259141922, + 70.14405165672302, + 70.16166516304015, + 70.1808714723587, + 70.20343802928925, + 70.22512376308441, + 70.24407590866089, + 70.25929422855377, + 70.28514323234558, + 70.30990863323211, + 70.33184719085693, + 70.3501536655426, + 70.37075836658478, + 70.40146433830262, + 70.42517745494843, + 70.44485967159271, + 70.46351621627808, + 70.47651810169219, + 70.4935804605484, + 70.51407109737396, + 70.53322803974152, + 70.55151409626006, + 70.5701886844635, + 70.58723092556, + 70.60385684967041, + 70.62133185863495, + 70.6435671710968, + 70.660171251297, + 70.68115920066833, + 70.7000481414795, + 70.71734981536865, + 70.73964700698852, + 70.76134051322937, + 70.78443279743195, + 70.81122475147248, + 70.83893203735352, + 70.86912979602813, + 70.90435886859893, + 70.93248003482819, + 70.96037925243378, + 70.9836455821991, + 71.00937434196472, + 71.0327023601532, + 71.05814930438996, + 71.0794553899765, + 71.10040259361267, + 71.13344577789307, + 71.16721335411071, + 71.19253223896027, + 71.22043813228608, + 71.25034034252167, + 71.28195040225982, + 71.3037918806076, + 71.33070304393769, + 71.36692314624786, + 71.39335422515869, + 71.43432743549347, + 71.4773496055603, + 71.52164331912995, + 71.56488280773164, + 71.6233865261078, + 71.67863788127899, + 71.74672186851501, + 71.83145132541657, + 71.9102623796463, + 72.05838644504547, + 72.25901246070862, + 72.62537901878358, + 73.4486136007309, + 74.34915796756744, + 74.44829755020142, + 74.52339792919159, + 74.5730178489685, + 74.61976903152465, + 74.68462880134582, + 74.80154452991485, + 74.93210744476319, + 75.54560989379881, + 76.3117787475587, + 79.51470895004282, + 86.64668917655945, + 86.64668917655945 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "spearman_rho": 0.9962440143954173, + "worker_service_time_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 63.82746982574463, + 63.82746982574463, + 63.924849551200865, + 64.06365878295898, + 64.25989377117158, + 64.53052592849731, + 64.67336368179322, + 64.76854853630066, + 64.88874032402039, + 64.9639313735962, + 65.04222708225251, + 65.13830837059021, + 65.21415251731872, + 66.16300260543824, + 66.84763409614563, + 67.49238602161408, + 67.84865987300873, + 68.12611276626586, + 68.30496686458588, + 68.43773768901825, + 68.54610390186309, + 68.6302877664566, + 68.7196520614624, + 68.8012242269516, + 68.8665434885025, + 68.9189061164856, + 68.97146592140197, + 69.01117464065551, + 69.06471957206726, + 69.10236324310303, + 69.13914971351623, + 69.17492520809174, + 69.20655922412872, + 69.23778124332428, + 69.26441912174225, + 69.29358471870422, + 69.32019448280334, + 69.34652063846588, + 69.3698172712326, + 69.39486378192902, + 69.41827408790589, + 69.44232745170594, + 69.46447602272033, + 69.48072097301483, + 69.49991744995117, + 69.51753581523896, + 69.53571593761444, + 69.55461455821991, + 69.57534356594086, + 69.59614387512207, + 69.62158482074737, + 69.63672277927398, + 69.66229291915893, + 69.68103442192077, + 69.70800340175629, + 69.72816224575043, + 69.7450707912445, + 69.76414365768433, + 69.77862896442413, + 69.79452700138091, + 69.80988729000092, + 69.8276025056839, + 69.84054414749146, + 69.86028493881226, + 69.87702286720275, + 69.89840402126312, + 69.9181250333786, + 69.94080069541931, + 69.95955774307251, + 69.97868758678436, + 69.99920504570008, + 70.01864914894104, + 70.03822797775268, + 70.06183682441711, + 70.08342313289643, + 70.11323342323303, + 70.1355171918869, + 70.15791974544526, + 70.18509419441223, + 70.20979231834411, + 70.23125278472901, + 70.26408920288085, + 70.28767484664917, + 70.31905544281005, + 70.33731842041016, + 70.36446030139923, + 70.38798296451569, + 70.41008462905884, + 70.43654942035676, + 70.46712791919708, + 70.49677614212037, + 70.51846179962158, + 70.55446595668792, + 70.58218722820281, + 70.60933103084564, + 70.64008875370025, + 70.67384169101715, + 70.72326898097992, + 70.75816891670227, + 70.79773238182068, + 70.84490663528443, + 70.89026074409485, + 70.94181303977966, + 71.01094079017639, + 71.08044451713562, + 71.17663326740265, + 71.31091842651367, + 71.48311145305634, + 71.83137361526488, + 72.4928621673584, + 73.34201078414917, + 73.49197626876831, + 73.5695899362564, + 73.6369322757721, + 73.70509721183777, + 73.8460913658142, + 73.91988869094848, + 74.07588002777099, + 74.60754434394833, + 75.38980871009836, + 78.84191055488596, + 85.96448826789856, + 85.96448826789856 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + } + } + } + } +} diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/latency_profile.png b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/latency_profile.png new file mode 100644 index 0000000000000000000000000000000000000000..9391681923c8583792d0d92cd799fc0464b0b68c Binary files /dev/null and b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/latency_profile.png differ diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/profile.json b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/profile.json new file mode 100644 index 0000000000000000000000000000000000000000..4877e60530800330ac998c3f9aa83070a936702d --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/profile/profile.json @@ -0,0 +1,66 @@ +{ + "burst_model_path": "latency_burst_model.json", + "distribution_path": "latency_distribution.json", + "env_fps": 10, + "frame_ms": 100.0, + "gpu_class": "1x-rtx3090", + "instance_id": "instance_859cf1e47bca6046", + "latency_kind": "observation_to_action_latency", + "latency_method": "temporal", + "model_id": "qwenoft", + "n_admitted_observations": 3895, + "n_capacity_drops": 0, + "n_observation_attempts": 3895, + "per_slot_summary": { + "0": { + "admitted_count": 3895, + "mean_observation_to_action_latency_ms": 70.49593999162413, + "mean_worker_service_time_ms": 69.79960327613645, + "p95_observation_to_action_latency_ms": 72.06934230327606, + "p95_worker_service_time_ms": 71.31323595046997, + "p99_worker_service_time_ms": 73.49043211936952 + } + }, + "provenance": { + "base_config": "/workspace/tasks/20260912T092949Z-walker2d/profile.yaml", + "checkpoint_kind": "best", + "model_artifact": { + "checkpoint": "checkpoints/steps_5000_pytorch_model.pt", + "model_config": "config.full.yaml", + "path_in_repo": "OpenVLA/zero-latency/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k", + "repo_id": "latency-sensitive-bench/extra-envs-checkpoints", + "source": "local" + }, + "session_ids": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + "sample_model_type": "hidden_regime", + "source_run_id": "20260912T093545326611Z", + "summary": { + "frame_ms": 100.0, + "max_ms": 101.24016690254211, + "mean_effective_frames": 0.7049593999162412, + "mean_ms": 70.49593999162413, + "min_ms": 64.21888089179993, + "n_samples": 3895, + "p50_frames": 0.7053450798988342, + "p50_ms": 70.53450798988342, + "p90_frames": 0.7163049759864808, + "p90_ms": 71.63049759864808, + "p95_frames": 0.7206934230327606, + "p95_ms": 72.06934230327606, + "p99_frames": 0.7443600579738617, + "p99_ms": 74.43600579738617, + "prob_latency_gt_1_frame": 0.00025673940949935817, + "prob_latency_gt_2_frames": 0.0, + "prob_latency_gt_3_frames": 0.0, + "std_ms": 1.483596848515007 + }, + "visualization_path": "latency_profile.png", + "workload_id": "walker2d" +} diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/provenance.json b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..01971aee32d2e0f569bdb7beda56d23e724d1b49 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/provenance.json @@ -0,0 +1,34 @@ +{ + "task": "walker2d", + "model": "qwenoft", + "training_condition": "latency-aware", + "training_run_id": "walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k", + "source": { + "repo_id": "latency-sensitive-bench/Standard-Pipeline", + "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", + "path": "walker2d/profile_latency/OpenVLA", + "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/OpenVLA" + }, + "hf_repo_id": "latency-sensitive-bench/benchmark-models", + "hf_path": "latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k", + "checkpoint": { + "source_file": "walker2d/profile_latency/OpenVLA/checkpoints/steps_5000_pytorch_model.pt", + "source_sha256": "cbd8a14cfa3fe1a97b6d131294e0264e43e0267943189f776b4191922ee4559d", + "source_bytes": 9785142689, + "file": "checkpoints/model.pt", + "selection_rule": "only published VLA checkpoint", + "method": "copy", + "sha256": "cbd8a14cfa3fe1a97b6d131294e0264e43e0267943189f776b4191922ee4559d", + "bytes": 9785142689 + }, + "config_source": "walker2d/profile_latency/OpenVLA/config.full.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 +} diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/source/config.yaml b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/source/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..de220b0ee72d57420250b87504fd49623810b2e8 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/source/config.yaml @@ -0,0 +1,87 @@ +checkpoint: + local: + keep_last_n: 1 + save_best_model: false + save_final_model: true + save_pt_file: true + save_safetensors_file: false + save_training_state: false + sync: + enabled: false + keep_last_n: 0 + repo_id: null +datasets: + vla_data: + data_mix: walker2d_rgb_state_profile_20260912T092949Z + dataset_py: lerobot_datasets + eval_data_mix: walker2d_rgb_state_profile_20260912T092949Z__val + latency_curriculum: + enabled: false + per_device_batch_size: 16 +framework: + action_model: + action_dim: 6 + action_env_dim: 6 + action_hidden_dim: 2560 + action_horizon: 1 + action_model_type: MLP + loss_type: l1 + state_dim: 17 + state_encoding: continuous_projector + task_objective: null + kv_memory: + enabled: false + packed_train: false + rebased_sink: true + rollout_len: 8 + window: 4 + name: QwenOFT + qwenvl: + attn_implementation: flash_attention_2 + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + enable_gradient_checkpointing: true +output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/vla/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k +rl_games: + env_eval: + enabled: false + task: gymnasium +run_id: walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k +run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/vla +seed: 42 +trainer: + distributed_backend: deepspeed + eval_action_classification: false + eval_action_classification_interval: null + eval_interval: 500 + eval_num_batches: 200 + freeze_llm_layers: [] + freeze_modules: '' + freeze_tied_embedding: false + freeze_vit: false + gradient_accumulation_steps: 1 + is_resume: false + learning_rate: + action_model: 0.0001 + base: 2.0e-05 + qwen_vl_interface: 1.0e-05 + logging_frequency: 1 + lr_scheduler_type: cosine_with_min_lr + max_train_steps: 5000 + num_warmup_steps: 100 + optimizer: + betas: + - 0.9 + - 0.95 + eps: 1.0e-08 + fused: true + weight_decay: 1.0e-08 + per_latency_eval_num_batches: null + pretrained_checkpoint: null + profile_timing: + enabled: true + log_interval: 10 + save_interval: 500 + scheduler_specific_kwargs: + min_lr: 1.0e-06 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/source/provenance.json b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/source/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..01827063664b06956ce0b6b655c51e282dcf8825 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/source/provenance.json @@ -0,0 +1,1044 @@ +{ + "run_id": "20260912T092949Z-walker2d", + "final_step": 5000, + "exit_code": 0, + "checkpoint_name": "steps_5000_pytorch_model.pt", + "checkpoint_size": 9785142689, + "checkpoint_sha256": "cbd8a14cfa3fe1a97b6d131294e0264e43e0267943189f776b4191922ee4559d", + "state_dict_entries": 732, + "state_dict_key_examples": [ + "qwen_vl_interface.model.model.visual.patch_embed.proj.weight", + "qwen_vl_interface.model.model.visual.patch_embed.proj.bias", + "qwen_vl_interface.model.model.visual.pos_embed.weight", + "qwen_vl_interface.model.model.visual.blocks.0.norm1.weight", + "qwen_vl_interface.model.model.visual.blocks.0.norm1.bias" + ], + "checkpoint_content": "model state dict only", + "wandb": { + "state": "finished", + "summary": { + "_runtime": 12916.753093822, + "_step": 5000, + "_timestamp": 1789225672.5963194, + "_wandb.runtime": 12916, + "batch/effective_tokens": 2848, + "batch/image_count": 16, + "batch/input_len_max": 178, + "batch/input_len_mean": 178, + "batch/padding_ratio": 0, + "batch/pixel_values_rows": 4096, + "batch/size": 16, + "epoch": 0.92, + "eval/action_loss/samples": 3200, + "eval/action_loss/seconds": 29.096430673002033, + "eval/latency_1/loss": 0.036322228610515594, + "eval/loss": 0.036322228610515594, + "eval/walker2d_rgb_state/latency_1/loss": 0.036322228610515594, + "eval/walker2d_rgb_state/loss": 0.036322228610515594, + "learning_rate/action_model": 5e-06, + "learning_rate/qwen_vl_interface": 5e-07, + "throughput/effective_tokens_per_sec": 1133.0846952166062, + "throughput/samples_per_sec": 6.365644355149473, + "timing/action_head_loss": 0.0017446179990656674, + "timing/backward": 0.7881747860228643, + "timing/checkpoint_total": 13.579471566015854, + "timing/data": 0.0004350999952293933, + "timing/dataloader_next": 0.0008882379916030914, + "timing/eval_action_loss_total": 29.099037520994894, + "timing/forward": 0.14932741899974644, + "timing/log_metrics_total": 0.006318414001725614, + "timing/lr_scheduler": 8.731201523914933e-05, + "timing/model": 2.513312766997842, + "timing/optimizer_step": 1.5714728670136535, + "timing/qwen_h2d": 0.0032470029836986214, + "timing/qwen_input_build_total": 0.022446599003160372, + "timing/qwen_processor": 0.018632816994795576, + "timing/train_step_total": 2.5134926030004863, + "timing/vlm_forward": 0.12444130500080064, + "train/grad_norm_pre_clip": 7.462423324584961, + "train/loss": 0.02517159841954708 + }, + "url": "https://wandb.ai/dongqianyu99-zhejiang-university/latency-sensitive-bench/runs/vmndk81h", + "exit_code": 0, + "completed_utc": "2026-09-12T15:07:57Z" + }, + "dataset_upload": [ + { + "repo_id": "latency-sensitive-bench/extra-envs-rollouts", + "repo_type": "dataset", + "prefix": "profile-latency-new/walker2d/20260912T092949Z-walker2d/raw", + "commit": "139aa8eb7e854ffe4f54a3d83e069e0fba8357db", + "url": "https://huggingface.co/datasets/latency-sensitive-bench/extra-envs-rollouts/commit/139aa8eb7e854ffe4f54a3d83e069e0fba8357db", + "verified_files": 9, + "bytes": 2138512099, + "verification": "Every file size; Git blob SHA1 for regular files and SHA256 for LFS files" + }, + { + "repo_id": "latency-sensitive-bench/extra-envs-rollouts", + "repo_type": "dataset", + "prefix": "profile-latency-new/walker2d/20260912T092949Z-walker2d/converted", + "commit": "a29d807281c68338b681a3bb6360d4cc8f497c69", + "url": "https://huggingface.co/datasets/latency-sensitive-bench/extra-envs-rollouts/commit/a29d807281c68338b681a3bb6360d4cc8f497c69", + "verified_files": 120, + "bytes": 2136992268, + "verification": "Every file size; Git blob SHA1 for regular files and SHA256 for LFS files" + } + ], + "data_validation": { + "episodes": [ + { + "split": "train", + "episode_idx": 0, + "seed": 9, + "actual_rows": 726, + "actual_return": 3208.9899393320084 + }, + { + "split": "train", + "episode_idx": 2, + "seed": 2, + "actual_rows": 863, + "actual_return": 3862.9185177087784 + }, + { + "split": "train", + "episode_idx": 4, + "seed": 1, + "actual_rows": 1000, + "actual_return": 4582.548987925053 + }, + { + "split": "train", + "episode_idx": 5, + "seed": 3, + "actual_rows": 1000, + "actual_return": 4738.329069197178 + }, + { + "split": "train", + "episode_idx": 6, + "seed": 4, + "actual_rows": 1000, + "actual_return": 4568.033828258514 + }, + { + "split": "train", + "episode_idx": 8, + "seed": 7, + "actual_rows": 1000, + "actual_return": 4388.061577618122 + }, + { + "split": "train", + "episode_idx": 9, + "seed": 8, + "actual_rows": 1000, + "actual_return": 4624.5429965257645 + }, + { + "split": "train", + "episode_idx": 10, + "seed": 10, + "actual_rows": 1000, + "actual_return": 4646.167462468147 + }, + { + "split": "train", + "episode_idx": 11, + "seed": 11, + "actual_rows": 1000, + "actual_return": 4686.4867441654205 + }, + { + "split": "train", + "episode_idx": 12, + "seed": 14, + "actual_rows": 831, + "actual_return": 3838.5751860141754 + }, + { + "split": "train", + "episode_idx": 13, + "seed": 12, + "actual_rows": 1000, + "actual_return": 4480.943344056606 + }, + { + "split": "train", + "episode_idx": 14, + "seed": 13, + "actual_rows": 1000, + "actual_return": 4412.779609620571 + }, + { + "split": "train", + "episode_idx": 15, + "seed": 15, + "actual_rows": 1000, + "actual_return": 4593.643612384796 + }, + { + "split": "train", + "episode_idx": 16, + "seed": 16, + "actual_rows": 1000, + "actual_return": 4670.15686494112 + }, + { + "split": "train", + "episode_idx": 18, + "seed": 18, + "actual_rows": 1000, + "actual_return": 4619.547595500946 + }, + { + "split": "train", + "episode_idx": 19, + "seed": 19, + "actual_rows": 1000, + "actual_return": 4702.1127672195435 + }, + { + "split": "train", + "episode_idx": 20, + "seed": 20, + "actual_rows": 1000, + "actual_return": 4361.072299003601 + }, + { + "split": "train", + "episode_idx": 21, + "seed": 21, + "actual_rows": 1000, + "actual_return": 4649.568623423576 + }, + { + "split": "train", + "episode_idx": 22, + "seed": 22, + "actual_rows": 1000, + "actual_return": 4509.352912843227 + }, + { + "split": "train", + "episode_idx": 23, + "seed": 23, + "actual_rows": 1000, + "actual_return": 4572.384602069855 + }, + { + "split": "train", + "episode_idx": 24, + "seed": 24, + "actual_rows": 1000, + "actual_return": 4632.64072316885 + }, + { + "split": "train", + "episode_idx": 26, + "seed": 27, + "actual_rows": 1000, + "actual_return": 4528.378586828709 + }, + { + "split": "train", + "episode_idx": 27, + "seed": 30, + "actual_rows": 929, + "actual_return": 4166.440938651562 + }, + { + "split": "train", + "episode_idx": 28, + "seed": 28, + "actual_rows": 1000, + "actual_return": 4701.811249375343 + }, + { + "split": "train", + "episode_idx": 30, + "seed": 31, + "actual_rows": 1000, + "actual_return": 4701.488458037376 + }, + { + "split": "train", + "episode_idx": 31, + "seed": 32, + "actual_rows": 1000, + "actual_return": 4556.560275912285 + }, + { + "split": "train", + "episode_idx": 32, + "seed": 33, + "actual_rows": 1000, + "actual_return": 4491.865241408348 + }, + { + "split": "train", + "episode_idx": 33, + "seed": 34, + "actual_rows": 1000, + "actual_return": 4547.573637366295 + }, + { + "split": "train", + "episode_idx": 34, + "seed": 35, + "actual_rows": 1000, + "actual_return": 4567.3020188212395 + }, + { + "split": "train", + "episode_idx": 35, + "seed": 36, + "actual_rows": 768, + "actual_return": 3382.415802717209 + }, + { + "split": "train", + "episode_idx": 36, + "seed": 37, + "actual_rows": 1000, + "actual_return": 4489.921771645546 + }, + { + "split": "train", + "episode_idx": 37, + "seed": 38, + "actual_rows": 1000, + "actual_return": 4609.555367290974 + }, + { + "split": "train", + "episode_idx": 38, + "seed": 39, + "actual_rows": 1000, + "actual_return": 4564.513348519802 + }, + { + "split": "train", + "episode_idx": 39, + "seed": 40, + "actual_rows": 1000, + "actual_return": 4644.1978949308395 + }, + { + "split": "train", + "episode_idx": 40, + "seed": 42, + "actual_rows": 1000, + "actual_return": 4527.426118969917 + }, + { + "split": "train", + "episode_idx": 41, + "seed": 43, + "actual_rows": 1000, + "actual_return": 4609.569993317127 + }, + { + "split": "train", + "episode_idx": 42, + "seed": 44, + "actual_rows": 1000, + "actual_return": 4618.82773822546 + }, + { + "split": "train", + "episode_idx": 43, + "seed": 45, + "actual_rows": 1000, + "actual_return": 4585.388746500015 + }, + { + "split": "train", + "episode_idx": 44, + "seed": 46, + "actual_rows": 1000, + "actual_return": 4524.564453125 + }, + { + "split": "train", + "episode_idx": 45, + "seed": 47, + "actual_rows": 1000, + "actual_return": 4480.179334104061 + }, + { + "split": "train", + "episode_idx": 46, + "seed": 48, + "actual_rows": 1000, + "actual_return": 4740.075881540775 + }, + { + "split": "train", + "episode_idx": 48, + "seed": 50, + "actual_rows": 971, + "actual_return": 4310.374913454056 + }, + { + "split": "train", + "episode_idx": 49, + "seed": 51, + "actual_rows": 1000, + "actual_return": 4453.313854634762 + }, + { + "split": "train", + "episode_idx": 50, + "seed": 53, + "actual_rows": 882, + "actual_return": 4043.457126915455 + }, + { + "split": "train", + "episode_idx": 51, + "seed": 57, + "actual_rows": 862, + "actual_return": 3862.672888338566 + }, + { + "split": "train", + "episode_idx": 52, + "seed": 54, + "actual_rows": 885, + "actual_return": 3997.717103123665 + }, + { + "split": "train", + "episode_idx": 53, + "seed": 52, + "actual_rows": 1000, + "actual_return": 4650.883183002472 + }, + { + "split": "train", + "episode_idx": 54, + "seed": 55, + "actual_rows": 1000, + "actual_return": 4628.249386608601 + }, + { + "split": "train", + "episode_idx": 55, + "seed": 56, + "actual_rows": 1000, + "actual_return": 4352.901657938957 + }, + { + "split": "train", + "episode_idx": 56, + "seed": 58, + "actual_rows": 1000, + "actual_return": 4398.224647581577 + }, + { + "split": "train", + "episode_idx": 57, + "seed": 59, + "actual_rows": 1000, + "actual_return": 4583.017430663109 + }, + { + "split": "train", + "episode_idx": 59, + "seed": 61, + "actual_rows": 1000, + "actual_return": 4559.465924978256 + }, + { + "split": "train", + "episode_idx": 60, + "seed": 63, + "actual_rows": 1000, + "actual_return": 4380.1740090847015 + }, + { + "split": "train", + "episode_idx": 61, + "seed": 64, + "actual_rows": 1000, + "actual_return": 4435.523238182068 + }, + { + "split": "train", + "episode_idx": 62, + "seed": 65, + "actual_rows": 1000, + "actual_return": 4367.5251343250275 + }, + { + "split": "train", + "episode_idx": 63, + "seed": 67, + "actual_rows": 963, + "actual_return": 4345.349503159523 + }, + { + "split": "train", + "episode_idx": 64, + "seed": 66, + "actual_rows": 1000, + "actual_return": 4513.539445400238 + }, + { + "split": "train", + "episode_idx": 65, + "seed": 73, + "actual_rows": 773, + "actual_return": 3490.61042958498 + }, + { + "split": "train", + "episode_idx": 66, + "seed": 68, + "actual_rows": 1000, + "actual_return": 4431.87359136343 + }, + { + "split": "train", + "episode_idx": 67, + "seed": 69, + "actual_rows": 1000, + "actual_return": 4721.685309708118 + }, + { + "split": "train", + "episode_idx": 68, + "seed": 71, + "actual_rows": 1000, + "actual_return": 4518.990444839001 + }, + { + "split": "train", + "episode_idx": 69, + "seed": 72, + "actual_rows": 1000, + "actual_return": 