Hugging Face's logo

MLL-Lab
/
LAGEN-models

Robotics
PyTorch
Safetensors
vision-language-action
latency-sensitive-bench
multiple-checkpoints
Model card Files
xet
 Community
1
Caesarrr commited on
Commit
5b53393
·
verified ·
1 Parent(s): 3fb1d4a

Publish MIKASA H8 dagger zero-latency qwenpi_v3

Browse files
Files changed (11) hide show
  1. zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/README.md +3 -0
  2. zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/checkpoints/latest_model.pt +3 -0
  3. zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/checkpoints/model.pt +3 -0
  4. zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/config.yaml +62 -0
  5. zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/dataset_statistics.json +127 -0
  6. zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/eval_fixed_2f.json +223 -0
  7. zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/eval_l0.json +221 -0
  8. zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/eval_matrix.json +2009 -0
  9. zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/eval_profile.json +223 -0
  10. zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/provenance.json +20 -0
  11. zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/task_contract.json +138 -0
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/README.md ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ # MIKASA H8 zero-latency qwenpi_v3 DAgger
2
+
3
+ Selected development checkpoint: step 4000. The independent 200-episode results are in eval_matrix.json.
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/checkpoints/latest_model.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2eaea5f33ddae0dc517c66c177a65844093a436d5c4d766c6e8d117f13ad398d
3
+ size 10922637469
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/checkpoints/model.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f88257e13aaf5e788e2f91382cb9fcb58ada960917c8c5e560ad6937a54d951
3
+ size 10922637469
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/config.yaml ADDED
@@ -0,0 +1,62 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ framework:
2
+ name: QwenPI_v3
3
+ qwenvl:
4
+ base_vlm: Qwen/Qwen3-VL-4B-Instruct
5
+ attn_implementation: flash_attention_2
6
+ vl_hidden_dim: 2560
7
+ num_vl_layers: 36
8
+ enable_gradient_checkpointing: true
9
+ action_model:
10
+ action_model_type: LayerwiseFM
11
+ action_dim: 7
12
+ state_dim: 7
13
+ state_encoding: continuous_projector
14
+ task_objective: null
15
+ action_horizon: 8
16
+ repeated_diffusion_steps: 2
17
+ num_inference_timesteps: 4
18
+ add_pos_embed: true
19
+ max_seq_len: 1024
20
+ num_target_vision_tokens: 32
21
+ noise_beta_alpha: 1.5
22
+ noise_beta_beta: 1.0
23
+ noise_s: 0.999
24
+ num_timestep_buckets: 1000
25
+ diffusion_model_cfg:
26
+ action_dit_hidden_dim: 1024
27
+ dropout: 0.2
28
+ final_dropout: true
29
+ interleave_self_attention: true
30
+ norm_type: ada_norm
31
+ positional_embeddings: null