4513.488130092621 + }, + { + "split": "train", + "episode_idx": 70, + "seed": 76, + "actual_rows": 831, + "actual_return": 3717.469878733158 + }, + { + "split": "train", + "episode_idx": 71, + "seed": 75, + "actual_rows": 1000, + "actual_return": 4569.386827468872 + }, + { + "split": "train", + "episode_idx": 72, + "seed": 77, + "actual_rows": 1000, + "actual_return": 4395.308935403824 + }, + { + "split": "train", + "episode_idx": 73, + "seed": 78, + "actual_rows": 1000, + "actual_return": 4632.641280531883 + }, + { + "split": "train", + "episode_idx": 74, + "seed": 79, + "actual_rows": 1000, + "actual_return": 4591.099643826485 + }, + { + "split": "train", + "episode_idx": 75, + "seed": 80, + "actual_rows": 1000, + "actual_return": 4460.989606976509 + }, + { + "split": "train", + "episode_idx": 76, + "seed": 81, + "actual_rows": 1000, + "actual_return": 4685.384257674217 + }, + { + "split": "train", + "episode_idx": 78, + "seed": 83, + "actual_rows": 1000, + "actual_return": 4467.1219418644905 + }, + { + "split": "train", + "episode_idx": 79, + "seed": 84, + "actual_rows": 1000, + "actual_return": 4601.587870895863 + }, + { + "split": "train", + "episode_idx": 80, + "seed": 85, + "actual_rows": 1000, + "actual_return": 4236.5026268959045 + }, + { + "split": "train", + "episode_idx": 82, + "seed": 88, + "actual_rows": 871, + "actual_return": 3978.1818378567696 + }, + { + "split": "train", + "episode_idx": 83, + "seed": 97, + "actual_rows": 710, + "actual_return": 3069.413112640381 + }, + { + "split": "train", + "episode_idx": 84, + "seed": 89, + "actual_rows": 1000, + "actual_return": 4578.044221043587 + }, + { + "split": "train", + "episode_idx": 85, + "seed": 90, + "actual_rows": 1000, + "actual_return": 4596.4438044428825 + }, + { + "split": "train", + "episode_idx": 86, + "seed": 91, + "actual_rows": 1000, + "actual_return": 4548.513531446457 + }, + { + "split": "train", + "episode_idx": 87, + "seed": 92, + "actual_rows": 1000, + "actual_return": 4794.796605825424 + }, + { + "split": "train", + "episode_idx": 88, + "seed": 93, + "actual_rows": 1000, + "actual_return": 4620.774623036385 + }, + { + "split": "train", + "episode_idx": 89, + "seed": 94, + "actual_rows": 1000, + "actual_return": 4547.734396517277 + }, + { + "split": "train", + "episode_idx": 90, + "seed": 95, + "actual_rows": 1000, + "actual_return": 4530.390145301819 + }, + { + "split": "train", + "episode_idx": 91, + "seed": 96, + "actual_rows": 1000, + "actual_return": 4481.2135281562805 + }, + { + "split": "train", + "episode_idx": 92, + "seed": 98, + "actual_rows": 1000, + "actual_return": 4478.202645242214 + }, + { + "split": "train", + "episode_idx": 93, + "seed": 100, + "actual_rows": 730, + "actual_return": 3204.760389685631 + }, + { + "split": "train", + "episode_idx": 94, + "seed": 99, + "actual_rows": 1000, + "actual_return": 4270.546193242073 + }, + { + "split": "train", + "episode_idx": 95, + "seed": 101, + "actual_rows": 889, + "actual_return": 3995.776729762554 + }, + { + "split": "train", + "episode_idx": 96, + "seed": 106, + "actual_rows": 716, + "actual_return": 3150.100844144821 + }, + { + "split": "train", + "episode_idx": 97, + "seed": 102, + "actual_rows": 1000, + "actual_return": 4725.3805629611015 + }, + { + "split": "train", + "episode_idx": 98, + "seed": 107, + "actual_rows": 852, + "actual_return": 3911.3024450540543 + }, + { + "split": "train", + "episode_idx": 99, + "seed": 104, + "actual_rows": 1000, + "actual_return": 4545.101168990135 + }, + { + "split": "val", + "episode_idx": 1, + "seed": 0, + "actual_rows": 766, + "actual_return": 3383.400418162346 + }, + { + "split": "val", + "episode_idx": 3, + "seed": 5, + "actual_rows": 912, + "actual_return": 4112.48240852356 + }, + { + "split": "val", + "episode_idx": 7, + "seed": 6, + "actual_rows": 1000, + "actual_return": 4603.241932570934 + }, + { + "split": "val", + "episode_idx": 17, + "seed": 17, + "actual_rows": 1000, + "actual_return": 4604.767876505852 + }, + { + "split": "val", + "episode_idx": 25, + "seed": 25, + "actual_rows": 1000, + "actual_return": 4709.377348542213 + }, + { + "split": "val", + "episode_idx": 29, + "seed": 29, + "actual_rows": 1000, + "actual_return": 4720.668054103851 + }, + { + "split": "val", + "episode_idx": 47, + "seed": 49, + "actual_rows": 1000, + "actual_return": 4667.626155257225 + }, + { + "split": "val", + "episode_idx": 58, + "seed": 60, + "actual_rows": 1000, + "actual_return": 4442.80164206028 + }, + { + "split": "val", + "episode_idx": 77, + "seed": 82, + "actual_rows": 1000, + "actual_return": 4616.909422039986 + }, + { + "split": "val", + "episode_idx": 81, + "seed": 87, + "actual_rows": 1000, + "actual_return": 4557.967975914478 + } + ], + "total_episodes": 100, + "total_rows": 96730, + "pass_gate_count": 100, + "mean_return": 4397.493643630147, + "minimum_return": 3069.413112640381, + "probe_train_rows": 87052, + "probe_val_rows": 9678, + "actual_train_rows": 87052, + "actual_val_rows": 9678, + "per_episode_seed_split_length_match": true, + "per_episode_probe_replay_match": false, + "exact_return_matches": 99, + "return_discrepancies": [ + { + "episode_idx": 99, + "seed": 104, + "probe_return": 4545.101155161858, + "actual_return": 4545.101168990135, + "delta": 1.3828277587890625e-05 + } + ] + }, + "code_provenance": { + "root_revision": "86df5ecef6735d5d824944e7acdee5bf204e1545", + "task_code_archive_sha256": "b0a0ca72b5c6eb65c16e5d5d70f59cad540260a27cb3a71109910326b940e135", + "iid_patch_sha256": "ceae6068634e4df2a553d8aee2cb70f7ef0640265330c65f75b9462b449010d0", + "sf_teacher_runtime_sha256": "2e4ba33a1c406bf3fa9b122f1cc66c13f1b0d7a96c89ec142e0428f184b4646d", + "sample_factory_revision": "4b7277842b17804fb928097a9689d889bd2f5cdc", + "starvla_revision": "f364fdf080434aea14bb2a19931e017f0af32d87", + "note": "Task code extracted from pinned root plus tracked IID runtime fix; archive runtime git metadata is unavailable." + }, + "gate_revision": { + "original_threshold": 3000, + "effective_threshold": 3000, + "changed": false, + "reason": "12/12 bounded original exporter attempts pass source threshold", + "probe": { + "status": "diagnostic_budget_reached", + "attempts": 12, + "completed_reset_seeds": [ + 9, + 0, + 2, + 5, + 1, + 3, + 4, + 6, + 7, + 8, + 10, + 11 + ], + "accepted_original_gate": 12, + "min_return": 3208.9899393320084, + "max_return": 4738.329069197178, + "mean_return": 4283.766990204652, + "gate": "episode_raw_return > 3000", + "original_dataset_target": 100, + "checkpoint": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/checkpoint_p0/best_000013520_6922240_reward_4348.151.pth", + "deterministic": true, + "env_fps": 10, + "obs_fps": 10, + "latency_semantics": "action-delay IID exporter, no worker occupancy replay", + "note": "Intentional 12-attempt diagnostic cap; no dataset materialized; not exporter failure" + } + }, + "normalization_source": "new Walker2d converted dataset and actual VLA training dataset_statistics.json", + "data_acceptance_decision": { + "decision": "accept_existing_materialized_dataset", + "basis": "All100strict>3000, exactseed/split/length,99exactreturns; one explicitly recorded numerical discrepancy. No gate or data change, no generic tolerance.", + "discrepancies": [ + { + "episode_idx": 99, + "seed": 104, + "probe_return": 4545.101155161858, + "actual_return": 4545.101168990135, + "delta": 1.3828277587890625e-05 + } + ], + "diagnostic": "batch_precision_diagnostic.json", + "causal_limit": "Batch-sensitive float32 forward verified; sole causal origin of return delta not proven.", + "initial_audit": "materialized_data_validation.initial_failed.json", + "original_exact_audit_script": "validate_materialized_data.py preserved unchanged" + }, + "batch_precision_diagnostic": { + "status": "bounded_forward_diagnostic", + "observation_source": "materialized ep99 seed104 saved float32 state", + "checkpoint": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/checkpoint_p0/best_000013520_6922240_reward_4348.151.pth", + "dtype": "float32", + "same_observation_repeated_batch_sizes": [ + 1, + 8, + 12 + ], + "results": [ + { + "step": 0, + "outputs": { + "1": [ + 4.379815101623535, + 1.601994514465332, + 1.099876880645752, + 1.424455165863037, + 1.4305202960968018, + 3.825317621231079 + ], + "8": [ + 4.379815101623535, + 1.601994514465332, + 1.0998765230178833, + 1.4244552850723267, + 1.4305202960968018, + 3.8253173828125 + ], + "12": [ + 4.379815101623535, + 1.601994514465332, + 1.0998765230178833, + 1.4244552850723267, + 1.4305202960968018, + 3.8253173828125 + ] + }, + "max_abs_1_vs_8": 3.5762786865234375e-07, + "max_abs_1_vs_12": 3.5762786865234375e-07 + }, + { + "step": 100, + "outputs": { + "1": [ + 2.1918554306030273, + 1.4689583778381348, + 1.5206661224365234, + 2.4722344875335693, + 1.8111798763275146, + 1.4706746339797974 + ], + "8": [ + 2.1918554306030273, + 1.4689583778381348, + 1.520666241645813, + 2.4722342491149902, + 1.8111798763275146, + 1.4706745147705078 + ], + "12": [ + 2.1918554306030273, + 1.4689583778381348, + 1.520666241645813, + 2.4722342491149902, + 1.8111798763275146, + 1.4706745147705078 + ] + }, + "max_abs_1_vs_8": 2.384185791015625e-07, + "max_abs_1_vs_12": 2.384185791015625e-07 + }, + { + "step": 500, + "outputs": { + "1": [ + 1.8575940132141113, + 1.4386999607086182, + 0.056306030601263046, + 1.852372407913208, + 0.3193018138408661, + -2.692965269088745 + ], + "8": [ + 1.8575941324234009, + 1.4387001991271973, + 0.05630632862448692, + 1.852372407913208, + 0.3193017840385437, + -2.692965030670166 + ], + "12": [ + 1.8575941324234009, + 1.4387001991271973, + 0.05630632862448692, + 1.852372407913208, + 0.3193017840385437, + -2.692965030670166 + ] + }, + "max_abs_1_vs_8": 2.980232238769531e-07, + "max_abs_1_vs_12": 2.980232238769531e-07 + }, + { + "step": 900, + "outputs": { + "1": [ + 1.5531995296478271, + 2.0711185932159424, + 0.9206967353820801, + 1.7364460229873657, + 0.7038085460662842, + -1.3887172937393188 + ], + "8": [ + 1.5531994104385376, + 2.0711183547973633, + 0.9206965565681458, + 1.7364461421966553, + 0.7038084268569946, + -1.3887172937393188 + ], + "12": [ + 1.5531994104385376, + 2.0711183547973633, + 0.9206965565681458, + 1.7364461421966553, + 0.7038084268569946, + -1.3887172937393188 + ] + }, + "max_abs_1_vs_8": 2.384185791015625e-07, + "max_abs_1_vs_12": 2.384185791015625e-07 + }, + { + "step": 999, + "outputs": { + "1": [ + 2.3437061309814453, + 1.84669828414917, + 0.36980900168418884, + 2.2871274948120117, + 2.5438475608825684, + 2.275155782699585 + ], + "8": [ + 2.3437061309814453, + 1.846698522567749, + 0.3698088228702545, + 2.2871272563934326, + 2.5438473224639893, + 2.275155782699585 + ], + "12": [ + 2.3437061309814453, + 1.846698522567749, + 0.3698088228702545, + 2.2871272563934326, + 2.5438473224639893, + 2.275155782699585 + ] + }, + "max_abs_1_vs_8": 2.384185791015625e-07, + "max_abs_1_vs_12": 2.384185791015625e-07 + } + ], + "interpretation_limit": "Demonstrates batch-size-sensitive forward arithmetic; does not reconstruct original probe actions or prove exact sole origin of return difference." + } +} diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/task_contract.json b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..ea8394829420a6bf88a4a33390aa64124c51b104 --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_profile_20260912T092949Z_openvla_native_continuous_projector_sft_5k/task_contract.json @@ -0,0 +1,80 @@ +{ + "action_space": { + "dtype": "float32", + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "type": "box" + }, + "base_prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot.", + "env_fps": 10.0, + "env_id": "LatencyBench/Walker2dContinuous-v0", + "frame_stack": 1, + "make_kwargs": { + "base_env_id": "Walker2d-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, + 0.0, + 0.0, + 0.0 + ], + "obs_fps": 10.0, + "registration_imports": [ + "latency_bench.envs.gymnasium_walker2d" + ], + "state_space": { + "labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ] + }, + "task_name": "walker2d_rgb_state" +} diff --git a/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/checkpoints/model.pt b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..9e1a72b37abfb7e72949dc5942aaaaa4a37d275a --- /dev/null +++ b/archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:248d8959f1c4b4045b64fd0c4f7a8e086606eea5827f263b04ef703e26b4cd84 +size 10922653853 diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/README.md b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/README.md new file mode 100644 index 0000000000000000000000000000000000000000..4dcc65309326fa76935b8c614a2fbdbd10382c58 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/README.md @@ -0,0 +1,31 @@ +# ant / qwengr00t + +Training condition: `zero-latency`. Run: `ant_l0_gr00t_h1_5fps_2h100_20260917`. + +Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/zero_latency/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`. + +- Checkpoint: `checkpoints/model.pt` +- Selection: only published VLA checkpoint +- Checkpoint SHA256: `ca07c97e015f096866fcbcdd2deda0c37429f2b3cd56f127df0d31c6f09a676d` +- Configuration, FPS, actions, normalization and latency semantics retain their source values. +- This import does not run evaluations or change training/evaluation/acceptance status. + +Action horizon is 1. Use `config.yaml` and `dataset_statistics.json` with the matching +prepared backbone. `task_contract.json` is extracted from the original training configuration. +Original machine paths in historical configurations are provenance: bind checkpoint, +backbone, manifest and profile paths to downloaded local files when running inference. + +See [the original model notes](source/README.md) for experiment results and limitations. + +[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence. + +## Download + +```python +from huggingface_hub import snapshot_download +prefix = "zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917" +snapshot_download("latency-sensitive-bench/benchmark-models", revision="", + allow_patterns=[prefix + "/**"]) +``` + +Use the verified import commit listed in the repository's import report. diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..775636877c071fa1e9456bfd5d77c2010bd7233e --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca07c97e015f096866fcbcdd2deda0c37429f2b3cd56f127df0d31c6f09a676d +size 9976888611 diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml new file mode 100644 index 0000000000000000000000000000000000000000..270468c287d3bb9af9e3d02bc66f58781149e882 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml @@ -0,0 +1,276 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: ${oc.env:GR00T_BACKBONE_DIR} + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: true + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 8 + state_dim: 27 + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 8 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + num_inference_timesteps: 4 + num_target_vision_tokens: 32 + diffusion_model_cfg: + cross_attention_dim: 2560 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + num_layers: 16 + output_dim: 1024 + positional_embeddings: null + action_env_dim: 8 + future_action_window_size: 0 + past_action_window_size: 0 +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: / + data_mix: train + eval_data_mix: validation + custom_mixtures_path: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/vla/mixture.json + 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: 8 + 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 + - 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 + active_action_dim: 8 +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: 4 + 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: ant_l0_gr00t_h1_5fps_2h100_20260917 +run_root_dir: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/vla/training +seed: 42 +is_debug: false +version_id: '0.21' +wandb_project: latency-sensitive-bench +wandb_entity: dongqianyu99-zhejiang-university +wandb_name: ant_l0_gr00t_h1_5fps_2h100_20260917 +wandb_group: gr00t-six-env-h1-5fps +wandb_tags: +- ant +- zero_latency +- GR00T +- h1 +training_latency_condition: zero_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: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/train.yaml +output_dir: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/vla/training/ant_l0_gr00t_h1_5fps_2h100_20260917 diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/config.yaml b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f3c43e6ec38ae5a8bdbe6f19bcc3ed21f16236c9 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/config.yaml @@ -0,0 +1,153 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: ${oc.env:GR00T_BACKBONE_DIR} + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: true + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 8 + state_dim: 27 + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 8 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + num_inference_timesteps: 4 + num_target_vision_tokens: 32 + diffusion_model_cfg: + cross_attention_dim: 2560 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + num_layers: 16 + output_dim: 1024 + positional_embeddings: null + action_env_dim: 8 + future_action_window_size: 0 + past_action_window_size: 0 +version_id: '0.21' +datasets: + vla_data: + include_state: true + obs_image_size: + - 224 + - 224 + image_mode: single + stitch_grid: + - 2 + - 2 + num_obs_frames: 1 + gymnasium_task_contract: &id001 + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - back_right_hip_torque + - back_right_ankle_torque + - front_left_hip_torque + - front_left_ankle_torque + - front_right_hip_torque + - front_right_ankle_torque + - back_left_hip_torque + - back_left_ankle_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Make the Ant move forward as fast as possible without falling. + Predict eight continuous torques in [-1, 1] ordered as back right hip, back + right ankle, front left hip, front left ankle, front right hip, front right + ankle, back left hip, and back left ankle. + env_fps: 5 + env_id: LatencyBench/AntContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Ant-v4 + base_make_kwargs: + exclude_current_positions_from_observation: true + use_contact_forces: false + render_mode: rgb_array + noop_action: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 5 + registration_imports: + - latency_bench.envs.gymnasium_ant + state_space: + labels: + - torso_z + - torso_quaternion_w + - torso_quaternion_x + - torso_quaternion_y + - torso_quaternion_z + - front_left_hip_angle + - front_left_ankle_angle + - front_right_hip_angle + - front_right_ankle_angle + - back_left_hip_angle + - back_left_ankle_angle + - back_right_hip_angle + - back_right_ankle_angle + - torso_x_velocity + - torso_y_velocity + - torso_z_velocity + - torso_angular_velocity_x + - torso_angular_velocity_y + - torso_angular_velocity_z + - front_left_hip_angular_velocity + - front_left_ankle_angular_velocity + - front_right_hip_angular_velocity + - front_right_ankle_angular_velocity + - back_left_hip_angular_velocity + - back_left_ankle_angular_velocity + - back_right_hip_angular_velocity + - back_right_ankle_angular_velocity + task_name: ant_rgb_state +trainer: + pretrained_checkpoint: null + profile_timing: + enabled: false + log_interval: 10 +backbone: + repo_id: Qwen/Qwen3-VL-4B-Instruct + revision: ebb281ec70b05090aa6165b016eac8ec08e71b17 +rl_games: + model_alias: gr00t + task: gymnasium + action_carrier: native + gymnasium: + task_contract: *id001 + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..3074e19fd56d652e5a6b81314145ebefa9e65b45 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json @@ -0,0 +1,254 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + -0.03656141459941864, + -0.16550613939762115, + 0.18887071311473846, + -0.004122395534068346, + 0.03730413317680359, + 0.09448814392089844, + -0.14885656535625458, + 0.2171657234430313 + ], + "std": [ + 0.4842921197414398, + 0.22161637246608734, + 0.0848119705915451, + 0.33777111768722534, + 0.45368334650993347, + 0.2770565152168274, + 0.0935245156288147, + 0.06358784437179565 + ], + "max": [ + 1.0, + 0.7023885250091553, + 0.6639809608459473, + 1.0, + 1.0, + 1.0, + 0.5630767345428467, + 0.9283157587051392 + ], + "min": [ + -1.0, + -0.9767110347747803, + -0.3297919034957886, + -1.0, + -1.0, + -0.6373035907745361, + -0.48489540815353394, + -0.28269878029823303 + ], + "q01": [ + -1.0, + -0.734713603258133, + -0.03512073278427124, + -0.6640916466712952, + -0.5488050997257232, + -0.4981469285488129, + -0.40309138000011446, + 0.06771258533000946 + ], + "q99": [ + 0.7157868254184722, + 0.3883554035425186, + 0.3502952879667278, + 0.5751529181003571, + 1.0, + 0.9389003753662108, + 0.16060270160436624, + 0.3693104177713393 + ], + "mask": [ + true, + true, + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + -0.07958624511957169, + 0.6841545104980469, + 0.16966119408607483, + -0.5256079435348511, + -0.08397570997476578, + 0.7958686947822571, + 0.3502548635005951, + -0.2245209515094757, + -0.018949545919895172, + -0.907891571521759, + -0.1315949410200119, + 0.22553229331970215, + 0.09540312737226486, + 0.44836318492889404, + 0.2470049411058426, + -0.023664185777306557, + 0.026426371186971664, + -0.1358683705329895, + 0.07364743947982788, + -0.530260443687439, + -0.0896705612540245, + -0.19775259494781494, + 0.2128465473651886, + -0.3405790328979492, + 0.493976354598999, + 0.07158602029085159, + -0.26652446389198303 + ], + "std": [ + 0.3051334321498871, + 0.1561397910118103, + 0.15895697474479675, + 0.13448108732700348, + 0.16743925213813782, + 0.06709971278905827, + 0.42394179105758667, + 0.6668136715888977, + 0.16407325863838196, + 0.27486652135849, + 0.03396189212799072, + 0.6346082091331482, + 0.08954211324453354, + 0.27463236451148987, + 0.2307654172182083, + 0.3576478958129883, + 0.26703864336013794, + 0.18396101891994476, + 0.15542936325073242, + 0.05540744960308075, + 0.28965696692466736, + 0.41782358288764954, + 0.2426420897245407, + 0.059844065457582474, + 0.040262136608362024, + 0.37556391954421997, + 0.14204612374305725 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.6023993992805481, + -0.09165281057357788, + -0.1228819215297699, + -0.7495908308029174, + -0.6559990763664245, + 0.7621261501312255, + -0.19945931673049927, + -0.9546231579780579, + -0.5129871213436127, + -0.962187807559967, + -0.13299310684204102, + -0.9427727055549622, + 0.007253949642181397, + -0.7357981204986572, + -0.36011235117912294, + -0.6664286732673645, + -0.7246021103858947, + -0.5476038992404938, + -0.3931001007556915, + -0.5933341610431672, + -0.6876844489574433, + -0.8061472058296204, + -0.3700627064704895, + -0.5637061572074891, + 0.494249541759491, + -0.9025396072864532, + -0.7827391695976257 + ], + "q99": [ + 0.6034701013565059, + 0.8310730481147762, + 0.5771272230148305, + -0.3184222841262819, + 0.4574386692047104, + 0.8127033305168151, + 0.955214467048645, + 0.9396584320068359, + 0.115974040031433, + 0.8998763751983642, + -0.1317441499233246, + 0.8821646189689636, + 0.4128280687332153, + 0.8785866713523863, + 0.7300990509986875, + 0.7411579036712644, + 0.5200711154937744, + 0.3255563378334045, + 0.5217600369453427, + -0.5080652594566346, + 0.5390171360969541, + 0.8904233813285826, + 0.7639644861221313, + -0.27990607976913473, + 0.4958560585975647, + 0.6485408163070674, + 0.0610072660446167 + ] + }, + "num_transitions": 88667, + "num_trajectories": 90 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/config.yaml b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dee34b1a336e3268a2af95ec8a268a6d7932fa8e --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/config.yaml @@ -0,0 +1,190 @@ +experiment: + name: gr00t_ant_zero + 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 + inference_batch_size: 1 + simulated_inference_pool: true + simulated_worker_capacity: 1 +env: + name: gymnasium + task_name: ant + env_id: LatencyBench/AntContinuous-v0 + registration_imports: + - latency_bench.envs.gymnasium_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: zero + sync_cuda: false +scheduler: + hold_policy: hold + ordering_policy: issue_order_fifo +policy: + type: starvla + checkpoint_path: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt + model_config_path: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/config.yaml + backbone_path: /mnt/ant/lzj/latency-sensitive-bench/models/Qwen3-VL-4B-Instruct + device: cuda:0 + task_manifest_path: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/manifest.json + latency_prompt_map_path: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/latency_prompt_map.json + 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: 20 + eval_parallel_envs: 1 + eval_max_steps: 1000 + eval_deterministic: true + eval_latency_values: null +logging: + output_dir: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20 + 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/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/episode_metrics.jsonl b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76352e2105ee0a370a90a2f26056080216a03970 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/episode_metrics.jsonl @@ -0,0 +1,20 @@ +{"episode_id": 0, "episode_return": 6078.757318398879, "episode_return_env": 6078.757318398879, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 42, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 1, "episode_return": 6239.587802841108, "episode_return_env": 6239.587802841108, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 43, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 2, "episode_return": 6186.588741289055, "episode_return_env": 6186.588741289055, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 44, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 3, "episode_return": 6411.707138638104, "episode_return_env": 6411.707138638104, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 45, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 4, "episode_return": 6424.013422597254, "episode_return_env": 6424.013422597254, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 46, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 5, "episode_return": 6382.1938936108045, "episode_return_env": 6382.1938936108045, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 47, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 6, "episode_return": 6470.375480132934, "episode_return_env": 6470.375480132934, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 48, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 7, "episode_return": 6303.337963528924, "episode_return_env": 6303.337963528924, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 49, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 8, "episode_return": 6142.183339632129, "episode_return_env": 6142.183339632129, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 50, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 9, "episode_return": 6222.816094687569, "episode_return_env": 6222.816094687569, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 51, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 10, "episode_return": 6169.222793059305, "episode_return_env": 6169.222793059305, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 52, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 11, "episode_return": 6058.8632473583675, "episode_return_env": 6058.8632473583675, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 53, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 12, "episode_return": 6219.57533484306, "episode_return_env": 6219.57533484306, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 54, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 13, "episode_return": 6377.415154784045, "episode_return_env": 6377.415154784045, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 55, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 14, "episode_return": 6205.273527850029, "episode_return_env": 6205.273527850029, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 56, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 15, "episode_return": 6112.204410544666, "episode_return_env": 6112.204410544666, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 57, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 16, "episode_return": 6048.150800598399, "episode_return_env": 6048.150800598399, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 58, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 17, "episode_return": 6295.392950621552, "episode_return_env": 6295.392950621552, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 59, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 18, "episode_return": 6040.352327131771, "episode_return_env": 6040.352327131771, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 60, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 19, "episode_return": 6064.02653622431, "episode_return_env": 6064.02653622431, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_ant_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 61, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_ant_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/verification.json b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/verification.json new file mode 100644 index 0000000000000000000000000000000000000000..ed26a7cc059f6d691e60cb6018495bd897fe47ff --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/evaluation/l0_sim20/verification.json @@ -0,0 +1,95 @@ +{ + "task": "ant", + "state": "L0_SIM20_COMPLETED_AND_VERIFIED", + "verified_at": "2026-09-17T15:01:41.223248+00:00", + "evaluation_finished_at": "2026-09-17T14:40:00.468345+00:00", + "episodes": 20, + "seeds": [ + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61 + ], + "env_fps": 5, + "obs_fps": 5, + "latency": "zero", + "mode": "simulated", + "max_raw_steps": 1000, + "returns": [ + 6078.757318398879, + 6239.587802841108, + 6186.588741289055, + 6411.707138638104, + 6424.013422597254, + 6382.1938936108045, + 6470.375480132934, + 6303.337963528924, + 6142.183339632129, + 6222.816094687569, + 6169.222793059305, + 6058.8632473583675, + 6219.57533484306, + 6377.415154784045, + 6205.273527850029, + 6112.204410544666, + 6048.150800598399, + 6295.392950621552, + 6040.352327131771, + 6064.02653622431 + ], + "mean_return": 6222.601913918613, + "population_std_return": 133.91557274427223, + "lengths": [ + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000 + ], + "mean_length": 1000, + "total_raw_steps": 20000, + "raw_step_rewards_match_episode_returns": true, + "raw_step_indices_contiguous": true, + "dropped_actions": 0, + "dropped_observations": 0, + "invalid_actions": 0, + "action_events": 20000, + "all_action_latencies_zero": true, + "training_steps": 5000, + "global_batch": 64, + "checkpoint_sha256": "ca07c97e015f096866fcbcdd2deda0c37429f2b3cd56f127df0d31c6f09a676d", + "command_semantics": "Generic adapter applied_action may be preclip; native environment clipping unchanged. No preclip-bound assertion was imposed.", + "remaining": "RTX3090 P/B, actual-profile teacher/data/profile-VLA, F; not yet complete", + "acceptance": "Full pipeline acceptance not established" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/latency_prompt_map.json b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..4dd92de4df2bca737f40d7ee7693906d8c1e3649 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/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/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/manifest.json b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..c9d649da59a5866fc38bf341d38cc2b3ef24667f --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/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. Choose the best next action." + ], + "format": "lerobot_v2_image_parquet", + "source": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/data/raw_5fps", + "integration_name": "gymnasium", + "task_name": "ant_rgb_state", + "action_layout": "gymnasium_continuous_v1", + "action_labels": [ + "back_right_hip_torque", + "back_right_ankle_torque", + "front_left_hip_torque", + "front_left_ankle_torque", + "front_right_hip_torque", + "front_right_ankle_torque", + "back_left_hip_torque", + "back_left_ankle_torque" + ], + "carrier_action_labels": [ + "back_right_hip_torque", + "back_right_ankle_torque", + "front_left_hip_torque", + "front_left_ankle_torque", + "front_right_hip_torque", + "front_right_ankle_torque", + "back_left_hip_torque", + "back_left_ankle_torque" + ], + "action_dim": 8, + "active_action_dim": 8, + "action_carrier": "native", + "rows_unit": "decision_step", + "obs_fps": 5, + "obs_stride_raw_frames": 1, + "uses_state": true, + "state_dim": 27, + "state_labels": [ + "torso_z", + "torso_quaternion_w", + "torso_quaternion_x", + "torso_quaternion_y", + "torso_quaternion_z", + "front_left_hip_angle", + "front_left_ankle_angle", + "front_right_hip_angle", + "front_right_ankle_angle", + "back_left_hip_angle", + "back_left_ankle_angle", + "back_right_hip_angle", + "back_right_ankle_angle", + "torso_x_velocity", + "torso_y_velocity", + "torso_z_velocity", + "torso_angular_velocity_x", + "torso_angular_velocity_y", + "torso_angular_velocity_z", + "front_left_hip_angular_velocity", + "front_left_ankle_angular_velocity", + "front_right_hip_angular_velocity", + "front_right_ankle_angular_velocity", + "back_left_hip_angular_velocity", + "back_left_ankle_angular_velocity", + "back_right_hip_angular_velocity", + "back_right_ankle_angular_velocity" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.2513357102870941, + -0.2551392912864685, + -0.4495558738708496, + -0.3950803279876709, + -0.9860153794288635, + -0.09783654659986496, + -0.09917011857032776, + -0.6142277121543884, + -1.2411584854125977, + -0.5460586547851562, + -0.9968047142028809, + -0.6842840313911438, + -0.09473074972629547, + -1.2371809482574463, + -4.737597465515137, + -3.242194652557373, + -6.5933308601379395, + -5.108468055725098, + -4.8114848136901855, + -2.429616689682007, + -12.177474975585938, + -11.042780876159668, + -10.003838539123535, + -3.6977765560150146, + -8.9439115524292, + -16.420881271362305, + -6.640158176422119 + ], + "max": [ + 0.9988346099853516, + 1.098469853401184, + 0.46408092975616455, + 0.9506500363349915, + 0.27009117603302, + 0.5934460759162903, + 1.313640832901001, + 0.6726003289222717, + 0.09998779743909836, + 0.5802838802337646, + 0.09576962888240814, + 0.6675700545310974, + 1.0646162033081055, + 8.128241539001465, + 3.185396432876587, + 3.4153003692626953, + 6.306693077087402, + 6.7251129150390625, + 4.034663677215576, + 7.938767910003662, + 14.703964233398438, + 16.424497604370117, + 6.501785755157471, + 7.488413333892822, + 3.0213799476623535, + 14.399764060974121, + 11.524134635925293 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/data/lerobot/ant_h1_5fps_l0/latency_prompt_map.json", + "custom_mixtures_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/data/lerobot/_generated_mixtures/ant_h1_5fps_l0.json", + "gymnasium_task": { + "action_space": { + "dtype": "float32", + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "labels": [ + "back_right_hip_torque", + "back_right_ankle_torque", + "front_left_hip_torque", + "front_left_ankle_torque", + "front_right_hip_torque", + "front_right_ankle_torque", + "back_left_hip_torque", + "back_left_ankle_torque" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "type": "box" + }, + "base_prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle.", + "env_fps": 5, + "env_id": "LatencyBench/AntContinuous-v0", + "frame_stack": 1, + "make_kwargs": { + "base_env_id": "Ant-v4", + "base_make_kwargs": { + "exclude_current_positions_from_observation": true, + "use_contact_forces": false + }, + "render_mode": "rgb_array" + }, + "noop_action": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "obs_fps": 5, + "registration_imports": [ + "latency_bench.envs.gymnasium_ant" + ], + "state_space": { + "labels": [ + "torso_z", + "torso_quaternion_w", + "torso_quaternion_x", + "torso_quaternion_y", + "torso_quaternion_z", + "front_left_hip_angle", + "front_left_ankle_angle", + "front_right_hip_angle", + "front_right_ankle_angle", + "back_left_hip_angle", + "back_left_ankle_angle", + "back_right_hip_angle", + "back_right_ankle_angle", + "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" + }, + "validation_dataset_name": "ant_h1_5fps_l0__val", + "validation_episodes": 10, + "validation_frames": 10000 +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/provenance.json b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..e7bfe133c604bb3d3272e4b25d61f8e25e7f9096 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/provenance.json @@ -0,0 +1,34 @@ +{ + "task": "ant", + "model": "qwengr00t", + "training_condition": "zero-latency", + "training_run_id": "ant_l0_gr00t_h1_5fps_2h100_20260917", + "source": { + "repo_id": "latency-sensitive-bench/Standard-Pipeline", + "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", + "path": "ant/zero_latency/GR00T", + "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/zero_latency/GR00T" + }, + "hf_repo_id": "latency-sensitive-bench/benchmark-models", + "hf_path": "zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917", + "checkpoint": { + "source_file": "ant/zero_latency/GR00T/checkpoints/model.pt", + "source_sha256": "ca07c97e015f096866fcbcdd2deda0c37429f2b3cd56f127df0d31c6f09a676d", + "source_bytes": 9976888611, + "file": "checkpoints/model.pt", + "selection_rule": "only published VLA checkpoint", + "method": "copy", + "sha256": "ca07c97e015f096866fcbcdd2deda0c37429f2b3cd56f127df0d31c6f09a676d", + "bytes": 9976888611 + }, + "config_source": "ant/zero_latency/GR00T/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 +} diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/README.md b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/README.md new file mode 100644 index 0000000000000000000000000000000000000000..729ba6fc6971b99ef8b15594d483cbb375da4e8a --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/README.md @@ -0,0 +1,7 @@ +# ant: GR00T H1, 5 FPS + +Fresh zero-latency training completed5000 updates. Final checkpoint SHA256: `ca07c97e015f096866fcbcdd2deda0c37429f2b3cd56f127df0d31c6f09a676d`. + +L0 simulated zero-latency evaluation is now complete and audited:20episodes, seeds42–61,5FPS, cap1000rawsteps. Return mean 6222.601914, population SD 133.915573; mean length 1000.00. Dropped actions 0, dropped observations 0, invalid actions 0. Raw step rewards and lengths match episode metrics. + +See `evaluation/l0_sim20/verification.json` and `episode_metrics.jsonl` for final evidence. Earlier training/load receipts remain historical snapshots. P/B and subsequent profile pipeline/F are pending; full pipeline acceptance is not established. Set GR00T_BACKBONE_DIR to Qwen/Qwen3-VL-4B-Instruct revision ebb281ec70b05090aa6165b016eac8ec08e71b17 before inference. diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/provenance.json b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..afdbbb58af5222e568dcaf95eec88d3bed1b92bb --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/source/provenance.json @@ -0,0 +1,64 @@ +{ + "task": "ant", + "backbone": { + "repo_id": "Qwen/Qwen3-VL-4B-Instruct", + "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17" + }, + "checkpoint": "steps_5000_pytorch_model.pt", + "training_steps": 5000, + "seed": 42, + "global_batch": 64, + "training_run_id": "ant_l0_gr00t_h1_5fps_2h100_20260917", + "condition": "zero_latency", + "source": { + "archive_sha256": "9e70e8dec7d4d50c340856985f67ec7210b847f57d99ecc5ef6797cf36eec3a4", + "root_revision": "1681edb8d9e4f7d10b7dfa647670e01e0d5cce37", + "sample_factory_revision": "4b11d8754ffc989cdd15a340cfc9be0277377d5b", + "starvla_revision": "1d0d7b139d1725cab268cb9dae2007ef4c5d05d2", + "raw_data": { + "source_repo": "latency-sensitive-bench/Standard-Pipeline", + "source_revision": "571cb5801720488ed6458b9cfe3f4c595b069cea", + "source_prefix": "ant/zero_latency/shared/source_100ep_v1/demonstrations/raw", + "source_sha256": { + "metadata.json": "38b57378b57f29b0e46b382028c668d41e46aa6bfa26b3be80d52076ed8088f2", + "train.parquet": "71cac4cc435848149fbb36a8e8556cff0b427710b9da23c5787027ac78b7aee7", + "val.parquet": "366c0ea90936df4a5acfa63539d3c9cd3e97600ee5f5509e9e2353bc00028dc8" + }, + "frames": { + "train": 88667, + "val": 10000 + }, + "episodes": { + "train": 90, + "val": 10 + }, + "returns": { + "train": { + "min": 3381.6484221816063, + "mean": 6034.110553084079 + }, + "val": { + "min": 4556.533279210329, + "mean": 6108.133759802952 + } + }, + "image_size": [ + 224, + 224 + ], + "state_dim": 27, + "action_dim": 8, + "action_horizon": 1, + "fps": 5, + "zero_latency": true, + "all_source_returns_gt3000": true, + "all_nonprompt_columns_unchanged": true, + "normalization": "train-only min_max; same transform in validation", + "train_config": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/train.yaml", + "smoke_config": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/smoke.yaml", + "dataset": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/zero_latency/data/lerobot/ant_h1_5fps_l0" + } + }, + "training_config_sha256": "17827ab8735992a5d74aa8c3a03941de53cf2fcd3f68e4b7e683f8431548bda9", + "dataset_manifest_sha256": "53fa43eb7e0cfeddbcebe8f28226d097b7aea5e449862da0fc9a3cde85bead9d" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/task_contract.json b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..98183976f6ae00530ace625b0b767aef6b7bff14 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/task_contract.json @@ -0,0 +1,94 @@ +{ + "action_space": { + "dtype": "float32", + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "labels": [ + "back_right_hip_torque", + "back_right_ankle_torque", + "front_left_hip_torque", + "front_left_ankle_torque", + "front_right_hip_torque", + "front_right_ankle_torque", + "back_left_hip_torque", + "back_left_ankle_torque" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "type": "box" + }, + "base_prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle.", + "env_fps": 5, + "env_id": "LatencyBench/AntContinuous-v0", + "frame_stack": 1, + "make_kwargs": { + "base_env_id": "Ant-v4", + "base_make_kwargs": { + "exclude_current_positions_from_observation": true, + "use_contact_forces": false + }, + "render_mode": "rgb_array" + }, + "noop_action": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "obs_fps": 5, + "registration_imports": [ + "latency_bench.envs.gymnasium_ant" + ], + "state_space": { + "labels": [ + "torso_z", + "torso_quaternion_w", + "torso_quaternion_x", + "torso_quaternion_y", + "torso_quaternion_z", + "front_left_hip_angle", + "front_left_ankle_angle", + "front_right_hip_angle", + "front_right_ankle_angle", + "back_left_hip_angle", + "back_left_ankle_angle", + "back_right_hip_angle", + "back_right_ankle_angle", + "torso_x_velocity", + "torso_y_velocity", + "torso_z_velocity", + "torso_angular_velocity_x", + "torso_angular_velocity_y", + "torso_angular_velocity_z", + "front_left_hip_angular_velocity", + "front_left_ankle_angular_velocity", + "front_right_hip_angular_velocity", + "front_right_ankle_angular_velocity", + "back_left_hip_angular_velocity", + "back_left_ankle_angular_velocity", + "back_right_hip_angular_velocity", + "back_right_ankle_angular_velocity" + ] + }, + "task_name": "ant_rgb_state" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/training_verification.json b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/training_verification.json new file mode 100644 index 0000000000000000000000000000000000000000..e641c7bb1d725fbc2005fa12bfef3dca210c6c12 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwengr00t-h1/ant_l0_gr00t_h1_5fps_2h100_20260917/training_verification.json @@ -0,0 +1,27 @@ +{ + "training": "COMPLETED", + "training_steps": 5000, + "training_exit_code": 0, + "training_finished_at": "2026-09-17T14:08:04.165075+00:00", + "seed": 42, + "global_batch": 64, + "hardware": "2xH10080GB; microbatch8 x accumulation4 x2", + "action_horizon": 1, + "state_dim": 27, + "action_dim": 8, + "env_fps": 5, + "obs_fps": 5, + "local_bundle_checksums_verified": true, + "checkpoint_sha256": "ca07c97e015f096866fcbcdd2deda0c37429f2b3cd56f127df0d31c6f09a676d", + "load_evidence": { + "as_of_utc": "2026-09-17T14:18:41Z", + "stage": "L0sim20", + "state": "RUNNING", + "episodes_observed_completed": 6, + "evaluation_process_pid": 48143, + "meaning": "Saved final bundle loaded and executed; full20 results not yet audited." + }, + "acceptance": "NOT_ESTABLISHED", + "F_evaluation": "NOT_STARTED", + "publication_scope": "Inference bundle only; excludes optimizer states and partial episode metrics." +} diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/README.md b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d43e2dd617cdc2c529b2fd79cb28014fba5d37d5 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/README.md @@ -0,0 +1,30 @@ +# ant / qwenoft + +Training condition: `zero-latency`. Run: `ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k`. + +Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/zero_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`. + +- Checkpoint: `checkpoints/model.pt` +- Selection: only published VLA checkpoint +- Checkpoint SHA256: `feada37b7bdcebab8bf4f9dc3307cac39f6e65913b1c96e681fa438c7188fc7d` +- 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. + +Missing in this source model bundle: `manifest.json`, `latency_prompt_map.json`. +These files were not substituted with files from another training condition. + +## Download + +```python +from huggingface_hub import snapshot_download +prefix = "zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k" +snapshot_download("latency-sensitive-bench/benchmark-models", revision="", + allow_patterns=[prefix + "/**"]) +``` + +Use the verified import commit listed in the repository's import report. diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/checkpoints/model.pt b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..6c1b07623d3fd27c9b11150398586412ce992803 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:feada37b7bdcebab8bf4f9dc3307cac39f6e65913b1c96e681fa438c7188fc7d +size 9785070315 diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.full.yaml b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.full.yaml new file mode 100644 index 0000000000000000000000000000000000000000..896e594fe03cba20185b6d237e4ca540a5d9ac77 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.full.yaml @@ -0,0 +1,423 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: true + action_model: + action_model_type: MLP + action_dim: 8 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_dim: 27 + action_horizon: 1 + action_env_dim: 8 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + data_mix: ant_rgb_state_l0_return_gt3000_100ep + eval_data_mix: ant_rgb_state_l0_return_gt3000_100ep__val + custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/ant_rgb_state_l0_return_gt3000_100ep.