32
+ attention_head_dim: 64
33
+ num_layers: 36
34
+ input_embedding_dim: 1024
35
+ cross_attention_dim: 1024
36
+ output_dim: 1024
37
+ num_attention_heads: 16
38
+ action_env_dim: 7
39
+ future_action_window_size: 7
40
+ past_action_window_size: 0
41
+ version_id: '0.21'
42
+ datasets:
43
+ vla_data:
44
+ include_state: true
45
+ obs_image_size:
46
+ - 224
47
+ - 224
48
+ image_mode: single
49
+ stitch_grid:
50
+ - 1
51
+ - 2
52
+ num_obs_frames: 1
53
+ trainer:
54
+ pretrained_checkpoint: null
55
+ backbone:
56
+ repo_id: Qwen/Qwen3-VL-4B-Instruct
57
+ allow_patterns:
58
+ - '*.json'
59
+ - '*.safetensors'
60
+ - '*.txt'
61
+ - '*.jinja'
62
+ - '*.model'
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/dataset_statistics.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "action": {
4
+ "mean": [
5
+ -0.0752570852637291,
6
+ 0.14676418900489807,
7
+ -0.18597613275051117,
8
+ -0.2451779991388321,
9
+ -0.3767579197883606,
10
+ 0.137332946062088,
11
+ 0.0018722218228504062
12
+ ],
13
+ "std": [
14
+ 0.19013969600200653,
15
+ 0.5180381536483765,
16
+ 0.21658223867416382,
17
+ 0.2836034893989563,
18
+ 0.29047703742980957,
19
+ 0.293570339679718,
20
+ 0.4252478778362274
21
+ ],
22
+ "max": [
23
+ 0.3204230070114136,
24
+ 0.9921634197235107,
25
+ 0.6247130036354065,
26
+ 0.8002768158912659,
27
+ 0.6306125521659851,
28
+ 1.0,
29
+ 0.774597704410553
30
+ ],
31
+ "min": [
32
+ -1.0,
33
+ -1.0,
34
+ -1.0,
35
+ -0.9346221089363098,
36
+ -1.0,
37
+ -0.5651661157608032,
38
+ -1.0
39
+ ],
40
+ "q01": [
41
+ -0.6492516398429871,
42
+ -1.0,
43
+ -0.8208754062652588,
44
+ -0.6876692175865173,
45
+ -0.8934756648540497,
46
+ -0.41017746925354004,
47
+ -0.8540400266647339
48
+ ],
49
+ "q99": [
50
+ 0.26425155997276306,
51
+ 0.8625524640083313,
52
+ 0.18927998840808868,
53
+ 0.5506407022476196,
54
+ 0.23522275686264038,
55
+ 0.7337803244590759,
56
+ 0.650341808795929
57
+ ],
58
+ "mask": [
59
+ true,
60
+ true,
61
+ true,
62
+ true,
63
+ true,
64
+ true,
65
+ true
66
+ ]
67
+ },
68
+ "state": {
69
+ "mean": [
70
+ -0.18996892869472504,
71
+ -0.09119448065757751,
72
+ 0.08502458781003952,
73
+ -2.616269588470459,
74
+ 0.33758142590522766,
75
+ -0.17528389394283295,
76
+ 0.04933461919426918
77
+ ],
78
+ "std": [
79
+ 0.08925069123506546,
80
+ 0.1439206600189209,
81
+ 0.08522012829780579,
82
+ 1.4712677001953125,
83
+ 0.18586333096027374,
84
+ 0.10226143896579742,
85
+ 0.01495052408427
86
+ ],
87
+ "max": [
88
+ -0.004026889801025391,
89
+ 0.23487472534179688,
90
+ 0.3442644476890564,
91
+ 3.1415677070617676,
92
+ 0.9648659229278564,
93
+ 0.0931963101029396,
94
+ 0.07999999821186066
95
+ ],
96
+ "min": [
97
+ -0.41803836822509766,
98
+ -0.37668657302856445,
99
+ 0.015313848853111267,
100
+ -3.1415457725524902,
101
+ -0.07448819279670715,
102
+ -0.40120765566825867,
103
+ 0.02547522261738777
104
+ ],
105
+ "q01": [
106
+ -0.3719064712524414,
107
+ -0.3454733848571777,
108
+ 0.018063589930534363,
109