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + 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: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + gymnasium_task_contract: + 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: 20.0 + 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: 20.0 + 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 + active_action_dim: 8 +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: ant_rgb_state_l0_return_gt3000_100ep + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: ant_rgb_state_l0_return_gt3000_100ep + mixed_converted_name: ant_rgb_state_l0_return_gt3000_100ep + 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: StarVLA/Qwen3-VL-4B-Instruct-Action +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: true + 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 +workspace_dir: WORKSPACE_DIR +run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs + dataset_local_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: null + mode: single + values: + - 0 + task: gymnasium + gymnasium: + task_contract: + 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: 20.0 + 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: 20.0 + 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 + task_name: ant_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k +output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k +config_yaml: null +is_debug: false +version_id: '0.21' diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.yaml b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..896e594fe03cba20185b6d237e4ca540a5d9ac77 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.yaml @@ -0,0 +1,423 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: true + action_model: + action_model_type: MLP + action_dim: 8 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_dim: 27 + action_horizon: 1 + action_env_dim: 8 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + data_mix: ant_rgb_state_l0_return_gt3000_100ep + eval_data_mix: ant_rgb_state_l0_return_gt3000_100ep__val + custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/ant_rgb_state_l0_return_gt3000_100ep.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + 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: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + gymnasium_task_contract: + 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: 20.0 + 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: 20.0 + 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 + active_action_dim: 8 +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: ant_rgb_state_l0_return_gt3000_100ep + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: ant_rgb_state_l0_return_gt3000_100ep + mixed_converted_name: ant_rgb_state_l0_return_gt3000_100ep + 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: StarVLA/Qwen3-VL-4B-Instruct-Action +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: true + 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 +workspace_dir: WORKSPACE_DIR +run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs + dataset_local_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: null + mode: single + values: + - 0 + task: gymnasium + gymnasium: + task_contract: + 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: 20.0 + 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: 20.0 + 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 + task_name: ant_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k +output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k +config_yaml: null +is_debug: false +version_id: '0.21' diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/dataset_statistics.json b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..3074e19fd56d652e5a6b81314145ebefa9e65b45 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/dataset_statistics.json @@ -0,0 +1,254 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + -0.03656141459941864, + -0.16550613939762115, + 0.18887071311473846, + -0.004122395534068346, + 0.03730413317680359, + 0.09448814392089844, + -0.14885656535625458, + 0.2171657234430313 + ], + "std": [ + 0.4842921197414398, + 0.22161637246608734, + 0.0848119705915451, + 0.33777111768722534, + 0.45368334650993347, + 0.2770565152168274, + 0.0935245156288147, + 0.06358784437179565 + ], + "max": [ + 1.0, + 0.7023885250091553, + 0.6639809608459473, + 1.0, + 1.0, + 1.0, + 0.5630767345428467, + 0.9283157587051392 + ], + "min": [ + -1.0, + -0.9767110347747803, + -0.3297919034957886, + -1.0, + -1.0, + -0.6373035907745361, + -0.48489540815353394, + -0.28269878029823303 + ], + "q01": [ + -1.0, + -0.734713603258133, + -0.03512073278427124, + -0.6640916466712952, + -0.5488050997257232, + -0.4981469285488129, + -0.40309138000011446, + 0.06771258533000946 + ], + "q99": [ + 0.7157868254184722, + 0.3883554035425186, + 0.3502952879667278, + 0.5751529181003571, + 1.0, + 0.9389003753662108, + 0.16060270160436624, + 0.3693104177713393 + ], + "mask": [ + true, + true, + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + -0.07958624511957169, + 0.6841545104980469, + 0.16966119408607483, + -0.5256079435348511, + -0.08397570997476578, + 0.7958686947822571, + 0.3502548635005951, + -0.2245209515094757, + -0.018949545919895172, + -0.907891571521759, + -0.1315949410200119, + 0.22553229331970215, + 0.09540312737226486, + 0.44836318492889404, + 0.2470049411058426, + -0.023664185777306557, + 0.026426371186971664, + -0.1358683705329895, + 0.07364743947982788, + -0.530260443687439, + -0.0896705612540245, + -0.19775259494781494, + 0.2128465473651886, + -0.3405790328979492, + 0.493976354598999, + 0.07158602029085159, + -0.26652446389198303 + ], + "std": [ + 0.3051334321498871, + 0.1561397910118103, + 0.15895697474479675, + 0.13448108732700348, + 0.16743925213813782, + 0.06709971278905827, + 0.42394179105758667, + 0.6668136715888977, + 0.16407325863838196, + 0.27486652135849, + 0.03396189212799072, + 0.6346082091331482, + 0.08954211324453354, + 0.27463236451148987, + 0.2307654172182083, + 0.3576478958129883, + 0.26703864336013794, + 0.18396101891994476, + 0.15542936325073242, + 0.05540744960308075, + 0.28965696692466736, + 0.41782358288764954, + 0.2426420897245407, + 0.059844065457582474, + 0.040262136608362024, + 0.37556391954421997, + 0.14204612374305725 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.6023993992805481, + -0.09165281057357788, + -0.1228819215297699, + -0.7495908308029174, + -0.6559990763664245, + 0.7621261501312255, + -0.19945931673049927, + -0.9546231579780579, + -0.5129871213436127, + -0.962187807559967, + -0.13299310684204102, + -0.9427727055549622, + 0.007253949642181397, + -0.7357981204986572, + -0.36011235117912294, + -0.6664286732673645, + -0.7246021103858947, + -0.5476038992404938, + -0.3931001007556915, + -0.5933341610431672, + -0.6876844489574433, + -0.8061472058296204, + -0.3700627064704895, + -0.5637061572074891, + 0.494249541759491, + -0.9025396072864532, + -0.7827391695976257 + ], + "q99": [ + 0.6034701013565059, + 0.8310730481147762, + 0.5771272230148305, + -0.3184222841262819, + 0.4574386692047104, + 0.8127033305168151, + 0.955214467048645, + 0.9396584320068359, + 0.115974040031433, + 0.8998763751983642, + -0.1317441499233246, + 0.8821646189689636, + 0.4128280687332153, + 0.8785866713523863, + 0.7300990509986875, + 0.7411579036712644, + 0.5200711154937744, + 0.3255563378334045, + 0.5217600369453427, + -0.5080652594566346, + 0.5390171360969541, + 0.8904233813285826, + 0.7639644861221313, + -0.27990607976913473, + 0.4958560585975647, + 0.6485408163070674, + 0.0610072660446167 + ] + }, + "num_transitions": 88667, + "num_trajectories": 90 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/dataset_statistics_eval.json b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/dataset_statistics_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..0219a9c5e9344f45bc2cb9aa8234c0238dad0832 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/dataset_statistics_eval.json @@ -0,0 +1,254 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + -0.04144608601927757, + -0.16341252624988556, + 0.1868334710597992, + -0.0008470795582979918, + 0.03868911787867546, + 0.09268244355916977, + -0.1413772851228714, + 0.2196047604084015 + ], + "std": [ + 0.47800788283348083, + 0.21733123064041138, + 0.0835559219121933, + 0.33268341422080994, + 0.4497186243534088, + 0.2752974331378937, + 0.11134668439626694, + 0.06099126487970352 + ], + "max": [ + 1.0, + 0.7297028303146362, + 0.6055619120597839, + 0.8432652354240417, + 1.0, + 1.0, + 0.4965376555919647, + 0.9099451303482056 + ], + "min": [ + -1.0, + -0.9530890583992004, + -0.22590351104736328, + -1.0, + -0.8407889604568481, + -0.6302902698516846, + -0.4834528863430023, + -0.11676596105098724 + ], + "q01": [ + -1.0, + -0.7309897738695145, + -0.0344077680259943, + -0.6510146379470825, + -0.5285869961977004, + -0.4995869529247284, + -0.4066523087024689, + 0.08657929785549641 + ], + "q99": [ + 0.6277508914470673, + 0.38340769886970527, + 0.3382756942510605, + 0.578504003286362, + 1.0, + 0.9384783124923708, + 0.25099000364542007, + 0.3627689862251282 + ], + "mask": [ + true, + true, + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + -0.10016511380672455, + 0.6544771194458008, + 0.18407773971557617, + -0.48515552282333374, + -0.04969922453165054, + 0.7966201901435852, + 0.36633479595184326, + -0.24340710043907166, + -0.009304343722760677, + -0.8723260760307312, + -0.13135217130184174, + 0.20720310509204865, + 0.0938146635890007, + 0.4430519938468933, + 0.2579987645149231, + -0.023677624762058258, + 0.02555866166949272, + -0.1350892335176468, + 0.07490832358598709, + -0.530344545841217, + -0.08954358100891113, + -0.19916220009326935, + 0.21314047276973724, + -0.3403165340423584, + 0.49391689896583557, + 0.07241381704807281, + -0.26640763878822327 + ], + "std": [ + 0.3293628692626953, + 0.28542912006378174, + 0.149693563580513, + 0.26959681510925293, + 0.191012442111969, + 0.061802633106708076, + 0.4271075427532196, + 0.6627815961837769, + 0.14625729620456696, + 0.37859517335891724, + 0.030923321843147278, + 0.6421130299568176, + 0.08712726086378098, + 0.3006508946418762, + 0.23430445790290833, + 0.35460808873176575, + 0.2617722153663635, + 0.18437924981117249, + 0.14708182215690613, + 0.053878434002399445, + 0.28739267587661743, + 0.41429993510246277, + 0.23952056467533112, + 0.05936211720108986, + 0.0384132005274294, + 0.3710521161556244, + 0.1393996626138687 + ], + "max": [ + 0.8626270294189453, + 0.9426523447036743, + 0.767615795135498, + 1.0, + 0.8686254024505615, + 0.9540940523147583, + 0.9975134134292603, + 0.9937765598297119, + 0.9961996078491211, + 0.9878047704696655, + 0.9175624847412109, + 0.9437696933746338, + 0.8561279773712158, + 0.9942137002944946, + 0.9354984760284424, + 0.9058949947357178, + 0.8310933113098145, + 0.8128317594528198, + 0.7707819938659668, + 0.9303960800170898, + 0.9438918828964233, + 0.9758621454238892, + 0.9324582815170288, + 0.8937220573425293, + 0.8900433778762817, + 0.9190036058425903, + 0.9762070178985596 + ], + "min": [ + -1.0, + -1.0, + -0.44373977184295654, + -0.8850418329238892, + -0.7173498272895813, + -0.8381017446517944, + -0.984750509262085, + -0.992498517036438, + -0.6376073360443115, + -0.9881143569946289, + -0.3028690814971924, + -0.9930989742279053, + -0.984972357749939, + -0.9127707481384277, + -0.6368786096572876, + -0.839228093624115, + -0.883863627910614, + -0.9355376958847046, + -0.7754939794540405, + -0.8367476463317871, + -0.9445501565933228, + -0.9802631735801697, + -1.0, + -0.9182752370834351, + -0.8424897193908691, + -0.9905150532722473, + -0.9809198379516602 + ], + "q01": [ + -0.9776817560195923, + -1.0, + -0.07528695285320282, + -0.7466354942321777, + -0.4496955364942551, + 0.7701255798339843, + -0.1984261852502823, + -0.9515194922685624, + -0.41498802840709687, + -0.9621596932411194, + -0.13287808895111083, + -0.9394807279109955, + 0.008233814239501957, + -0.7357981204986572, + -0.35012191116809843, + -0.6531385189294815, + -0.7192451030015945, + -0.5495341616868973, + -0.3758325374126434, + -0.5881761085987091, + -0.6815551078319549, + -0.8014870256185531, + -0.367435919046402, + -0.5503150326013565, + 0.49429380416870117, + -0.8999151611328124, + -0.7792805224657059 + ], + "q99": [ + 0.5668265390396119, + 0.8264350163936617, + 0.5718034744262696, + 0.935824242830277, + 0.7190091609954834, + 0.8129329240322113, + 0.9550413799285888, + 0.9441552114486694, + 0.11530431747436524, + 0.900772694349289, + -0.13178526520729064, + 0.8801288747787476, + 0.38561201214790364, + 0.8778584837913513, + 0.7351909816265108, + 0.7363031661510469, + 0.5130975496768952, + 0.3174389600753785, + 0.49390061736106877, + -0.5114121574163436, + 0.5393694925308228, + 0.8897302508354187, + 0.7552158069610596, + -0.29507032096385943, + 0.49579280614852905, + 0.6442925953865052, + 0.061047265529632626 + ] + }, + "num_transitions": 10000, + "num_trajectories": 10 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/provenance.json b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..d66714b91f931044578d214a903ce74028647f18 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/provenance.json @@ -0,0 +1,37 @@ +{ + "task": "ant", + "model": "qwenoft", + "training_condition": "zero-latency", + "training_run_id": "ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k", + "source": { + "repo_id": "latency-sensitive-bench/Standard-Pipeline", + "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", + "path": "ant/zero_latency/OpenVLA", + "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/zero_latency/OpenVLA" + }, + "hf_repo_id": "latency-sensitive-bench/benchmark-models", + "hf_path": "zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k", + "checkpoint": { + "source_file": "ant/zero_latency/OpenVLA/checkpoints/steps_5000_pytorch_model.pt", + "source_sha256": "feada37b7bdcebab8bf4f9dc3307cac39f6e65913b1c96e681fa438c7188fc7d", + "source_bytes": 9785070315, + "file": "checkpoints/model.pt", + "selection_rule": "only published VLA checkpoint", + "method": "copy", + "sha256": "feada37b7bdcebab8bf4f9dc3307cac39f6e65913b1c96e681fa438c7188fc7d", + "bytes": 9785070315 + }, + "config_source": "ant/zero_latency/OpenVLA/config.full.yaml", + "task_contract_file": "task_contract.json", + "missing_source_files": [ + "manifest.json", + "latency_prompt_map.json" + ], + "migration": { + "operation": "copy_selected_inference_bundle", + "source_modified": false, + "evaluation_performed": false, + "experiment_status": "preserved_in_source_evidence" + }, + "action_horizon": 1 +} diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/source/config.yaml b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/source/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5d53e95dca066798a7e4593a68c7a0445796bd30 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/source/config.yaml @@ -0,0 +1,84 @@ +checkpoint: + local: + keep_last_n: 1 + save_best_model: false + save_final_model: true + save_pt_file: true + save_safetensors_file: false + save_training_state: false + sync: + enabled: false + keep_last_n: 0 + repo_id: null +datasets: + vla_data: + data_mix: ant_rgb_state_l0_return_gt3000_100ep + dataset_py: lerobot_datasets + eval_data_mix: ant_rgb_state_l0_return_gt3000_100ep__val + latency_curriculum: + enabled: false + per_device_batch_size: 16 +framework: + action_model: + action_dim: 8 + action_env_dim: 8 + action_hidden_dim: 2560 + action_horizon: 1 + action_model_type: MLP + loss_type: l1 + kv_memory: + enabled: false + packed_train: false + rebased_sink: true + rollout_len: 8 + window: 4 + name: QwenOFT + qwenvl: + attn_implementation: flash_attention_2 + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + enable_gradient_checkpointing: true +output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k +rl_games: + env_eval: + enabled: false + task: gymnasium +run_id: ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k +run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs +seed: 42 +trainer: + distributed_backend: deepspeed + eval_action_classification: false + eval_action_classification_interval: null + eval_interval: 500 + eval_num_batches: 200 + freeze_llm_layers: [] + freeze_modules: '' + freeze_tied_embedding: false + freeze_vit: false + gradient_accumulation_steps: 1 + is_resume: false + learning_rate: + action_model: 0.0001 + base: 2.0e-05 + qwen_vl_interface: 1.0e-05 + logging_frequency: 1 + lr_scheduler_type: cosine_with_min_lr + max_train_steps: 5000 + num_warmup_steps: 100 + optimizer: + betas: + - 0.9 + - 0.95 + eps: 1.0e-08 + fused: true + weight_decay: 1.0e-08 + per_latency_eval_num_batches: null + pretrained_checkpoint: null + profile_timing: + enabled: true + log_interval: 10 + save_interval: 500 + scheduler_specific_kwargs: + min_lr: 1.0e-06 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench diff --git a/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/task_contract.json b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..65225d1ead571b01d39a80b3560de83e0392d299 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/task_contract.json @@ -0,0 +1,94 @@ +{ + "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": 20.0, + "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": 20.0, + "registration_imports": [ + "latency_bench.envs.gymnasium_ant" + ], + "state_space": { + "labels": [ + "torso_z", + "torso_quaternion_w", + "torso_quaternion_x", + "torso_quaternion_y", + "torso_quaternion_z", + "front_left_hip_angle", + "front_left_ankle_angle", + "front_right_hip_angle", + "front_right_ankle_angle", + "back_left_hip_angle", + "back_left_ankle_angle", + "back_right_hip_angle", + "back_right_ankle_angle", + "torso_x_velocity", + "torso_y_velocity", + "torso_z_velocity", + "torso_angular_velocity_x", + "torso_angular_velocity_y", + "torso_angular_velocity_z", + "front_left_hip_angular_velocity", + "front_left_ankle_angular_velocity", + "front_right_hip_angular_velocity", + "front_right_ankle_angular_velocity", + "back_left_hip_angular_velocity", + "back_left_ankle_angular_velocity", + "back_right_hip_angular_velocity", + "back_right_ankle_angular_velocity" + ] + }, + "task_name": "ant_rgb_state" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/README.md b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/README.md new file mode 100644 index 0000000000000000000000000000000000000000..12491fe3f8927bf3a4c1e97707a1a2d7483efb10 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/README.md @@ -0,0 +1,29 @@ +# hopper / qwengr00t + +Training condition: `zero-latency`. Run: `hopper_l0_gr00t_h1_5fps_2h100_20260917`. + +Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/zero_latency/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`. + +- Checkpoint: `checkpoints/model.pt` +- Selection: only published VLA checkpoint +- Checkpoint SHA256: `5ec4a5fbdfb7fac819a51b523f3735c6702b90a2440a2957c5cc699941ffbf1e` +- 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. + +[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence. + +## Download + +```python +from huggingface_hub import snapshot_download +prefix = "zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917" +snapshot_download("latency-sensitive-bench/benchmark-models", revision="", + allow_patterns=[prefix + "/**"]) +``` + +Use the verified import commit listed in the repository's import report. diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..002327b3f2358861cc481e2292581962c8620131 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ec4a5fbdfb7fac819a51b523f3735c6702b90a2440a2957c5cc699941ffbf1e +size 9976837923 diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e017b840e09447506759e455f724e6e4a016b315 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml @@ -0,0 +1,242 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: ${oc.env:GR00T_BACKBONE_DIR} + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: true + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 3 + state_dim: 11 + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 8 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + num_inference_timesteps: 4 + num_target_vision_tokens: 32 + diffusion_model_cfg: + cross_attention_dim: 2560 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + num_layers: 16 + output_dim: 1024 + positional_embeddings: null + action_env_dim: 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: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/vla/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: 8 + 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 + env_id: LatencyBench/HopperRgbState-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 + registration_imports: + - latency_bench.envs.gymnasium_hopper_rgb_state + 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_rgb_state + 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: 