+ -3.1388832092285157,
110
+ -0.029389445297420023,
111
+ -0.3605163902044296,
112
+ 0.0291226364672184
113
+ ],
114
+ "q99": [
115
+ -0.03631005287170415,
116
+ 0.17424454689025873,
117
+ 0.3186076879501343,
118
+ 3.1387048721313477,
119
+ 0.7408432960510251,
120
+ 0.053878990560769925,
121
+ 0.07999999821186066
122
+ ]
123
+ },
124
+ "num_transitions": 11181,
125
+ "num_trajectories": 296
126
+ }
127
+ }
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/eval_fixed_2f.json ADDED
@@ -0,0 +1,223 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seed": 4242424542,
3
+ "episodes": 200,
4
+ "success_count": 115.0,
5
+ "success_rate": 0.575,
6
+ "mean_return": 21.472858561251496,
7
+ "audit": {
8
+ "episodes": 200,
9
+ "request_fps": 20,
10
+ "simulated_worker_capacity": 1,
11
+ "latency_method": "fixed",
12
+ "startup_policy": "environment_starts_at_reset",
13
+ "initial_noop_transitions": 400,
14
+ "first_action_apply_raw_frames": [
15
+ 2,
16
+ 2,
17
+ 2,
18
+ 2,
19
+ 2,
20
+ 2,
21
+ 2,
22
+ 2,
23
+ 2,
24
+ 2,
25
+ 2,
26
+ 2,
27
+ 2,
28
+ 2,
29
+ 2,
30
+ 2,
31
+ 2,
32
+ 2,
33
+ 2,
34
+ 2,
35
+ 2,
36
+ 2,
37
+ 2,
38
+ 2,
39
+ 2,
40
+ 2,
41
+ 2,
42
+ 2,
43
+ 2,
44
+ 2,
45
+ 2,
46
+ 2,
47
+ 2,
48
+ 2,
49
+ 2,
50
+ 2,
51
+ 2,
52
+ 2,
53
+ 2,
54
+ 2,
55
+ 2,
56
+ 2,
57
+ 2,
58
+ 2,
59
+ 2,
60
+ 2,
61
+ 2,
62
+ 2,
63
+ 2,
64
+ 2,
65
+ 2,
66
+ 2,
67
+ 2,
68
+ 2,
69
+ 2,
70
+ 2,
71
+ 2,
72
+ 2,
73
+ 2,
74
+ 2,
75
+ 2,
76
+ 2,
77
+ 2,
78
+ 2,
79
+ 2,
80
+ 2,
81
+ 2,
82
+ 2,
83
+ 2,
84
+ 2,
85
+ 2,
86
+ 2,
87
+ 2,
88
+ 2,
89
+ 2,
90
+ 2,
91
+ 2,
92
+ 2,
93
+ 2,
94
+ 2,
95
+ 2,
96
+ 2,
97
+ 2,
98
+ 2,
99
+ 2,
100
+ 2,
101
+ 2,
102
+ 2,
103
+ 2,
104
+ 2,
105
+ 2,
106
+ 2,
107
+ 2,
108
+ 2,
109
+ 2,
110
+ 2,
111
+ 2,
112
+ 2,
113
+ 2,
114
+ 2,
115
+ 2,
116
+ 2,
117
+ 2,
118
+ 2,
119
+ 2,
120
+ 2,
121
+ 2,
122
+ 2,
123
+ 2,
124
+ 2,
125
+ 2,
126
+ 2,
127
+ 2,
128
+ 2,
129
+ 2,
130
+ 2,
131
+ 2,
132
+ 2,
133
+ 2,
134
+ 2,
135
+ 2,
136
+ 2,
137
+ 2,
138
+ 2,
139
+ 2,
140
+ 2,
141
+ 2,
142
+ 2,
143
+ 2,
144
+ 2,
145
+ 2,
146
+ 2,
147
+ 2,
148
+ 2,
149
+ 2,
150
+ 2,
151
+ 2,
152
+ 2,
153
+ 2,
154
+ 2,
155
+ 2,
156
+ 2,
157
+ 2,
158
+ 2,
159
+ 2,
160
+ 2,
161
+ 2,
162
+ 2,
163
+ 2,
164
+ 2,
165
+ 2,
166
+ 2,
167
+ 2,
168
+ 2,
169
+ 2,
170
+ 2,
171
+ 2,
172
+ 2,
173
+ 2,
174
+ 2,
175
+ 2,
176
+ 2,
177
+ 2,
178
+ 2,
179
+ 2,
180
+ 2,
181
+ 2,
182
+ 2,
183
+ 2,
184
+ 2,
185
+ 2,
186
+ 2,
187
+ 2,
188
+ 2,
189
+ 2,
190
+ 2,
191
+ 2,
192
+ 2,
193
+ 2,
194
+ 2,
195
+ 2,
196
+ 2,
197
+ 2,
198
+ 2,
199
+ 2,
200
+ 2,
201
+ 2,
202
+ 2,
203
+ 2,
204
+ 2,
205
+ 2,
206
+ 2,
207
+ 2,
208
+ 2,
209
+ 2,
210
+ 2,
211
+ 2,
212
+ 2,
213
+ 2,
214
+ 2
215
+ ],
216
+ "executed_later_heads": 11600,
217
+ "passed": true,
218
+ "fixed_latency_ms": 100.0,
219
+ "latency_raw_frames": 2
220
+ },
221
+ "checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-naive-dagger-20260923/qwenpi_v3/bundles/best/checkpoints/model.pt",
222
+ "resident_step": null
223
+ }
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/eval_l0.json ADDED
@@ -0,0 +1,221 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seed": 4242424542,
3
+ "episodes": 200,
4
+ "success_count": 199.0,
5
+ "success_rate": 0.995,
6
+ "mean_return": 36.7850292439152,
7
+ "audit": {
8
+ "episodes": 200,
9
+ "request_fps": 20,
10
+ "simulated_worker_capacity": 1,
11
+ "latency_method": "zero",
12
+ "startup_policy": "environment_starts_at_reset",
13
+ "initial_noop_transitions": 0,
14
+ "first_action_apply_raw_frames": [
15
+ 0,
16
+ 0,
17
+ 0,
18
+ 0,
19
+ 0,
20
+ 0,
21
+ 0,
22
+ 0,
23
+ 0,
24
+ 0,
25
+ 0,
26
+ 0,
27
+ 0,
28
+ 0,
29
+ 0,
30
+ 0,
31
+ 0,
32
+ 0,
33
+ 0,
34
+ 0,
35
+ 0,
36
+ 0,
37
+ 0,
38
+ 0,
39
+ 0,
40
+ 0,
41
+ 0,
42
+ 0,
43
+ 0,
44
+ 0,
45
+ 0,
46
+ 0,
47
+ 0,
48
+ 0,
49
+ 0,
50
+ 0,
51
+ 0,
52
+ 0,
53
+ 0,
54
+ 0,
55
+ 0,
56
+ 0,
57
+ 0,
58
+ 0,
59
+ 0,
60
+ 0,
61
+ 0,
62
+ 0,
63
+ 0,
64
+ 0,
65
+ 0,
66
+ 0,
67
+ 0,
68
+ 0,
69
+ 0,
70
+ 0,
71
+ 0,
72
+ 0,
73
+ 0,
74
+ 0,
75
+ 0,
76
+ 0,
77
+ 0,
78
+ 0,
79
+ 0,
80
+ 0,
81
+ 0,
82
+ 0,
83
+ 0,
84
+ 0,
85
+ 0,
86
+ 0,
87
+ 0,
88
+ 0,
89
+ 0,
90
+ 0,
91
+ 0,
92
+ 0,
93
+ 0,
94
+ 0,
95
+ 0,
96
+ 0,
97
+ 0,
98
+ 0,
99
+ 0,
100
+ 0,
101
+ 0,
102
+ 0,
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 0,
108
+ 0,
109
+ 0,
110
+ 0,
111
+ 0,
112
+ 0,
113
+ 0,
114
+ 0,
115
+ 0,
116
+ 0,
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0,
124
+ 0,
125
+ 0,
126
+ 0,
127
+ 0,
128
+ 0,
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 0,
134
+ 0,
135
+ 0,
136
+ 0,
137
+ 0,
138
+ 0,
139
+ 0,
140
+ 0,
141
+ 0,
142
+ 0,
143
+ 0,
144
+ 0,
145
+ 0,
146
+ 0,
147
+ 0,
148
+ 0,
149
+ 0,
150
+ 0,
151
+ 0,
152
+ 0,
153
+ 0,
154
+ 0,
155
+ 0,
156
+ 0,
157
+ 0,
158
+ 0,
159
+ 0,
160
+ 0,
161
+ 0,
162
+ 0,
163
+ 0,
164
+ 0,
165
+ 0,
166
+ 0,
167
+ 0,
168
+ 0,
169
+ 0,
170
+ 0,
171
+ 0,
172
+ 0,
173
+ 0,
174
+ 0,
175
+ 0,
176
+ 0,
177
+ 0,
178
+ 0,
179
+ 0,
180
+ 0,
181
+ 0,
182
+ 0,
183
+ 0,
184
+ 0,
185
+ 0,
186
+ 0,
187
+ 0,
188
+ 0,
189
+ 0,
190
+ 0,
191
+ 0,
192
+ 0,
193
+ 0,
194
+ 0,
195
+ 0,
196
+ 0,
197
+ 0,
198
+ 0,
199
+ 0,
200
+ 0,
201
+ 0,
202
+ 0,
203
+ 0,
204
+ 0,
205
+ 0,
206
+ 0,
207
+ 0,
208
+ 0,
209
+ 0,
210
+ 0,
211
+ 0,
212
+ 0,
213
+ 0,
214
+ 0
215
+ ],
216
+ "executed_later_heads": 0,
217
+ "passed": true
218
+ },
219
+ "checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-naive-dagger-20260923/qwenpi_v3/bundles/best/checkpoints/model.pt",
220
+ "resident_step": null
221
+ }
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/eval_matrix.json ADDED
@@ -0,0 +1,2009 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "zero": {
3
+ "baseline": {
4
+ "seed": 4242424542,
5
+ "episodes": 200,
6
+ "success_count": 118.0,
7
+ "success_rate": 0.59,
8
+ "mean_return": 21.933419276684404,
9
+ "audit": {
10
+ "episodes": 200,
11
+ "request_fps": 20,
12
+ "simulated_worker_capacity": 1,
13
+ "latency_method": "zero",