4 + 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_l0_gr00t_h1_5fps_2h100_20260917 +run_root_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/vla/training +seed: 42 +is_debug: false +version_id: '0.21' +wandb_project: latency-sensitive-bench +wandb_entity: dongqianyu99-zhejiang-university +wandb_name: hopper_l0_gr00t_h1_5fps_2h100_20260917 +wandb_group: gr00t-six-env-h1-5fps +wandb_tags: +- hopper +- zero_latency +- GR00T +- h1 +training_latency_condition: zero_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: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/train.yaml +output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/vla/training/hopper_l0_gr00t_h1_5fps_2h100_20260917 diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.yaml b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa1851995e18a68100449551929a9f8c71446914 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.yaml @@ -0,0 +1,119 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: ${oc.env:GR00T_BACKBONE_DIR} + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: true + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 3 + state_dim: 11 + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 8 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + num_inference_timesteps: 4 + num_target_vision_tokens: 32 + diffusion_model_cfg: + cross_attention_dim: 2560 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + num_layers: 16 + output_dim: 1024 + positional_embeddings: null + action_env_dim: 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 + env_id: LatencyBench/HopperRgbState-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 + registration_imports: + - latency_bench.envs.gymnasium_hopper_rgb_state + 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_rgb_state +trainer: + pretrained_checkpoint: null + profile_timing: + enabled: false + log_interval: 10 +backbone: + repo_id: Qwen/Qwen3-VL-4B-Instruct + revision: ebb281ec70b05090aa6165b016eac8ec08e71b17 +rl_games: + model_alias: gr00t + task: gymnasium + action_carrier: native + gymnasium: + task_contract: *id001 + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..bb92bf6761b388f4009b3ee0beb94cee8054651c --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json @@ -0,0 +1,123 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.03865884989500046, + 0.5777319669723511, + -0.13737158477306366 + ], + "std": [ + 0.37739884853363037, + 0.689887523651123, + 0.6762200593948364 + ], + "max": [ + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.9043600207567215, + -1.0, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.40871402621269226, + -0.008348838426172733, + 0.45469287037849426, + 0.6798303723335266, + 0.269776850938797, + -0.1342218965291977, + 0.05999795347452164, + 0.3777448832988739, + -0.007698146626353264, + -0.002836690517142415, + 0.015370956622064114 + ], + "std": [ + 0.3633615970611572, + 0.37869560718536377, + 0.25348955392837524, + 0.30314165353775024, + 0.6127533316612244, + 0.21872857213020325, + 0.4510791301727295, + 0.21530857682228088, + 0.3457658588886261, + 0.4274502992630005, + 0.6040666103363037 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.5281156021356582, + -0.9567392879724502, + -0.2079367846250534, + -0.12157819628715515, + -0.9323781633377075, + -0.7369779413938522, + -0.6852116698026657, + -0.10524752676486969, + -0.5511617350578308, + -1.0, + -1.0 + ], + "q99": [ + 0.9306531548500061, + 0.7862786006927489, + 0.9816559219360351, + 0.9127335548400879, + 0.9102470433712005, + 0.2971139311790463, + 0.8896300184726715, + 0.9198877382278442, + 1.0, + 0.981240049600601, + 1.0 + ] + }, + "num_transitions": 88212, + "num_trajectories": 90 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/latency_prompt_map.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..f2b7129bb06cf782fa08ced52a646bb6c42dfaec --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/latency_prompt_map.json @@ -0,0 +1,7 @@ +{ + "0": { + "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 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/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/manifest.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..5577ffab211644cf2e06426bc0a731c1b7f4f26a --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/manifest.json @@ -0,0 +1,142 @@ +{ + "dataset_name": "hopper_h1_5fps_l0", + "env_name": "hopper_rgb_state", + "episodes": 90, + "frames": 88212, + "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 0 raw frames (0.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action." + ], + "format": "lerobot_v2_image_parquet", + "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/raw_5fps", + "integration_name": "gymnasium", + "task_name": "hopper_rgb_state", + "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, + "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": [ + 0.7007287740707397, + -0.19482052326202393, + -1.6461776494979858, + -1.9154568910598755, + -0.9631047248840332, + -0.1792079657316208, + -3.757478713989258, + -6.126420021057129, + -10.0, + -10.0, + -10.0 + ], + "max": [ + 1.6431776285171509, + 0.17731712758541107, + 0.059119515120983124, + 0.14385102689266205, + 0.9273068308830261, + 6.297187805175781, + 3.283433198928833, + 2.7663865089416504, + 10.0, + 10.0, + 10.0 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/lerobot/hopper_h1_5fps_l0/latency_prompt_map.json", + "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/lerobot/_generated_mixtures/hopper_h1_5fps_l0.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, + "env_id": "LatencyBench/HopperRgbState-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, + "registration_imports": [ + "latency_bench.envs.gymnasium_hopper_rgb_state" + ], + "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_rgb_state" + }, + "validation_dataset_name": "hopper_h1_5fps_l0__val", + "validation_episodes": 10, + "validation_frames": 9917 +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/provenance.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..6d347bddfe7d00479265a86a3521843b5d0d7979 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/provenance.json @@ -0,0 +1,34 @@ +{ + "task": "hopper", + "model": "qwengr00t", + "training_condition": "zero-latency", + "training_run_id": "hopper_l0_gr00t_h1_5fps_2h100_20260917", + "source": { + "repo_id": "latency-sensitive-bench/Standard-Pipeline", + "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", + "path": "hopper/zero_latency/GR00T", + "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/zero_latency/GR00T" + }, + "hf_repo_id": "latency-sensitive-bench/benchmark-models", + "hf_path": "zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917", + "checkpoint": { + "source_file": "hopper/zero_latency/GR00T/checkpoints/model.pt", + "source_sha256": "5ec4a5fbdfb7fac819a51b523f3735c6702b90a2440a2957c5cc699941ffbf1e", + "source_bytes": 9976837923, + "file": "checkpoints/model.pt", + "selection_rule": "only published VLA checkpoint", + "method": "copy", + "sha256": "5ec4a5fbdfb7fac819a51b523f3735c6702b90a2440a2957c5cc699941ffbf1e", + "bytes": 9976837923 + }, + "config_source": "hopper/zero_latency/GR00T/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 +} diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/source/provenance.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/source/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..eff12f43bcf6a47f9ea45f9dc0ab99c136a6cfc8 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/source/provenance.json @@ -0,0 +1,30 @@ +{ + "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": 64, + "training_run_id": "hopper_l0_gr00t_h1_5fps_2h100_20260917", + "condition": "zero_latency", + "source": { + "repo": "latency-sensitive-bench/Standard-Pipeline", + "revision": "571cb5801720488ed6458b9cfe3f4c595b069cea", + "prefix": "hopper/zero_latency/shared/source_100ep_v1/demonstrations/raw", + "sha256": { + "metadata.json": "6f6ba3dc2556aa2c16f81defde6231458cbe051d082ba7e054150ba1b65e39cd", + "train.parquet": "fcd0e418fbc33c531235c5765c1b5d3288dacd5b0a7bdcc6b288f1d4e1009b75", + "val.parquet": "1e53ba71d9efa4dd8cb8839a2e40206a9d682480c753e2bcdab8c3f417836e20" + }, + "code": { + "root": "1681edb8d9e4f7d10b7dfa647670e01e0d5cce37", + "sample_factory": "4b11d8754ffc989cdd15a340cfc9be0277377d5b", + "starvla": "1d0d7b139d1725cab268cb9dae2007ef4c5d05d2" + } + }, + "training_config_sha256": "93ef15ef2f2e8432cb8e81595c7bcce02c969cb961ed775b6c92054ba0581329", + "dataset_manifest_sha256": "4c45ebf784a7e606efc55711c65cf0525c0261d5d32a1963b02d23728a67a815" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/task_contract.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..9f46ce4391f55da768343fd4aca8cf9c2d035daf --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/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, + "env_id": "LatencyBench/HopperRgbState-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, + "registration_imports": [ + "latency_bench.envs.gymnasium_hopper_rgb_state" + ], + "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_rgb_state" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/completion.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/completion.json new file mode 100644 index 0000000000000000000000000000000000000000..fe543ea656547888881b1cde888f075b603bbf2c --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/completion.json @@ -0,0 +1,7 @@ +{ + "state": "L0_TRAIN_AND_SIM_EVAL_COMPLETED", + "completed_at": "2026-09-17T13:59:03.908633+00:00", + "checkpoint": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/vla/training/hopper_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/steps_5000_pytorch_model.pt", + "checkpoint_sha256": "5ec4a5fbdfb7fac819a51b523f3735c6702b90a2440a2957c5cc699941ffbf1e", + "bundle": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/l0_sim20_audit.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/l0_sim20_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..b02ca7952a5c93dcfc73bb3612df8b9bf10248e1 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/l0_sim20_audit.json @@ -0,0 +1,105 @@ +{ + "verified_at": "2026-09-17T14:13:17.029371+00:00", + "episodes": 20, + "seeds": [ + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61 + ], + "returns": [ + 1282.1555676491873, + 366.05242016047794, + 913.858877998007, + 1191.3960892024, + 921.2143774371431, + 283.5313980536821, + 1459.5742400242764, + 1255.278374269173, + 277.90720736037014, + 935.1710716954052, + 1290.9800537752794, + 277.45689777280415, + 982.4008424617601, + 289.80142580106235, + 1220.3819055826225, + 1402.9969813054104, + 278.20307535073226, + 1815.2644508418452, + 709.778048448092, + 303.28291056031935 + ], + "lengths": [ + 346, + 165, + 258, + 335, + 261, + 126, + 400, + 344, + 124, + 265, + 354, + 124, + 286, + 128, + 338, + 385, + 124, + 511, + 228, + 133 + ], + "mean_return": 872.8343107875025, + "std_return_population": 479.65390591614806, + "mean_length": 261.75, + "raw_steps": 5235, + "actions": 5235, + "latency_records": 5235, + "env_fps": 5, + "obs_fps": 5, + "latency_mode": "simulated zero", + "latency_ms": 0, + "dropped_observations": 0, + "dropped_actions": 0, + "invalid_actions": 0, + "logged_preclip_action_out_of_bounds_steps": 3704, + "logged_preclip_action_range": [ + -1.1191151142120361, + 1.1177167892456055 + ], + "action_clipping_evidence": "HopperEnv.step clips to env.action_space bounds before env.step; GymnasiumEnvAdapter.step overwrites applied_action with preclip action.value, so postclip physical actions are not directly logged", + "action_clipping_source_sha256": "616473b67fa33c759bed07e28d4736613b6f4600674da966d754dd18c27669f7", + "action_logging_source_sha256": "e5351a4d70520350c8bcbdcaf958ab57d8eca83e251adfd6f520ac34e40254f5", + "raw_step_time_reward_consistency": true, + "bundle_files": 8, + "bundle_sha256": { + "checkpoints/model.pt": "5ec4a5fbdfb7fac819a51b523f3735c6702b90a2440a2957c5cc699941ffbf1e", + "config.full.yaml": "ea0131fb531e70f404a252344589dd8f71c56f3d897699a20df32dbc2a80a371", + "config.yaml": "f40ecb9bb5f1450edd45f2bd473b3e6fc9ac65f91154629d3f80ea58673cb4c0", + "dataset_statistics.json": "bb23771f87f039a7fa41a682933aac9099f45c4c26b103fe03a51cb84b82c2c6", + "latency_prompt_map.json": "9fd22cc880afbd45589baa0db9ca0e237c3f89b4811156f6ed964600f82b186e", + "manifest.json": "4c45ebf784a7e606efc55711c65cf0525c0261d5d32a1963b02d23728a67a815", + "provenance.json": "835befe92adb1b99cefe0534d90dd93484f79870bf1f4e8cea6aa27047ef74f3" + }, + "checkpoint_steps": 5000, + "reload_evidence": "existing successful L0sim20 executed this final bundle; no repeated evaluation", + "acceptance": "L0evaluationcomplete; downstream3090P/Bandprofilepipelinepending" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/loader_check.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/loader_check.json new file mode 100644 index 0000000000000000000000000000000000000000..bdbef9670f06baf7cb664e5aeebd07b688738ad4 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/loader_check.json @@ -0,0 +1,22 @@ +{ + "loader_action_shape": [ + 1, + 3 + ], + "loader_state_shape": [ + 1, + 11 + ], + "native_action_roundtrip": true, + "state_minmax_once": true, + "image_pixels_identical": true, + "robot_type": "rl_games_gymnasium", + "sample_action": [ + [ + -1.0, + 1.0, + 1.0 + ] + ], + "native_decoder": "box identity slice; unnorm_key unused" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/preparation.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/preparation.json new file mode 100644 index 0000000000000000000000000000000000000000..cfdfb29893de5bdf98e4b08ed562d4bcec211f79 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/preparation.json @@ -0,0 +1,46 @@ +{ + "repo": "latency-sensitive-bench/Standard-Pipeline", + "revision": "571cb5801720488ed6458b9cfe3f4c595b069cea", + "prefix": "hopper/zero_latency/shared/source_100ep_v1/demonstrations/raw", + "sha256": { + "metadata.json": "6f6ba3dc2556aa2c16f81defde6231458cbe051d082ba7e054150ba1b65e39cd", + "train.parquet": "fcd0e418fbc33c531235c5765c1b5d3288dacd5b0a7bdcc6b288f1d4e1009b75", + "val.parquet": "1e53ba71d9efa4dd8cb8839a2e40206a9d682480c753e2bcdab8c3f417836e20" + }, + "code": { + "root": "1681edb8d9e4f7d10b7dfa647670e01e0d5cce37", + "sample_factory": "4b11d8754ffc989cdd15a340cfc9be0277377d5b", + "starvla": "1d0d7b139d1725cab268cb9dae2007ef4c5d05d2" + }, + "frames": { + "train": 88212, + "val": 9917 + }, + "episodes": { + "train": 90, + "val": 10 + }, + "return_ranges": { + "train": [ + 3036.393681228161, + 3711.7399080991745 + ], + "val": [ + 3405.0092537999153, + 3713.225490093231 + ] + }, + "image_size": [ + 224, + 224 + ], + "state_dim": 11, + "action_dim": 3, + "action_horizon": 1, + "fps": 5, + "all_source_returns_gt3000": true, + "all_nonprompt_columns_unchanged": true, + "normalization": "train-only min_max; same transform in validation", + "train_config": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/train.yaml", + "dataset": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/lerobot/hopper_h1_5fps_l0" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20.yaml b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbb7fad47c9a38e538daa82a70ad7ceefd0b579 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20.yaml @@ -0,0 +1,157 @@ +env: + 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 + name: gymnasium + task_name: hopper + env_id: LatencyBench/Hopper-v0 + registration_imports: + - latency_bench.envs.gymnasium_hopper + 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 + env_fps: 5 + obs_fps: 5 + frame_stack: 1 + 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 + noop_action: + - 0.0 + - 0.0 + - 0.0 + 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. + obs_resize: + - 224 + - 224 +experiment: + name: gr00t_hopper_zero + seed: 42 +backend: + type: sample_factory + algo: APPO + device: cuda + train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/hopper + restart_behavior: overwrite + run_mode: eval +executor: + mode: simulated + inference_devices: + - cuda:0 + inference_batch_size: 1 + simulated_inference_pool: true + simulated_worker_capacity: 1 +latency: + method: zero + sync_cuda: false +scheduler: + hold_policy: hold + ordering_policy: issue_order_fifo +policy: + type: starvla + checkpoint_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt + model_config_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/config.yaml + backbone_path: /mnt/local/lzj/latency-sensitive-bench/models/Qwen3-VL-4B-Instruct + device: cuda:0 + task_manifest_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/manifest.json + latency_prompt_map_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/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 + env_framestack: 4 + 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: false + 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: 20 + eval_parallel_envs: 1 + eval_max_steps: 1000 + eval_deterministic: true + eval_latency_values: null +logging: + output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20 + 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/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20/episode_metrics.jsonl b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5cce8ba010bd31648541fbfb783ba8df56a8dc7 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20/episode_metrics.jsonl @@ -0,0 +1,20 @@ +{"episode_id": 0, "episode_return": 1282.1555676491873, "episode_return_env": 1282.1555676491873, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 42, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 346, "workload_id": null}, "num_actions": 346, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 346} +{"episode_id": 1, "episode_return": 366.05242016047794, "episode_return_env": 366.05242016047794, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 43, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 165, "workload_id": null}, "num_actions": 165, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 165} +{"episode_id": 2, "episode_return": 913.858877998007, "episode_return_env": 913.858877998007, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 44, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 258, "workload_id": null}, "num_actions": 258, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 258} +{"episode_id": 3, "episode_return": 1191.3960892024, "episode_return_env": 1191.3960892024, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 45, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 335, "workload_id": null}, "num_actions": 335, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 335} +{"episode_id": 4, "episode_return": 921.2143774371431, "episode_return_env": 921.2143774371431, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 46, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 261, "workload_id": null}, "num_actions": 261, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 261} +{"episode_id": 5, "episode_return": 283.5313980536821, "episode_return_env": 283.5313980536821, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 47, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 126, "workload_id": null}, "num_actions": 126, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 126} +{"episode_id": 6, "episode_return": 1459.5742400242764, "episode_return_env": 1459.5742400242764, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 48, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 400, "workload_id": null}, "num_actions": 400, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 400} +{"episode_id": 7, "episode_return": 1255.278374269173, "episode_return_env": 1255.278374269173, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 49, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 344, "workload_id": null}, "num_actions": 344, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 344} +{"episode_id": 8, "episode_return": 277.90720736037014, "episode_return_env": 277.90720736037014, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 50, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 124, "workload_id": null}, "num_actions": 124, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 124} +{"episode_id": 9, "episode_return": 935.1710716954052, "episode_return_env": 935.1710716954052, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 51, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 265, "workload_id": null}, "num_actions": 265, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 265} +{"episode_id": 10, "episode_return": 1290.9800537752794, "episode_return_env": 1290.9800537752794, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 52, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 354, "workload_id": null}, "num_actions": 354, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 354} +{"episode_id": 11, "episode_return": 277.45689777280415, "episode_return_env": 277.45689777280415, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 53, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 124, "workload_id": null}, "num_actions": 124, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 124} +{"episode_id": 12, "episode_return": 982.4008424617601, "episode_return_env": 982.4008424617601, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 54, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 286, "workload_id": null}, "num_actions": 286, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 286} +{"episode_id": 13, "episode_return": 289.80142580106235, "episode_return_env": 289.80142580106235, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 55, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 128, "workload_id": null}, "num_actions": 128, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 128} +{"episode_id": 14, "episode_return": 1220.3819055826225, "episode_return_env": 1220.3819055826225, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 56, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 338, "workload_id": null}, "num_actions": 338, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 338} +{"episode_id": 15, "episode_return": 1402.9969813054104, "episode_return_env": 1402.9969813054104, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 57, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 385, "workload_id": null}, "num_actions": 385, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 385} +{"episode_id": 16, "episode_return": 278.20307535073226, "episode_return_env": 278.20307535073226, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 58, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 