14
+ "startup_policy": "environment_starts_at_reset",
15
+ "initial_noop_transitions": 0,
16
+ "first_action_apply_raw_frames": [
17
+ 0,
18
+ 0,
19
+ 0,
20
+ 0,
21
+ 0,
22
+ 0,
23
+ 0,
24
+ 0,
25
+ 0,
26
+ 0,
27
+ 0,
28
+ 0,
29
+ 0,
30
+ 0,
31
+ 0,
32
+ 0,
33
+ 0,
34
+ 0,
35
+ 0,
36
+ 0,
37
+ 0,
38
+ 0,
39
+ 0,
40
+ 0,
41
+ 0,
42
+ 0,
43
+ 0,
44
+ 0,
45
+ 0,
46
+ 0,
47
+ 0,
48
+ 0,
49
+ 0,
50
+ 0,
51
+ 0,
52
+ 0,
53
+ 0,
54
+ 0,
55
+ 0,
56
+ 0,
57
+ 0,
58
+ 0,
59
+ 0,
60
+ 0,
61
+ 0,
62
+ 0,
63
+ 0,
64
+ 0,
65
+ 0,
66
+ 0,
67
+ 0,
68
+ 0,
69
+ 0,
70
+ 0,
71
+ 0,
72
+ 0,
73
+ 0,
74
+ 0,
75
+ 0,
76
+ 0,
77
+ 0,
78
+ 0,
79
+ 0,
80
+ 0,
81
+ 0,
82
+ 0,
83
+ 0,
84
+ 0,
85
+ 0,
86
+ 0,
87
+ 0,
88
+ 0,
89
+ 0,
90
+ 0,
91
+ 0,
92
+ 0,
93
+ 0,
94
+ 0,
95
+ 0,
96
+ 0,
97
+ 0,
98
+ 0,
99
+ 0,
100
+ 0,
101
+ 0,
102
+ 0,
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 0,
108
+ 0,
109
+ 0,
110
+ 0,
111
+ 0,
112
+ 0,
113
+ 0,
114
+ 0,
115
+ 0,
116
+ 0,
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0,
124
+ 0,
125
+ 0,
126
+ 0,
127
+ 0,
128
+ 0,
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 0,
134
+ 0,
135
+ 0,
136
+ 0,
137
+ 0,
138
+ 0,
139
+ 0,
140
+ 0,
141
+ 0,
142
+ 0,
143
+ 0,
144
+ 0,
145
+ 0,
146
+ 0,
147
+ 0,
148
+ 0,
149
+ 0,
150
+ 0,
151
+ 0,
152
+ 0,
153
+ 0,
154
+ 0,
155
+ 0,
156
+ 0,
157
+ 0,
158
+ 0,
159
+ 0,
160
+ 0,
161
+ 0,
162
+ 0,
163
+ 0,
164
+ 0,
165
+ 0,
166
+ 0,
167
+ 0,
168
+ 0,
169
+ 0,
170
+ 0,
171
+ 0,
172
+ 0,
173
+ 0,
174
+ 0,
175
+ 0,
176
+ 0,
177
+ 0,
178
+ 0,
179
+ 0,
180
+ 0,
181
+ 0,
182
+ 0,
183
+ 0,
184
+ 0,
185
+ 0,
186
+ 0,
187
+ 0,
188
+ 0,
189
+ 0,
190
+ 0,
191
+ 0,
192
+ 0,
193
+ 0,
194
+ 0,
195
+ 0,
196
+ 0,
197
+ 0,
198
+ 0,
199
+ 0,
200
+ 0,
201
+ 0,
202
+ 0,
203
+ 0,
204
+ 0,
205
+ 0,
206
+ 0,
207
+ 0,
208
+ 0,
209
+ 0,
210
+ 0,
211
+ 0,
212
+ 0,
213
+ 0,
214
+ 0,
215
+ 0,
216
+ 0
217
+ ],
218
+ "executed_later_heads": 0,
219
+ "passed": true
220
+ },
221
+ "checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-naive-dagger-20260923/qwenpi_v3/bundles/source/checkpoints/model.pt",
222
+ "resident_step": null
223
+ },
224
+ "best": {
225
+ "seed": 4242424542,
226
+ "episodes": 200,
227
+ "success_count": 199.0,
228
+ "success_rate": 0.995,
229
+ "mean_return": 36.7850292439152,
230
+ "audit": {
231
+ "episodes": 200,
232
+ "request_fps": 20,
233
+ "simulated_worker_capacity": 1,
234
+ "latency_method": "zero",
235
+ "startup_policy": "environment_starts_at_reset",
236
+ "initial_noop_transitions": 0,
237
+ "first_action_apply_raw_frames": [
238
+ 0,
239
+ 0,
240
+ 0,
241
+ 0,
242
+ 0,
243
+ 0,
244
+ 0,
245
+ 0,
246
+ 0,
247
+ 0,
248
+ 0,
249
+ 0,
250
+ 0,
251
+ 0,
252
+ 0,
253
+ 0,
254
+ 0,
255
+ 0,
256
+ 0,
257
+ 0,
258
+ 0,
259
+ 0,
260
+ 0,
261
+ 0,
262
+ 0,
263
+ 0,
264
+ 0,
265
+ 0,
266
+ 0,
267
+ 0,
268
+ 0,
269
+ 0,
270
+ 0,
271
+ 0,
272
+ 0,
273
+ 0,
274
+ 0,
275
+ 0,
276
+ 0,
277
+ 0,
278
+ 0,
279
+ 0,
280
+ 0,
281
+ 0,
282
+ 0,
283
+ 0,
284
+ 0,
285
+ 0,
286
+ 0,
287
+ 0,
288
+ 0,
289
+ 0,
290
+ 0,
291
+ 0,
292
+ 0,
293
+ 0,
294
+ 0,
295
+ 0,
296
+ 0,
297
+ 0,
298
+ 0,
299
+ 0,
300
+ 0,
301
+ 0,
302
+ 0,
303
+ 0,
304
+ 0,
305
+ 0,
306
+ 0,
307
+ 0,
308
+ 0,
309
+ 0,
310
+ 0,
311
+ 0,
312
+ 0,
313
+ 0,
314
+ 0,
315
+ 0,
316
+ 0,
317
+ 0,
318
+ 0,
319
+ 0,
320
+ 0,
321
+ 0,
322
+ 0,
323
+ 0,
324
+ 0,
325
+ 0,
326
+ 0,
327
+ 0,
328
+ 0,
329
+ 0,
330
+ 0,
331
+ 0,
332
+ 0,
333
+ 0,
334
+ 0,
335
+ 0,
336
+ 0,
337
+ 0,
338
+ 0,
339
+ 0,
340
+ 0,
341
+ 0,
342
+ 0,
343
+ 0,
344
+ 0,
345
+ 0,
346
+ 0,
347
+ 0,
348
+ 0,
349
+ 0,
350
+ 0,
351
+ 0,
352
+ 0,
353
+ 0,
354
+ 0,
355
+ 0,
356
+ 0,
357
+ 0,
358
+ 0,
359
+ 0,
360
+ 0,
361
+ 0,
362
+ 0,
363
+ 0,
364
+ 0,
365
+ 0,
366
+ 0,
367
+ 0,
368
+ 0,
369
+ 0,
370
+ 0,
371
+ 0,
372
+ 0,
373
+ 0,
374
+ 0,
375
+ 0,
376
+ 0,
377
+ 0,
378
+ 0,
379
+ 0,
380
+ 0,
381
+ 0,
382
+ 0,
383
+ 0,
384
+ 0,
385
+ 0,
386
+ 0,
387
+ 0,
388
+ 0,
389
+ 0,
390
+ 0,
391
+ 0,
392
+ 0,
393
+ 0,
394
+ 0,
395
+ 0,
396
+ 0,
397
+ 0,
398
+ 0,
399
+ 0,
400
+ 0,
401
+ 0,
402
+ 0,
403
+ 0,
404
+ 0,
405
+ 0,
406
+ 0,
407
+ 0,
408
+ 0,
409
+ 0,
410
+ 0,
411
+ 0,
412
+ 0,
413
+ 0,
414
+ 0,
415
+ 0,
416
+ 0,
417
+ 0,
418
+ 0,
419
+ 0,
420
+ 0,
421
+ 0,
422
+ 0,
423
+ 0,
424
+ 0,
425
+ 0,
426
+ 0,
427
+ 0,
428
+ 0,
429
+ 0,
430
+ 0,
431
+ 0,
432
+ 0,
433
+ 0,
434
+ 0,
435
+ 0,
436
+ 0,
437
+ 0
438
+ ],
439
+ "executed_later_heads": 0,
440
+ "passed": true
441
+ },
442
+ "checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-naive-dagger-20260923/qwenpi_v3/bundles/best/checkpoints/model.pt",
443
+ "resident_step": null
444
+ },
445
+ "latest": {
446
+ "seed": 4242424542,
447
+ "episodes": 200,
448
+ "success_count": 196.0,
449
+ "success_rate": 0.98,
450
+ "mean_return": 35.96774280495927,
451
+ "audit": {
452
+ "episodes": 200,
453
+ "request_fps": 20,
454
+ "simulated_worker_capacity": 1,
455
+ "latency_method": "zero",
456
+ "startup_policy": "environment_starts_at_reset",
457
+ "initial_noop_transitions": 0,
458
+ "first_action_apply_raw_frames": [
459
+ 0,
460
+ 0,
461
+ 0,
462
+ 0,
463
+ 0,
464
+ 0,
465
+ 0,
466
+ 0,
467
+ 0,
468
+ 0,
469
+ 0,
470
+ 0,
471
+ 0,
472
+ 0,
473
+ 0,
474
+ 0,
475
+ 0,
476
+ 0,
477
+ 0,
478
+ 0,
479
+ 0,
480
+ 0,
481
+ 0,
482
+ 0,
483
+ 0,
484
+ 0,
485
+ 0,
486
+ 0,
487
+ 0,
488
+ 0,
489
+ 0,
490
+ 0,
491
+ 0,
492
+ 0,
493
+ 0,
494
+ 0,
495
+ 0,
496
+ 0,
497
+ 0,
498
+ 0,
499
+ 0,
500
+ 0,
501
+ 0,
502
+ 0,
503
+ 0,
504
+ 0,
505
+ 0,
506
+ 0,
507
+ 0,
508
+ 0,
509
+ 0,
510
+ 0,
511
+ 0,
512
+ 0,
513
+ 0,
514
+ 0,
515
+ 0,
516
+ 0,
517
+ 0,
518
+ 0,
519
+ 0,
520
+ 0,
521
+ 0,
522
+ 0,
523
+ 0,
524
+ 0,
525
+ 0,
526
+ 0,
527
+ 0,
528
+ 0,
529
+ 0,
530
+ 0,
531
+ 0,
532
+ 0,
533
+ 0,
534
+ 0,
535
+ 0,
536
+ 0,
537
+ 0,
538
+ 0,
539
+ 0,
540
+ 0,
541
+ 0,
542
+ 0,
543
+ 0,
544
+ 0,
545
+ 0,
546
+ 0,
547
+ 0,
548
+ 0,
549
+ 0,
550
+ 0,
551
+ 0,
552
+ 0,
553
+ 0,
554
+ 0,
555
+ 0,
556
+ 0,
557
+ 0,