124, "workload_id": null}, "num_actions": 124, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 124} +{"episode_id": 17, "episode_return": 1815.2644508418452, "episode_return_env": 1815.2644508418452, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 59, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 511, "workload_id": null}, "num_actions": 511, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 511} +{"episode_id": 18, "episode_return": 709.778048448092, "episode_return_env": 709.778048448092, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 60, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 228, "workload_id": null}, "num_actions": 228, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 228} +{"episode_id": 19, "episode_return": 303.28291056031935, "episode_return_env": 303.28291056031935, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 61, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 133, "workload_id": null}, "num_actions": 133, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 133} diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20/queue_eval_results.jsonl b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20/queue_eval_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dcffb5f64b6022946c2de5e06c0b05b3b1e0104c --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20/queue_eval_results.jsonl @@ -0,0 +1 @@ +{"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "experiment_name": "gr00t_hopper_zero", "latency": 0, "latency_type": "zero", "lengths": [346, 165, 258, 335, 261, 126, 400, 344, 124, 265, 354, 124, 286, 128, 338, 385, 124, 511, 228, 133], "mean_length": 261.75, "mean_return": 872.8343107875025, "returns": [1282.1555676491873, 366.05242016047794, 913.858877998007, 1191.3960892024, 921.2143774371431, 283.5313980536821, 1459.5742400242764, 1255.278374269173, 277.90720736037014, 935.1710716954052, 1290.9800537752794, 277.45689777280415, 982.4008424617601, 289.80142580106235, 1220.3819055826225, 1402.9969813054104, 278.20307535073226, 1815.2644508418452, 709.778048448092, 303.28291056031935], "seed": 42, "std_return": 479.6539059161481, "suite_name": "fixed_0", "timestamp_utc": "2026-09-17T13:58:55.254682+00:00"} diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md new file mode 100644 index 0000000000000000000000000000000000000000..c816aaf257a2251889a55fc28f8bff3de4aab487 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md @@ -0,0 +1,30 @@ +# hopper / qwenoft + +Training condition: `zero-latency`. Run: `hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k`. + +Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/zero_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`. + +- Checkpoint: `checkpoints/model.pt` +- Selection: only published VLA checkpoint +- Checkpoint SHA256: `87e4cb2bf569982a181bb7a7642a64499012542ab2cbf1545cd1c654b0a3d7cd` +- 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. + +Missing in this source model bundle: `manifest.json`, `latency_prompt_map.json`. +These files were not substituted with files from another training condition. + +## Download + +```python +from huggingface_hub import snapshot_download +prefix = "zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k" +snapshot_download("latency-sensitive-bench/benchmark-models", revision="", + allow_patterns=[prefix + "/**"]) +``` + +Use the verified import commit listed in the repository's import report. diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..f3d6039620f4444e8b48f42855f8fdace7e73076 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87e4cb2bf569982a181bb7a7642a64499012542ab2cbf1545cd1c654b0a3d7cd +size 9785081249 diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a66c0d632f0646e1594c321b649f75ab4e0002a4 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml @@ -0,0 +1,356 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: true + action_model: + action_model_type: MLP + action_dim: 3 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_encoding: continuous_projector + state_dim: 11 + action_horizon: 1 + action_env_dim: 3 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + data_mix: hopper_rgb_state_l0_return_gt3000_100ep + eval_data_mix: hopper_rgb_state_l0_return_gt3000_100ep__val + custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/hopper_rgb_state_l0_return_gt3000_100ep.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + 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: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + 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: 125.0 + env_id: LatencyBench/HopperRgbState-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: 125.0 + registration_imports: + - latency_bench.envs.gymnasium_hopper_rgb_state + 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_rgb_state + active_action_dim: 3 +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: hopper_rgb_state_l0_return_gt3000_100ep + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: hopper_rgb_state_l0_return_gt3000_100ep + mixed_converted_name: hopper_rgb_state_l0_return_gt3000_100ep + 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: true + 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 +workspace_dir: /home/lzj/code/latency-sensitive-bench +run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs + dataset_local_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: null + mode: single + values: + - 0 + task: gymnasium + 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: 125.0 + env_id: LatencyBench/HopperRgbState-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: 125.0 + registration_imports: + - latency_bench.envs.gymnasium_hopper_rgb_state + 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_rgb_state + task_name: hopper_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +config_yaml: null +is_debug: false +version_id: '0.21' diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a66c0d632f0646e1594c321b649f75ab4e0002a4 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml @@ -0,0 +1,356 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: true + action_model: + action_model_type: MLP + action_dim: 3 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_encoding: continuous_projector + state_dim: 11 + action_horizon: 1 + action_env_dim: 3 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + data_mix: hopper_rgb_state_l0_return_gt3000_100ep + eval_data_mix: hopper_rgb_state_l0_return_gt3000_100ep__val + custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/hopper_rgb_state_l0_return_gt3000_100ep.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + 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: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + 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: 125.0 + env_id: LatencyBench/HopperRgbState-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: 125.0 + registration_imports: + - latency_bench.envs.gymnasium_hopper_rgb_state + 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_rgb_state + active_action_dim: 3 +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: hopper_rgb_state_l0_return_gt3000_100ep + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: hopper_rgb_state_l0_return_gt3000_100ep + mixed_converted_name: hopper_rgb_state_l0_return_gt3000_100ep + 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: true + 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 +workspace_dir: /home/lzj/code/latency-sensitive-bench +run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs + dataset_local_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: null + mode: single + values: + - 0 + task: gymnasium + 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: 125.0 + env_id: LatencyBench/HopperRgbState-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: 125.0 + registration_imports: + - latency_bench.envs.gymnasium_hopper_rgb_state + 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_rgb_state + task_name: hopper_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +config_yaml: null +is_debug: false +version_id: '0.21' diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..bb92bf6761b388f4009b3ee0beb94cee8054651c --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json @@ -0,0 +1,123 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.03865884989500046, + 0.5777319669723511, + -0.13737158477306366 + ], + "std": [ + 0.37739884853363037, + 0.689887523651123, + 0.6762200593948364 + ], + "max": [ + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.9043600207567215, + -1.0, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.40871402621269226, + -0.008348838426172733, + 0.45469287037849426, + 0.6798303723335266, + 0.269776850938797, + -0.1342218965291977, + 0.05999795347452164, + 0.3777448832988739, + -0.007698146626353264, + -0.002836690517142415, + 0.015370956622064114 + ], + "std": [ + 0.3633615970611572, + 0.37869560718536377, + 0.25348955392837524, + 0.30314165353775024, + 0.6127533316612244, + 0.21872857213020325, + 0.4510791301727295, + 0.21530857682228088, + 0.3457658588886261, + 0.4274502992630005, + 0.6040666103363037 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.5281156021356582, + -0.9567392879724502, + -0.2079367846250534, + -0.12157819628715515, + -0.9323781633377075, + -0.7369779413938522, + -0.6852116698026657, + -0.10524752676486969, + -0.5511617350578308, + -1.0, + -1.0 + ], + "q99": [ + 0.9306531548500061, + 0.7862786006927489, + 0.9816559219360351, + 0.9127335548400879, + 0.9102470433712005, + 0.2971139311790463, + 0.8896300184726715, + 0.9198877382278442, + 1.0, + 0.981240049600601, + 1.0 + ] + }, + "num_transitions": 88212, + "num_trajectories": 90 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..3c867e844917ae2dbab65bb030f171c834348353 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json @@ -0,0 +1,123 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.038164444267749786, + 0.5853713154792786, + -0.14019179344177246 + ], + "std": [ + 0.37648600339889526, + 0.6837278008460999, + 0.6710580587387085 + ], + "max": [ + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.8856967091560364, + -1.0, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.4167287349700928, + -0.011946885846555233, + 0.45969364047050476, + 0.6854016780853271, + 0.27180203795433044, + -0.13894067704677582, + 0.060337137430906296, + 0.37753522396087646, + -0.006504729390144348, + -0.0025828757788985968, + 0.01615341380238533 + ], + "std": [ + 0.3655839264392853, + 0.3772760033607483, + 0.2494690865278244, + 0.2961997389793396, + 0.6115167140960693, + 0.21205303072929382, + 0.45317184925079346, + 0.2155265510082245, + 0.3430417776107788, + 0.42244163155555725, + 0.6003957390785217 + ], + "max": [ + 0.997422456741333, + 0.9132802486419678, + 0.996956467628479, + 0.9437090158462524, + 0.9562854766845703, + 0.6047350168228149, + 0.9966599941253662, + 0.992188572883606, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -0.9813680648803711, + -0.9943915605545044, + -0.240229070186615, + -0.7879800796508789, + -0.953981876373291, + -1.0, + -0.7385008335113525, + -0.6288865208625793, + -0.6290589570999146, + -1.0, + -1.0 + ], + "q01": [ + -0.527071304321289, + -0.9531343531608581, + -0.20607015371322632, + -0.10409546375274659, + -0.9325236558914185, + -0.7288819265365601, + -0.68619873046875, + -0.08794799327850342, + -0.5419587254524231, + -1.0, + -1.0 + ], + "q99": [ + 0.9375574779510498, + 0.7395017147064211, + 0.982518982887268, + 0.912756371498108, + 0.9081219291687013, + 0.23814808368682872, + 0.8914690685272217, + 0.922366099357605, + 1.0, + 0.9213636970520022, + 1.0 + ] + }, + "num_transitions": 9917, + "num_trajectories": 10 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/provenance.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..8a95fb0b4721f02823cece9f13b8b69c99fc7b9f --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/provenance.json @@ -0,0 +1,37 @@ +{ + "task": "hopper", + "model": "qwenoft", + "training_condition": "zero-latency", + "training_run_id": "hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k", + "source": { + "repo_id": "latency-sensitive-bench/Standard-Pipeline", + "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", + "path": "hopper/zero_latency/OpenVLA", + "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/zero_latency/OpenVLA" + }, + "hf_repo_id": "latency-sensitive-bench/benchmark-models", + "hf_path": "zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k", + "checkpoint": { + "source_file": "hopper/zero_latency/OpenVLA/checkpoints/steps_5000_pytorch_model.pt", + "source_sha256": "87e4cb2bf569982a181bb7a7642a64499012542ab2cbf1545cd1c654b0a3d7cd", + "source_bytes": 9785081249, + "file": "checkpoints/model.pt", + "selection_rule": "only published VLA checkpoint", + "method": "copy", + "sha256": "87e4cb2bf569982a181bb7a7642a64499012542ab2cbf1545cd1c654b0a3d7cd", + "bytes": 9785081249 + }, + "config_source": "hopper/zero_latency/OpenVLA/config.full.yaml", + "task_contract_file": "task_contract.json", + "missing_source_files": [ + "manifest.json", + "latency_prompt_map.json" + ], + "migration": { + "operation": "copy_selected_inference_bundle", + "source_modified": false, + "evaluation_performed": false, + "experiment_status": "preserved_in_source_evidence" + }, + "action_horizon": 1 +} diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/source/config.yaml b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/source/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4b6f9c165553b6a9b9618d22e33067d2adcc854d --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/source/config.yaml @@ -0,0 +1,86 @@ +checkpoint: + local: + keep_last_n: 1 + save_best_model: false + save_final_model: true + save_pt_file: true + save_safetensors_file: false + save_training_state: false + sync: + enabled: false + keep_last_n: 0 + repo_id: null +datasets: + vla_data: + data_mix: hopper_rgb_state_l0_return_gt3000_100ep + dataset_py: lerobot_datasets + eval_data_mix: hopper_rgb_state_l0_return_gt3000_100ep__val + latency_curriculum: + enabled: false + per_device_batch_size: 16 +framework: + action_model: + action_dim: 3 + action_env_dim: 3 + action_hidden_dim: 2560 + action_horizon: 1 + action_model_type: MLP + loss_type: l1 + state_dim: 11 + state_encoding: continuous_projector + kv_memory: + enabled: false + packed_train: false + rebased_sink: true + rollout_len: 8 + window: 4 + name: QwenOFT + qwenvl: + attn_implementation: flash_attention_2 + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + enable_gradient_checkpointing: true +output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +rl_games: + env_eval: + enabled: false + task: gymnasium +run_id: hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs +seed: 42 +trainer: + distributed_backend: deepspeed + eval_action_classification: false + eval_action_classification_interval: null + eval_interval: 500 + eval_num_batches: 200 + freeze_llm_layers: [] + freeze_modules: '' + freeze_tied_embedding: false + freeze_vit: false + gradient_accumulation_steps: 1 + is_resume: false + learning_rate: + action_model: 0.0001 + base: 2.0e-05 + qwen_vl_interface: 1.0e-05 + logging_frequency: 1 + lr_scheduler_type: cosine_with_min_lr + max_train_steps: 5000 + num_warmup_steps: 100 + optimizer: + betas: + - 0.9 + - 0.95 + eps: 1.0e-08 + fused: true + weight_decay: 1.0e-08 + per_latency_eval_num_batches: null + pretrained_checkpoint: null + profile_timing: + enabled: true + log_interval: 10 + save_interval: 500 + scheduler_specific_kwargs: + min_lr: 1.0e-06 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench diff --git a/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/task_contract.json b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..a678e1d462c6db0bc1ab23d85f4e827529e15783 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/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": 125.0, + "env_id": "LatencyBench/HopperRgbState-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": 125.0, + "registration_imports": [ + "latency_bench.envs.gymnasium_hopper_rgb_state" + ], + "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_rgb_state" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/README.md b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/README.md new file mode 100644 index 0000000000000000000000000000000000000000..a35ce8bf10ed15665f9f5e45603498f278f92e94 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/README.md @@ -0,0 +1,31 @@ +# walker2d / qwengr00t + +Training condition: `zero-latency`. Run: `walker2d_l0_gr00t_h1_5fps_2h200_20260917`. + +Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/zero_latency/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`. + +- Checkpoint: `checkpoints/model.pt` +- Selection: only published VLA checkpoint +- Checkpoint SHA256: `5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1` +- Configuration, FPS, actions, normalization and latency semantics retain their source values. +- This import does not run evaluations or change training/evaluation/acceptance status. + +Action horizon is 1. Use `config.yaml` and `dataset_statistics.json` with the matching +prepared backbone. `task_contract.json` is extracted from the original training configuration. +Original machine paths in historical configurations are provenance: bind checkpoint, +backbone, manifest and profile paths to downloaded local files when running inference. + +See [the original model notes](source/README.md) for experiment results and limitations. + +[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence. + +## Download + +```python +from huggingface_hub import snapshot_download +prefix = "zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917" +snapshot_download("latency-sensitive-bench/benchmark-models", revision="", + allow_patterns=[prefix + "/**"]) +``` + +Use the verified import commit listed in the repository's import report. diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..0ef20241e07e3f5c8681d63e0c544fa3b9adb63d --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1 +size 9976860963 diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.full.yaml b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.full.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3f211f346f0058c288528b5d535d5440083d25b1 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.full.yaml @@ -0,0 +1,261 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: ${oc.env:GR00T_BACKBONE_DIR} + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: true + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 6 + state_dim: 17 + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 8 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + num_inference_timesteps: 4 + num_target_vision_tokens: 32 + diffusion_model_cfg: + cross_attention_dim: 2560 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + num_layers: 16 + output_dim: 1024 + positional_embeddings: null + action_env_dim: 6 + 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: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/vla/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: 32 + 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 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Walker2d robot forward while keeping its torso upright. + Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, + right foot, left thigh, left leg, and left foot. + env_fps: 5 + env_id: LatencyBench/Walker2dContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Walker2d-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 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 5 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + task_name: walker2d_rgb_state + active_action_dim: 6 +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: walker2d_l0_gr00t_h1_5fps_2h200_20260917 +run_root_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/vla/training +seed: 42 +is_debug: false +version_id: '0.21' +wandb_project: latency-sensitive-bench +wandb_entity: dongqianyu99-zhejiang-university +wandb_name: walker2d_l0_gr00t_h1_5fps_2h200_20260917 +wandb_group: gr00t-six-env-h1-5fps +wandb_tags: +- walker2d +- zero_latency +- GR00T +- h1 +training_latency_condition: zero_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: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/train.yaml +output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/vla/training/walker2d_l0_gr00t_h1_5fps_2h200_20260917 diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.yaml b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d3e418e22db02a97577e775f225a3d7c0f9a1525 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/config.yaml @@ -0,0 +1,138 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: ${oc.env:GR00T_BACKBONE_DIR} + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: true + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 6 + state_dim: 17 + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 8 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + num_inference_timesteps: 4 + num_target_vision_tokens: 32 + diffusion_model_cfg: + cross_attention_dim: 2560 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + num_layers: 16 + output_dim: 1024 + positional_embeddings: null + action_env_dim: 6 + 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 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Walker2d robot forward while keeping its torso upright. + Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, + right foot, left thigh, left leg, and left foot. + env_fps: 5 + env_id: LatencyBench/Walker2dContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Walker2d-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 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 5 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + task_name: walker2d_rgb_state +trainer: + pretrained_checkpoint: null + profile_timing: + enabled: false + log_interval: 10 +backbone: + repo_id: Qwen/Qwen3-VL-4B-Instruct + revision: ebb281ec70b05090aa6165b016eac8ec08e71b17 +rl_games: + model_alias: gr00t + task: gymnasium + action_carrier: native + gymnasium: + task_contract: *id001 + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..bfb9e72f511b15f1aba80c6eb1faa007fa88cee2 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json @@ -0,0 +1,180 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.8840610980987549, + 0.34449484944343567, + 0.11654752492904663, + 0.8480036854743958, + 0.32758569717407227, + 0.9875396490097046 + ], + "std": [ + 0.32312333583831787, + 0.7096099853515625, + 