558
+ 0,
559
+ 0,
560
+ 0,
561
+ 0,
562
+ 0,
563
+ 0,
564
+ 0,
565
+ 0,
566
+ 0,
567
+ 0,
568
+ 0,
569
+ 0,
570
+ 0,
571
+ 0,
572
+ 0,
573
+ 0,
574
+ 0,
575
+ 0,
576
+ 0,
577
+ 0,
578
+ 0,
579
+ 0,
580
+ 0,
581
+ 0,
582
+ 0,
583
+ 0,
584
+ 0,
585
+ 0,
586
+ 0,
587
+ 0,
588
+ 0,
589
+ 0,
590
+ 0,
591
+ 0,
592
+ 0,
593
+ 0,
594
+ 0,
595
+ 0,
596
+ 0,
597
+ 0,
598
+ 0,
599
+ 0,
600
+ 0,
601
+ 0,
602
+ 0,
603
+ 0,
604
+ 0,
605
+ 0,
606
+ 0,
607
+ 0,
608
+ 0,
609
+ 0,
610
+ 0,
611
+ 0,
612
+ 0,
613
+ 0,
614
+ 0,
615
+ 0,
616
+ 0,
617
+ 0,
618
+ 0,
619
+ 0,
620
+ 0,
621
+ 0,
622
+ 0,
623
+ 0,
624
+ 0,
625
+ 0,
626
+ 0,
627
+ 0,
628
+ 0,
629
+ 0,
630
+ 0,
631
+ 0,
632
+ 0,
633
+ 0,
634
+ 0,
635
+ 0,
636
+ 0,
637
+ 0,
638
+ 0,
639
+ 0,
640
+ 0,
641
+ 0,
642
+ 0,
643
+ 0,
644
+ 0,
645
+ 0,
646
+ 0,
647
+ 0,
648
+ 0,
649
+ 0,
650
+ 0,
651
+ 0,
652
+ 0,
653
+ 0,
654
+ 0,
655
+ 0,
656
+ 0,
657
+ 0,
658
+ 0
659
+ ],
660
+ "executed_later_heads": 0,
661
+ "passed": true
662
+ },
663
+ "checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-naive-dagger-20260923/qwenpi_v3/bundles/latest/checkpoints/model.pt",
664
+ "resident_step": null
665
+ }
666
+ },
667
+ "profile": {
668
+ "baseline": {
669
+ "seed": 4242424542,
670
+ "episodes": 200,
671
+ "success_count": 13.0,
672
+ "success_rate": 0.065,
673
+ "mean_return": 3.3007964073202896,
674
+ "audit": {
675
+ "episodes": 200,
676
+ "request_fps": 20,
677
+ "simulated_worker_capacity": 1,
678
+ "latency_method": "temporal",
679
+ "startup_policy": "environment_starts_at_reset",
680
+ "initial_noop_transitions": 641,
681
+ "first_action_apply_raw_frames": [
682
+ 3,
683
+ 3,
684
+ 3,
685
+ 3,
686
+ 3,
687
+ 3,
688
+ 3,
689
+ 3,
690
+ 3,
691
+ 3,
692
+ 3,
693
+ 3,
694
+ 3,
695
+ 3,
696
+ 3,
697
+ 3,
698
+ 3,
699
+ 3,
700
+ 3,
701
+ 3,
702
+ 3,
703
+ 3,
704
+ 3,
705
+ 3,
706
+ 3,
707
+ 3,
708
+ 3,
709
+ 3,
710
+ 3,
711
+ 3,
712
+ 3,
713
+ 3,
714
+ 3,
715
+ 3,
716
+ 3,
717
+ 3,
718
+ 3,
719
+ 3,
720
+ 3,
721
+ 3,
722
+ 3,
723
+ 3,
724
+ 3,
725
+ 3,
726
+ 3,
727
+ 3,
728
+ 3,
729
+ 3,
730
+ 3,
731
+ 3,
732
+ 3,
733
+ 3,
734
+ 3,
735
+ 3,
736
+ 3,
737
+ 3,
738
+ 3,
739
+ 3,
740
+ 3,
741
+ 3,
742
+ 3,
743
+ 3,
744
+ 3,
745
+ 3,
746
+ 3,
747
+ 3,
748
+ 3,
749
+ 3,
750
+ 3,
751
+ 3,
752
+ 3,
753
+ 3,
754
+ 3,
755
+ 3,
756
+ 3,
757
+ 3,
758
+ 3,
759
+ 3,
760
+ 3,
761
+ 3,
762
+ 3,
763
+ 3,
764
+ 3,
765
+ 3,
766
+ 3,
767
+ 3,
768
+ 3,
769
+ 3,
770
+ 3,
771
+ 3,
772
+ 3,
773
+ 3,
774
+ 3,
775
+ 3,
776
+ 3,
777
+ 3,
778
+ 3,
779
+ 3,
780
+ 3,
781
+ 3,
782
+ 3,
783
+ 3,
784
+ 3,
785
+ 3,
786
+ 3,
787
+ 3,
788
+ 3,
789
+ 3,
790
+ 3,
791
+ 3,
792
+ 3,
793
+ 3,
794
+ 3,
795
+ 3,
796
+ 3,
797
+ 3,
798
+ 3,
799
+ 3,
800
+ 3,
801
+ 3,
802
+ 3,
803
+ 3,
804
+ 3,
805
+ 3,
806
+ 3,
807
+ 3,
808
+ 3,
809
+ 3,
810
+ 3,
811
+ 3,
812
+ 3,
813
+ 3,
814
+ 3,
815
+ 3,
816
+ 3,
817
+ 3,
818
+ 3,
819
+ 3,
820
+ 3,
821
+ 3,
822
+ 3,
823
+ 3,
824
+ 3,
825
+ 3,
826
+ 3,
827
+ 3,
828
+ 3,
829
+ 3,
830