0.9048961400985718, + 0.343753844499588, + 0.7393367886543274, + 0.11781969666481018 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.5243898153305053, + -1.0, + -1.0, + -0.5588397586345673, + -1.0, + 0.5681399703025818 + ], + "q99": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.38908126950263977, + -0.06854692101478577, + 0.5603042840957642, + 0.295283704996109, + 0.20391421020030975, + 0.7933022975921631, + 0.32835325598716736, + 0.7283809781074524, + -0.11274679005146027, + 0.36438047885894775, + -0.041566070169210434, + -0.006785172037780285, + -0.21467362344264984, + -0.2302139699459076, + -0.008182121440768242, + -0.19842907786369324, + -0.0016649218741804361 + ], + "std": [ + 0.15210415422916412, + 0.28636232018470764, + 0.08957907557487488, + 0.40512198209762573, + 0.5324621796607971, + 0.09768694639205933, + 0.4175085127353668, + 0.07296281307935677, + 0.3539130389690399, + 0.21250014007091522, + 0.5710971355438232, + 0.19414709508419037, + 0.797458827495575, + 0.7378174662590027, + 0.32647520303726196, + 0.7747778296470642, + 0.10512100160121918 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.01641636550426483, + -0.5725254046916962, + 0.1497414314746857, + -0.5082594507932663, + -0.704446622133255, + 0.4100250256061554, + -0.7682463544607162, + 0.7055095672607422, + -0.8300059294700622, + -0.09350170254707335, + -1.0, + -0.7184711527824402, + -1.0, + -1.0, + -0.9244865983724594, + -1.0, + -0.37168214678764344 + ], + "q99": [ + 0.6826163899898535, + 0.5332732021808625, + 0.7265087735652924, + 0.9429451179504394, + 0.963300715684891, + 0.9189580070972443, + 0.8997541296482087, + 0.7992216396331789, + 0.7250751173496247, + 0.9080468678474427, + 1.0, + 0.8595866250991845, + 1.0, + 1.0, + 1.0, + 1.0, + 0.04421793460845973 + ] + }, + "num_transitions": 85160, + "num_trajectories": 90 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/config.yaml b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a76b63f577ea32bb5e3a4106782c3ada18759a8 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/config.yaml @@ -0,0 +1,161 @@ +experiment: + name: gr00t_walker2d_zero + seed: 42 +backend: + type: sample_factory + algo: APPO + device: cuda + train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/walker2d + restart_behavior: overwrite + run_mode: eval +executor: + mode: simulated + inference_devices: + - cuda:0 + inference_batch_size: 1 + simulated_inference_pool: true + simulated_worker_capacity: 1 +env: + name: gymnasium + task_name: walker2d + env_id: LatencyBench/Walker2dContinuous-v0 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + make_kwargs: + base_env_id: Walker2d-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 + env_fps: 5 + obs_fps: 5 + frame_stack: 1 + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -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 + base_prompt: Move the Walker2d robot forward while keeping its torso upright. Predict + six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, + left thigh, left leg, and left foot. + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + obs_resize: + - 224 + - 224 +latency: + method: zero + sync_cuda: false +scheduler: + hold_policy: hold + ordering_policy: issue_order_fifo +policy: + type: starvla + checkpoint_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt + model_config_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/config.yaml + backbone_path: /mnt/local/lzj/latency-sensitive-bench/models/Qwen3-VL-4B-Instruct + device: cuda:0 + task_manifest_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/manifest.json + latency_prompt_map_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/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 + max_policy_lag: 300 + learning_rate: 0.00295 + gamma: 0.99 + gae_lambda: 0.95 + ppo_clip_ratio: 0.2 + ppo_clip_value: 0.2 + value_loss_coeff: 1.3 + max_grad_norm: 3.5 + exploration_loss_coeff: 0.0 + async_rl: false + batched_sampling: false + use_rnn: false + encoder_mlp_layers: + - 64 + - 64 + normalize_input: true + normalize_returns: true + save_every_sec: 600 + keep_checkpoints: 5 + lr_schedule: linear_decay + kl_loss_coeff: 0.1 + serial_mode: false + nonlinearity: tanh + adaptive_stddev: false + policy_initialization: torch_default + initial_stddev: 1.0 + shuffle_minibatches: false + value_bootstrap: true +evaluation: + eval_episodes: 20 + eval_parallel_envs: 1 + eval_max_steps: 1000 + eval_deterministic: true + eval_latency_values: null +logging: + output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20 + 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/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/episode_metrics.jsonl b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..321a65c0faf5701a60533e322fa9a0071b625b46 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/episode_metrics.jsonl @@ -0,0 +1,20 @@ +{"episode_id": 0, "episode_return": 3808.226836737725, "episode_return_env": 3808.226836737725, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 42, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 1, "episode_return": 3853.1032959767176, "episode_return_env": 3853.1032959767176, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 43, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 2, "episode_return": 1723.999349832787, "episode_return_env": 1723.999349832787, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 44, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 514, "workload_id": null}, "num_actions": 514, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 514} +{"episode_id": 3, "episode_return": 4140.340620286889, "episode_return_env": 4140.340620286889, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 45, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 4, "episode_return": 4096.512537306539, "episode_return_env": 4096.512537306539, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 46, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 972, "workload_id": null}, "num_actions": 972, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 972} +{"episode_id": 5, "episode_return": 3788.9854100645875, "episode_return_env": 3788.9854100645875, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 47, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 890, "workload_id": null}, "num_actions": 890, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 890} +{"episode_id": 6, "episode_return": 4156.574688705178, "episode_return_env": 4156.574688705178, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 48, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 7, "episode_return": 3251.442409375431, "episode_return_env": 3251.442409375431, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 49, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 8, "episode_return": 4033.286305383909, "episode_return_env": 4033.286305383909, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 50, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 9, "episode_return": 4025.248397336756, "episode_return_env": 4025.248397336756, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 51, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 10, "episode_return": 4105.286382644159, "episode_return_env": 4105.286382644159, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 52, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 11, "episode_return": 4124.8478277361955, "episode_return_env": 4124.8478277361955, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 53, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 12, "episode_return": 1718.3891440521081, "episode_return_env": 1718.3891440521081, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 54, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 519, "workload_id": null}, "num_actions": 519, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 519} +{"episode_id": 13, "episode_return": 773.3146074280513, "episode_return_env": 773.3146074280513, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 55, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 282, "workload_id": null}, "num_actions": 282, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 282} +{"episode_id": 14, "episode_return": 3239.1715436786335, "episode_return_env": 3239.1715436786335, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 56, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 15, "episode_return": 3784.661174823245, "episode_return_env": 3784.661174823245, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 57, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 16, "episode_return": 3999.8377210951776, "episode_return_env": 3999.8377210951776, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 58, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 17, "episode_return": 4091.4434992007014, "episode_return_env": 4091.4434992007014, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 59, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} +{"episode_id": 18, "episode_return": 3659.760759472817, "episode_return_env": 3659.760759472817, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 60, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 852, "workload_id": null}, "num_actions": 852, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 852} +{"episode_id": 19, "episode_return": 4185.446772066988, "episode_return_env": 4185.446772066988, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_walker2d_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 61, "frame_ms": 200.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_walker2d_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/verification.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/verification.json new file mode 100644 index 0000000000000000000000000000000000000000..a6535a1ea57c992b17b8636dc939f4b899db2432 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluation/l0_sim20/verification.json @@ -0,0 +1,95 @@ +{ + "task": "walker2d", + "state": "L0_SIM20_COMPLETED_AND_VERIFIED", + "verified_at": "2026-09-17T15:02:36.902285+00:00", + "evaluation_finished_at": "2026-09-17T14:44:50.630321+00:00", + "episodes": 20, + "seeds": [ + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61 + ], + "env_fps": 5, + "obs_fps": 5, + "latency": "zero", + "mode": "simulated", + "max_raw_steps": 1000, + "returns": [ + 3808.226836737725, + 3853.1032959767176, + 1723.999349832787, + 4140.340620286889, + 4096.512537306539, + 3788.9854100645875, + 4156.574688705178, + 3251.442409375431, + 4033.286305383909, + 4025.248397336756, + 4105.286382644159, + 4124.8478277361955, + 1718.3891440521081, + 773.3146074280513, + 3239.1715436786335, + 3784.661174823245, + 3999.8377210951776, + 4091.4434992007014, + 3659.760759472817, + 4185.446772066988 + ], + "mean_return": 3527.99396416023, + "population_std_return": 945.2656326298496, + "lengths": [ + 1000, + 1000, + 514, + 1000, + 972, + 890, + 1000, + 1000, + 1000, + 1000, + 1000, + 1000, + 519, + 282, + 1000, + 1000, + 1000, + 1000, + 852, + 1000 + ], + "mean_length": 901.45, + "total_raw_steps": 18029, + "raw_step_rewards_match_episode_returns": true, + "raw_step_indices_contiguous": true, + "dropped_actions": 0, + "dropped_observations": 0, + "invalid_actions": 0, + "action_events": 18029, + "all_action_latencies_zero": true, + "training_steps": 5000, + "global_batch": 64, + "checkpoint_sha256": "5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1", + "command_semantics": "Generic adapter applied_action may be preclip; native environment clipping unchanged. No preclip-bound assertion was imposed.", + "remaining": "RTX3090 P/B, actual-profile teacher/data/profile-VLA, F; not yet complete", + "acceptance": "Full pipeline acceptance not established" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/latency_prompt_map.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..727b2dd7642ac6926aa0451c1859cfa4ed29d397 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/latency_prompt_map.json @@ -0,0 +1,7 @@ +{ + "0": { + "prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. 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/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/manifest.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ebb173fb91b2996519c2692aceb8ee656c35b8d1 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/manifest.json @@ -0,0 +1,184 @@ +{ + "dataset_name": "walker2d_h1_5fps_l0", + "env_name": "walker2d_rgb_state", + "episodes": 90, + "frames": 85160, + "task_prompts": [ + "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 0 raw frames (0.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action." + ], + "format": "lerobot_v2_image_parquet", + "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/raw_5fps", + "integration_name": "gymnasium", + "task_name": "walker2d_rgb_state", + "action_layout": "gymnasium_continuous_v1", + "action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "carrier_action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "action_dim": 6, + "active_action_dim": 6, + "action_carrier": "native", + "rows_unit": "decision_step", + "obs_fps": 5, + "obs_stride_raw_frames": 1, + "uses_state": true, + "state_dim": 17, + "state_labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.8001501560211182, + -0.9963381290435791, + -1.2083065509796143, + -2.6031124591827393, + -1.4880801439285278, + -1.7395809888839722, + -2.8114991188049316, + -1.4173651933670044, + -1.9014521837234497, + -5.880380630493164, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0 + ], + "max": [ + 1.4312387704849243, + 0.9942846298217773, + 0.35824716091156006, + 0.42332249879837036, + 1.4080666303634644, + 0.19403602182865143, + 0.508411705493927, + 1.1665540933609009, + 9.758368492126465, + 2.7117056846618652, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/walker2d_h1_5fps_l0/latency_prompt_map.json", + "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/_generated_mixtures/walker2d_h1_5fps_l0.json", + "gymnasium_task": { + "action_space": { + "dtype": "float32", + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "type": "box" + }, + "base_prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot.", + "env_fps": 5, + "env_id": "LatencyBench/Walker2dContinuous-v0", + "frame_stack": 1, + "make_kwargs": { + "base_env_id": "Walker2d-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, + 0.0, + 0.0, + 0.0 + ], + "obs_fps": 5, + "registration_imports": [ + "latency_bench.envs.gymnasium_walker2d" + ], + "state_space": { + "labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ] + }, + "task_name": "walker2d_rgb_state" + }, + "validation_dataset_name": "walker2d_h1_5fps_l0__val", + "validation_episodes": 10, + "validation_frames": 9664 +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/provenance.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..d36ec6d6d14dfb9bcf10b50fccc045c10d9e557d --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/provenance.json @@ -0,0 +1,34 @@ +{ + "task": "walker2d", + "model": "qwengr00t", + "training_condition": "zero-latency", + "training_run_id": "walker2d_l0_gr00t_h1_5fps_2h200_20260917", + "source": { + "repo_id": "latency-sensitive-bench/Standard-Pipeline", + "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", + "path": "walker2d/zero_latency/GR00T", + "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/zero_latency/GR00T" + }, + "hf_repo_id": "latency-sensitive-bench/benchmark-models", + "hf_path": "zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917", + "checkpoint": { + "source_file": "walker2d/zero_latency/GR00T/checkpoints/model.pt", + "source_sha256": "5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1", + "source_bytes": 9976860963, + "file": "checkpoints/model.pt", + "selection_rule": "only published VLA checkpoint", + "method": "copy", + "sha256": "5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1", + "bytes": 9976860963 + }, + "config_source": "walker2d/zero_latency/GR00T/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 +} diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/README.md b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/README.md new file mode 100644 index 0000000000000000000000000000000000000000..078612fe671b3bafcf2dda820744bd26857f7c9a --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/README.md @@ -0,0 +1,7 @@ +# walker2d: GR00T H1, 5 FPS + +Fresh zero-latency training completed5000 updates. Final checkpoint SHA256: `5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1`. + +L0 simulated zero-latency evaluation is now complete and audited:20episodes, seeds42–61,5FPS, cap1000rawsteps. Return mean 3527.993964, population SD 945.265633; mean length 901.45. Dropped actions 0, dropped observations 0, invalid actions 0. Raw step rewards and lengths match episode metrics. + +See `evaluation/l0_sim20/verification.json` and `episode_metrics.jsonl` for final evidence. Earlier training/load receipts remain historical snapshots. P/B and subsequent profile pipeline/F are pending; full pipeline acceptance is not established. Set GR00T_BACKBONE_DIR to Qwen/Qwen3-VL-4B-Instruct revision ebb281ec70b05090aa6165b016eac8ec08e71b17 before inference. diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/provenance.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..c6ba98f5de0b2ff924f7a9467cb84f771b8a0b5b --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/source/provenance.json @@ -0,0 +1,26 @@ +{ + "task": "walker2d", + "backbone": { + "repo_id": "Qwen/Qwen3-VL-4B-Instruct", + "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17" + }, + "checkpoint": "steps_5000_pytorch_model.pt", + "training_steps": 5000, + "seed": 42, + "global_batch": 64, + "training_run_id": "walker2d_l0_gr00t_h1_5fps_2h200_20260917", + "condition": "zero_latency", + "source": { + "repo": "latency-sensitive-bench/Standard-Pipeline", + "revision": "571cb5801720488ed6458b9cfe3f4c595b069cea", + "prefix": "walker2d/zero_latency/shared/source_100ep_v1/demonstrations/raw", + "sha256": { + "metadata.json": "c8ea2669493beabd97d9e7ecd06cc443adcb1760d8e71dd03588ea4adea20ae9", + "train.parquet": "6a105846e7def09f10fd2a985413cc9a04b9433f57519d330ce33a1033ba7e65", + "val.parquet": "687c1a5d08b3641b5ae76d218dd6afe483f8873b057aa3ab7a81108a6772f424" + }, + "source_tar_sha256": "9847e8924ba7a6446aaa3ce735f4dc2849046c37e21aeb8867f3154ab163ede0" + }, + "training_config_sha256": "d4d71e6e8f2e38ba3b1eaa0499bf1390c6e98c929e77d0aeaecc91896e2bf664", + "dataset_manifest_sha256": "5e574c5784420866052fc87140692550c11921af07dd1541064e46d94c499908" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/task_contract.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..7567af8871901a6d8a45081d77c7b0ca38924e72 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/task_contract.json @@ -0,0 +1,80 @@ +{ + "action_space": { + "dtype": "float32", + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "type": "box" + }, + "base_prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot.", + "env_fps": 5, + "env_id": "LatencyBench/Walker2dContinuous-v0", + "frame_stack": 1, + "make_kwargs": { + "base_env_id": "Walker2d-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, + 0.0, + 0.0, + 0.0 + ], + "obs_fps": 5, + "registration_imports": [ + "latency_bench.envs.gymnasium_walker2d" + ], + "state_space": { + "labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ] + }, + "task_name": "walker2d_rgb_state" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/first_completed_reload_episode.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/first_completed_reload_episode.json new file mode 100644 index 0000000000000000000000000000000000000000..19e9bd8366793a2da347ad65fe06f34f3846a6c7 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/first_completed_reload_episode.json @@ -0,0 +1,15 @@ +{ + "evidence": "existingL0sim20log", + "completed_episodes": 7, + "checkpoint": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt", + "completed_episode_log_lines": [ + "[bench] sweep 1/1 episode 1/20 done", + "[bench] sweep 1/1 episode 2/20 done", + "[bench] sweep 1/1 episode 3/20 done", + "[bench] sweep 1/1 episode 4/20 done", + "[bench] sweep 1/1 episode 5/20 done", + "[bench] sweep 1/1 episode 6/20 done", + "[bench] sweep 1/1 episode 7/20 done" + ], + "evaluation": "running; bufferedtracefilesnotyetflushed; nofinalscores" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/formal.status.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/formal.status.json new file mode 100644 index 0000000000000000000000000000000000000000..ef75c4cd2020e4a82b917fd0ed186fddf0950765 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/formal.status.json @@ -0,0 +1,25 @@ +{ + "task": "walker2d", + "stage": "formal", + "state": "COMPLETED", + "started_at": "2026-09-17T12:32:39.124476+00:00", + "command": [ + "taskset", + "-c", + "28-55,140-167", + "/home/ubuntu/miniconda3/envs/starvla_rl_games_gr00t/bin/python", + "-m", + "accelerate.commands.launch", + "--config_file", + "/mnt/local/lzj/latency-sensitive-bench/code/h1-5fps-20260917-v2/third_party/starVLA/starVLA/config/deepseeds/deepspeed_zero2.yaml", + "--num_processes", + "2", + "--main_process_port", + "29792", + "starVLA/training/train_starvla.py", + "--config_yaml", + "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/train.yaml" + ], + "exit_code": 0, + "ended_at": "2026-09-17T14:19:42.948167+00:00" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/l0_sim20.yaml b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/l0_sim20.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a76b63f577ea32bb5e3a4106782c3ada18759a8 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/l0_sim20.yaml @@ -0,0 +1,161 @@ +experiment: + name: gr00t_walker2d_zero + seed: 42 +backend: + type: sample_factory + algo: APPO + device: cuda + train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/walker2d + restart_behavior: overwrite + run_mode: eval +executor: + mode: simulated + inference_devices: + - cuda:0 + inference_batch_size: 1 + simulated_inference_pool: true + simulated_worker_capacity: 1 +env: + name: gymnasium + task_name: walker2d + env_id: LatencyBench/Walker2dContinuous-v0 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + make_kwargs: + base_env_id: Walker2d-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 + env_fps: 5 + obs_fps: 5 + frame_stack: 1 + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -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 + base_prompt: Move the Walker2d robot forward while keeping its torso upright. Predict + six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, + left thigh, left leg, and left foot. + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + obs_resize: + - 224 + - 224 +latency: + method: zero + sync_cuda: false +scheduler: + hold_policy: hold + ordering_policy: issue_order_fifo +policy: + type: starvla + checkpoint_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/checkpoints/model.pt + model_config_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/config.yaml + backbone_path: /mnt/local/lzj/latency-sensitive-bench/models/Qwen3-VL-4B-Instruct + device: cuda:0 + task_manifest_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/bundle/manifest.json + latency_prompt_map_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/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 + max_policy_lag: 300 + learning_rate: 0.00295 + gamma: 0.99 + gae_lambda: 0.95 + ppo_clip_ratio: 0.2 + ppo_clip_value: 0.2 + value_loss_coeff: 1.3 + max_grad_norm: 3.5 + exploration_loss_coeff: 0.0 + async_rl: false + batched_sampling: false + use_rnn: false + encoder_mlp_layers: + - 64 + - 64 + normalize_input: true + normalize_returns: true + save_every_sec: 600 + keep_checkpoints: 5 + lr_schedule: linear_decay + kl_loss_coeff: 0.1 + serial_mode: false + nonlinearity: tanh + adaptive_stddev: false + policy_initialization: torch_default + initial_stddev: 1.0 + shuffle_minibatches: false + value_bootstrap: true +evaluation: + eval_episodes: 20 + eval_parallel_envs: 1 + eval_max_steps: 1000 + eval_deterministic: true + eval_latency_values: null +logging: + output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20 + 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/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/loader_check.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/loader_check.json new file mode 100644 index 0000000000000000000000000000000000000000..a7654eac51342e16210ff75ad7537f0cf61f5a5c --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/loader_check.json @@ -0,0 +1,27 @@ +{ + "loader_action_shape": [ + 1, + 6 + ], + "loader_state_shape": [ + 1, + 17 + ], + "native_action_roundtrip": true, + "state_minmax_once": true, + "image_pixels_identical": true, + "robot_type": "rl_games_gymnasium", + "sample_action": [ + [ + 0.8583984375, + -1.0, + 1.0, + 1.0, + -1.0, + 1.0 + ] + ], + "native_decoder": "box identity slice; unnorm_key unused", + "action_dtype": "float16", + "loader_float16_rounding_max_abs": 0.00012290477752685547 +} diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/preparation.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/preparation.json new file mode 100644 index 0000000000000000000000000000000000000000..b7359d6a26051030fe60af6ea06832397fc6b9c7 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/preparation.json @@ -0,0 +1,42 @@ +{ + "repo": "latency-sensitive-bench/Standard-Pipeline", + "revision": "571cb5801720488ed6458b9cfe3f4c595b069cea", + "prefix": "walker2d/zero_latency/shared/source_100ep_v1/demonstrations/raw", + "sha256": { + "metadata.json": "c8ea2669493beabd97d9e7ecd06cc443adcb1760d8e71dd03588ea4adea20ae9", + "train.parquet": "6a105846e7def09f10fd2a985413cc9a04b9433f57519d330ce33a1033ba7e65", + "val.parquet": "687c1a5d08b3641b5ae76d218dd6afe483f8873b057aa3ab7a81108a6772f424" + }, + "source_tar_sha256": "9847e8924ba7a6446aaa3ce735f4dc2849046c37e21aeb8867f3154ab163ede0", + "frames": { + "train": 85160, + "val": 9664 + }, + "episodes": { + "train": 90, + "val": 10 + }, + "return_ranges": { + "train": [ + 3019.899699331727, + 4524.623699762858 + ], + "val": [ + 3668.9183055646718, + 4558.868211328983 + ] + }, + "image_size": [ + 224, + 224 + ], + "state_dim": 17, + "action_dim": 6, + "action_horizon": 1, + "fps": 5, + "all_source_returns_gt3000": true, + "all_nonprompt_columns_unchanged": true, + "normalization": "train-only min_max; same transform in validation", + "train_config": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/train.yaml", + "dataset": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/walker2d_h1_5fps_l0" +} diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/publication_state.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/publication_state.json new file mode 100644 index 0000000000000000000000000000000000000000..a485a2ff422efd4f051f1445cf2199ab43077a5e --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/validation/publication_state.json @@ -0,0 +1,32 @@ +{ + "task": "walker2d", + "verified_at": "2026-09-17T14:30:05.544543+00:00", + "training": "COMPLETED5000exit0", + "l0_eval_status_snapshot": { + "task": "walker2d", + "stage": "l0_sim20", + "state": "RUNNING", + "started_at": "2026-09-17T14:19:53.991430+00:00", + "command": [ + "/home/ubuntu/miniconda3/envs/starvla_rl_games_gr00t/bin/python", + "-m", + "latency_bench.run", + "--config", + "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/l0_sim20.yaml" + ] + }, + "l0_episodes_completed_at_snapshot": 7, + "l0_final_scores": "notreportedwhile20episodeevaluationpending", + "reload_forward_evidence": "firstcompletedepisodefromexistingfinalbundleL0evaluation;noextraevaluation", + "downstream": "P/B/Fpending;parentmanaged3090queue", + "bundle_files": 8, + "bundle_sha256": { + "checkpoints/model.pt": "5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1", + "config.full.yaml": "23a1f179abba3d28587f14b89f99cfbaca0634aa36ab7c78539ee0ed95e0d58a", + "config.yaml": "453c0e1175ed33e703476ffbc07b5d3a17e0d89f65d3038d53c8bc6436b537a7", + "dataset_statistics.json": "1956e498026db81002e20cb62543ee44c55a82b4bf1a10dce3517483de0ecd83", + "latency_prompt_map.json": "03688d51cea9f0ad31aee9666aeb02a58be4099aee9f083271eceaa9139d2871", + "manifest.json": "5e574c5784420866052fc87140692550c11921af07dd1541064e46d94c499908", + "provenance.json": "3e6427330cd062bd82f60e385c0bb099dba1fa339abaa0c108ae349ea936115c" + } +} diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md new file mode 100644 index 0000000000000000000000000000000000000000..847a773a3e96c7548dbd3ed16faf47dfc6934544 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md @@ -0,0 +1,30 @@ +# walker2d / qwenoft + +Training condition: `zero-latency`. Run: `walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k`. + +Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/zero_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`. + +- Checkpoint: `checkpoints/model.pt` +- Selection: only published VLA checkpoint +- Checkpoint SHA256: `8287406d754a46cf89c798a807bff000c9dc0bf93a6b7c49c51e74928599f259` +- 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. + +Missing in this source model bundle: `manifest.json`, `latency_prompt_map.json`. +These files were not substituted with files from another training condition. + +## Download + +```python +from huggingface_hub import snapshot_download +prefix = "zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k" +snapshot_download("latency-sensitive-bench/benchmark-models", revision="", + allow_patterns=[prefix + "/**"]) +``` + +Use the verified import commit listed in the repository's import report. diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..32104598f6dc545ff38d346d1addb8b27f75d75b --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8287406d754a46cf89c798a807bff000c9dc0bf93a6b7c49c51e74928599f259 +size 9785142689 diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a329004ac43ab9a027bbaadd3a73ed490564da2d --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml @@ -0,0 +1,394 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: true + action_model: + action_model_type: MLP + action_dim: 6 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_encoding: continuous_projector + state_dim: 17 + action_horizon: 1 + action_env_dim: 6 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + data_mix: walker2d_rgb_state_l0_return_gt3000_100ep + eval_data_mix: walker2d_rgb_state_l0_return_gt3000_100ep__val + custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/walker2d_rgb_state_l0_return_gt3000_100ep.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + 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: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + gymnasium_task_contract: + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Walker2d robot forward while keeping its torso upright. + Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, + right foot, left thigh, left leg, and left foot. + env_fps: 125.0 + env_id: LatencyBench/Walker2dContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Walker2d-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 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 125.0 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + task_name: walker2d_rgb_state + active_action_dim: 6 +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: walker2d_rgb_state_l0_return_gt3000_100ep + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: walker2d_rgb_state_l0_return_gt3000_100ep + mixed_converted_name: walker2d_rgb_state_l0_return_gt3000_100ep + 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: true + 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 +workspace_dir: /home/lzj/code/latency-sensitive-bench +run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs + dataset_local_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: null + mode: single + values: + - 0 + task: gymnasium + gymnasium: + task_contract: + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Walker2d robot forward while keeping its torso upright. + Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, + right foot, left thigh, left leg, and left foot. + env_fps: 125.0 + env_id: LatencyBench/Walker2dContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Walker2d-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 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 125.0 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + task_name: walker2d_rgb_state + task_name: walker2d_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +config_yaml: null +is_debug: false +version_id: '0.21' diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a329004ac43ab9a027bbaadd3a73ed490564da2d --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml @@ -0,0 +1,394 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: true + action_model: + action_model_type: MLP + action_dim: 6 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_encoding: continuous_projector + state_dim: 17 + action_horizon: 1 + action_env_dim: 6 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + data_mix: walker2d_rgb_state_l0_return_gt3000_100ep + eval_data_mix: walker2d_rgb_state_l0_return_gt3000_100ep__val + custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/walker2d_rgb_state_l0_return_gt3000_100ep.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + 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: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + gymnasium_task_contract: + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Walker2d robot forward while keeping its torso upright. + Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, + right foot, left thigh, left leg, and left foot. + env_fps: 125.0 + env_id: LatencyBench/Walker2dContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Walker2d-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 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 125.0 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + task_name: walker2d_rgb_state + active_action_dim: 6 +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: walker2d_rgb_state_l0_return_gt3000_100ep + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: walker2d_rgb_state_l0_return_gt3000_100ep + mixed_converted_name: walker2d_rgb_state_l0_return_gt3000_100ep + 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: true + 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 +workspace_dir: /home/lzj/code/latency-sensitive-bench +run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs + dataset_local_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: null + mode: single + values: + - 0 + task: gymnasium + gymnasium: + task_contract: + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Walker2d robot forward while keeping its torso upright. + Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, + right foot, left thigh, left leg, and left foot. + env_fps: 125.0 + env_id: LatencyBench/Walker2dContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Walker2d-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 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 125.0 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + task_name: walker2d_rgb_state + task_name: walker2d_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +config_yaml: null +is_debug: false +version_id: '0.21' diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..bfb9e72f511b15f1aba80c6eb1faa007fa88cee2 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json @@ -0,0 +1,180 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.8840610980987549, + 0.34449484944343567, + 0.11654752492904663, + 0.8480036854743958, + 0.32758569717407227, + 0.9875396490097046 + ], + "std": [ + 0.32312333583831787, + 0.7096099853515625, + 0.9048961400985718, + 0.343753844499588, + 0.7393367886543274, + 0.11781969666481018 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.5243898153305053, + -1.0, + -1.0, + -0.5588397586345673, + -1.0, + 0.5681399703025818 + ], + "q99": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.38908126950263977, + -0.06854692101478577, + 0.5603042840957642, + 0.295283704996109, + 0.20391421020030975, + 0.7933022975921631, + 0.32835325598716736, + 0.7283809781074524, + -0.11274679005146027, + 0.36438047885894775, + -0.041566070169210434, + -0.006785172037780285, + -0.21467362344264984, + -0.2302139699459076, + -0.008182121440768242, + -0.19842907786369324, + -0.0016649218741804361 + ], + "std": [ + 0.15210415422916412, + 0.28636232018470764, + 0.08957907557487488, + 0.40512198209762573, + 0.5324621796607971, + 0.09768694639205933, + 0.4175085127353668, + 0.07296281307935677, + 0.3539130389690399, + 0.21250014007091522, + 0.5710971355438232, + 0.19414709508419037, + 0.797458827495575, + 0.7378174662590027, + 0.32647520303726196, + 0.7747778296470642, + 0.10512100160121918 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.01641636550426483, + -0.5725254046916962, + 0.1497414314746857, + -0.5082594507932663, + -0.704446622133255, + 0.4100250256061554, + -0.7682463544607162, + 0.7055095672607422, + -0.8300059294700622, + -0.09350170254707335, + -1.0, + -0.7184711527824402, + -1.0, + -1.0, + -0.9244865983724594, + -1.0, + -0.37168214678764344 + ], + "q99": [ + 0.6826163899898535, + 0.5332732021808625, + 0.7265087735652924, + 0.9429451179504394, + 0.963300715684891, + 0.9189580070972443, + 0.8997541296482087, + 0.7992216396331789, + 0.7250751173496247, + 0.9080468678474427, + 1.0, + 0.8595866250991845, + 1.0, + 1.0, + 1.0, + 1.0, + 0.04421793460845973 + ] + }, + "num_transitions": 85160, + "num_trajectories": 90 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..c2678c26ec551e184f0488da1e3ad5e067f3fef9 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json @@ -0,0 +1,180 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.8849527835845947, + 0.35430335998535156, + 0.12333488464355469, + 0.8605653643608093, + 0.32735443115234375, + 0.9852222204208374 + ], + "std": [ + 0.32089999318122864, + 0.7054017186164856, + 0.907700777053833, + 0.32899200916290283, + 0.7426145076751709, + 0.1215449869632721 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.5130668139457703, + -1.0, + -1.0, + -0.5488155257701873, + -1.0, + 0.3306524598598479 + ], + "q99": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.3954218029975891, + -0.0746895968914032, + 0.5602800250053406, + 0.3015284240245819, + 0.2082919180393219, + 0.7967728972434998, + 0.3465990126132965, + 0.7285168170928955, + -0.09946807473897934, + 0.36348482966423035, + -0.04188957437872887, + -0.006726500112563372, + -0.21870803833007812, + -0.23826205730438232, + -0.008270090445876122, + -0.2051077038049698, + -0.0017182693118229508 + ], + "std": [ + 0.15569402277469635, + 0.2810911238193512, + 0.09028489887714386, + 0.4023565948009491, + 0.5337862968444824, + 0.08760403096675873, + 0.40798017382621765, + 0.0689404234290119, + 0.3508071303367615, + 0.2143576443195343, + 0.5698263645172119, + 0.18698696792125702, + 0.800293505191803, + 0.7367855906486511, + 0.32409295439720154, + 0.768949031829834, + 0.11262209713459015 + ], + "max": [ + 0.8644862174987793, + 0.7157082557678223, + 0.9386438131332397, + 0.9675707817077637, + 0.9948835372924805, + 0.9897574186325073, + 0.987257719039917, + 0.9977864027023315, + 0.9504057168960571, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -0.9982708692550659, + -0.8229403495788574, + -0.6960538625717163, + -0.9217309951782227, + -0.877301812171936, + 0.2215665578842163, + -0.9920427799224854, + -0.9526035785675049, + -0.9228333234786987, + -0.8903961777687073, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.017054073810577396, + -0.5626240783929825, + 0.15242856860160828, + -0.44991630494594576, + -0.6997699916362763, + 0.4606837844848633, + -0.7162600827217103, + 0.625782380104065, + -0.8147157776355743, + -0.07589246273040771, + -1.0, + -0.6913001000881195, + -1.0, + -1.0, + -0.9122443580627442, + -1.0, + -0.3875079840421677 + ], + "q99": [ + 0.6713557291030892, + 0.49713534116745084, + 0.7179951703548436, + 0.9427642738819123, + 0.9646597146987915, + 0.9173498451709751, + 0.8999581170082093, + 0.8004228246212006, + 0.7161488473415385, + 0.910248271226883, + 1.0, + 0.7649935555458134, + 1.0, + 1.0, + 1.0, + 1.0, + 0.10979756355286273 + ] + }, + "num_transitions": 9664, + "num_trajectories": 10 + } +} \ No newline at end of file diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/provenance.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..ec4735a201dce35ee1fd4215ed5f44d923e75845 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/provenance.json @@ -0,0 +1,37 @@ +{ + "task": "walker2d", + "model": "qwenoft", + "training_condition": "zero-latency", + "training_run_id": "walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k", + "source": { + "repo_id": "latency-sensitive-bench/Standard-Pipeline", + "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", + "path": "walker2d/zero_latency/OpenVLA", + "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/zero_latency/OpenVLA" + }, + "hf_repo_id": "latency-sensitive-bench/benchmark-models", + "hf_path": "zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k", + "checkpoint": { + "source_file": "walker2d/zero_latency/OpenVLA/checkpoints/steps_5000_pytorch_model.pt", + "source_sha256": "8287406d754a46cf89c798a807bff000c9dc0bf93a6b7c49c51e74928599f259", + "source_bytes": 9785142689, + "file": "checkpoints/model.pt", + "selection_rule": "only published VLA checkpoint", + "method": "copy", + "sha256": "8287406d754a46cf89c798a807bff000c9dc0bf93a6b7c49c51e74928599f259", + "bytes": 9785142689 + }, + "config_source": "walker2d/zero_latency/OpenVLA/config.full.yaml", + "task_contract_file": "task_contract.json", + "missing_source_files": [ + "manifest.json", + "latency_prompt_map.json" + ], + "migration": { + "operation": "copy_selected_inference_bundle", + "source_modified": false, + "evaluation_performed": false, + "experiment_status": "preserved_in_source_evidence" + }, + "action_horizon": 1 +} diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/source/config.yaml b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/source/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b9b94b2135195d605ba888ef8344adf7c7c0dd42 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/source/config.yaml @@ -0,0 +1,86 @@ +checkpoint: + local: + keep_last_n: 1 + save_best_model: false + save_final_model: true + save_pt_file: true + save_safetensors_file: false + save_training_state: false + sync: + enabled: false + keep_last_n: 0 + repo_id: null +datasets: + vla_data: + data_mix: walker2d_rgb_state_l0_return_gt3000_100ep + dataset_py: lerobot_datasets + eval_data_mix: walker2d_rgb_state_l0_return_gt3000_100ep__val + latency_curriculum: + enabled: false + per_device_batch_size: 16 +framework: + action_model: + action_dim: 6 + action_env_dim: 6 + action_hidden_dim: 2560 + action_horizon: 1 + action_model_type: MLP + loss_type: l1 + state_dim: 17 + state_encoding: continuous_projector + kv_memory: + enabled: false + packed_train: false + rebased_sink: true + rollout_len: 8 + window: 4 + name: QwenOFT + qwenvl: + attn_implementation: flash_attention_2 + base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + enable_gradient_checkpointing: true +output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +rl_games: + env_eval: + enabled: false + task: gymnasium +run_id: walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs +seed: 42 +trainer: + distributed_backend: deepspeed + eval_action_classification: false + eval_action_classification_interval: null + eval_interval: 500 + eval_num_batches: 200 + freeze_llm_layers: [] + freeze_modules: '' + freeze_tied_embedding: false + freeze_vit: false + gradient_accumulation_steps: 1 + is_resume: false + learning_rate: + action_model: 0.0001 + base: 2.0e-05 + qwen_vl_interface: 1.0e-05 + logging_frequency: 1 + lr_scheduler_type: cosine_with_min_lr + max_train_steps: 5000 + num_warmup_steps: 100 + optimizer: + betas: + - 0.9 + - 0.95 + eps: 1.0e-08 + fused: true + weight_decay: 1.0e-08 + per_latency_eval_num_batches: null + pretrained_checkpoint: null + profile_timing: + enabled: true + log_interval: 10 + save_interval: 500 + scheduler_specific_kwargs: + min_lr: 1.0e-06 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench diff --git a/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/task_contract.json b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..6c0a68cd29b247488218a7381facb1a7e9de3aa2 --- /dev/null +++ b/archive/issued-action-fix-20261010/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/task_contract.json @@ -0,0 +1,80 @@ +{ + "action_space": { + "dtype": "float32", + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "type": "box" + }, + "base_prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot.", + "env_fps": 125.0, + "env_id": "LatencyBench/Walker2dContinuous-v0", + "frame_stack": 1, + "make_kwargs": { + "base_env_id": "Walker2d-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, + 0.0, + 0.0, + 0.0 + ], + "obs_fps": 125.0, + "registration_imports": [ + "latency_bench.envs.gymnasium_walker2d" + ], + "state_space": { + "labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ] + }, + "task_name": "walker2d_rgb_state" +}