+ 3,
831
+ 3,
832
+ 3,
833
+ 3,
834
+ 3,
835
+ 3,
836
+ 3,
837
+ 3,
838
+ 3,
839
+ 3,
840
+ 3,
841
+ 4,
842
+ 4,
843
+ 4,
844
+ 4,
845
+ 4,
846
+ 4,
847
+ 4,
848
+ 4,
849
+ 4,
850
+ 4,
851
+ 4,
852
+ 4,
853
+ 4,
854
+ 4,
855
+ 4,
856
+ 4,
857
+ 4,
858
+ 4,
859
+ 4,
860
+ 4,
861
+ 4,
862
+ 4,
863
+ 4,
864
+ 4,
865
+ 4,
866
+ 4,
867
+ 4,
868
+ 4,
869
+ 4,
870
+ 4,
871
+ 4,
872
+ 4,
873
+ 4,
874
+ 4,
875
+ 4,
876
+ 4,
877
+ 4,
878
+ 4,
879
+ 4,
880
+ 4,
881
+ 4
882
+ ],
883
+ "executed_later_heads": 11359,
884
+ "passed": true,
885
+ "latency_seed": 0,
886
+ "profile_path": "/home/ubuntu/codex/mikasa-h8/results/profiling/downloads/profiles/qwenpi_v3/1x-rtx3090/mikasa_intercept_grab_fast/instance_3a0d42681a03715c/66414463f2a609316da63935941a79abf0a73ce9/profile.json"
887
+ },
888
+ "checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-naive-dagger-20260923/qwenpi_v3/bundles/source/checkpoints/model.pt",
889
+ "resident_step": null
890
+ },
891
+ "best": {
892
+ "seed": 4242424542,
893
+ "episodes": 200,
894
+ "success_count": 40.0,
895
+ "success_rate": 0.2,
896
+ "mean_return": 8.082106734152214,
897
+ "audit": {
898
+ "episodes": 200,
899
+ "request_fps": 20,
900
+ "simulated_worker_capacity": 1,
901
+ "latency_method": "temporal",
902
+ "startup_policy": "environment_starts_at_reset",
903
+ "initial_noop_transitions": 641,
904
+ "first_action_apply_raw_frames": [
905
+ 3,
906
+ 3,
907
+ 3,
908
+ 3,
909
+ 3,
910
+ 3,
911
+ 3,
912
+ 3,
913
+ 3,
914
+ 3,
915
+ 3,
916
+ 3,
917
+ 3,
918
+ 3,
919
+ 3,
920
+ 3,
921
+ 3,
922
+ 3,
923
+ 3,
924
+ 3,
925
+ 3,
926
+ 3,
927
+ 3,
928
+ 3,
929
+ 3,
930
+ 3,
931
+ 3,
932
+ 3,
933
+ 3,
934
+ 3,
935
+ 3,
936
+ 3,
937
+ 3,
938
+ 3,
939
+ 3,
940
+ 3,
941
+ 3,
942
+ 3,
943
+ 3,
944
+ 3,
945
+ 3,
946
+ 3,
947
+ 3,
948
+ 3,
949
+ 3,
950
+ 3,
951
+ 3,
952
+ 3,
953
+ 3,
954
+ 3,
955
+ 3,
956
+ 3,
957
+ 3,
958
+ 3,
959
+ 3,
960
+ 3,
961
+ 3,
962
+ 3,
963
+ 3,
964
+ 3,
965
+ 3,
966
+ 3,
967
+ 3,
968
+ 3,
969
+ 3,
970
+ 3,
971
+ 3,
972
+ 3,
973
+ 3,
974
+ 3,
975
+ 3,
976
+ 3,
977
+ 3,
978
+ 3,
979
+ 3,
980
+ 3,
981
+ 3,
982
+ 3,
983
+ 3,
984
+ 3,
985
+ 3,
986
+ 3,
987
+ 3,
988
+ 3,
989
+ 3,
990
+ 3,
991
+ 3,
992
+ 3,
993
+ 3,
994
+ 3,
995
+ 3,
996
+ 3,
997
+ 3,
998
+ 3,
999
+ 3,
1000
+ 3,
1001
+ 3,
1002
+ 3,
1003
+ 3,
1004
+ 3,
1005
+ 3,
1006
+ 3,
1007
+ 3,
1008
+ 3,
1009
+ 3,
1010
+ 3,
1011
+ 3,
1012
+ 3,
1013
+ 3,
1014
+ 3,
1015
+ 3,
1016
+ 3,
1017
+ 3,
1018
+ 3,
1019
+ 3,
1020
+ 3,
1021
+ 3,
1022
+ 3,
1023
+ 3,
1024
+ 3,
1025
+ 3,
1026
+ 3,
1027
+ 3,
1028
+ 3,
1029
+ 3,
1030
+ 3,
1031
+ 3,
1032
+ 3,
1033
+ 3,
1034
+ 3,
1035
+ 3,
1036
+ 3,
1037
+ 3,
1038
+ 3,
1039
+ 3,
1040
+ 3,
1041
+ 3,
1042
+ 3,
1043
+ 3,
1044
+ 3,
1045
+ 3,
1046
+ 3,
1047
+ 3,
1048
+ 3,
1049
+ 3,
1050
+ 3,
1051
+ 3,
1052
+ 3,
1053
+ 3,
1054
+ 3,
1055
+ 3,
1056
+ 3,
1057
+ 3,
1058
+ 3,
1059
+ 3,
1060
+ 3,
1061
+ 3,
1062
+ 3,
1063
+ 3,
1064
+ 4,
1065
+ 4,
1066
+ 4,
1067
+ 4,
1068
+ 4,
1069
+ 4,
1070
+ 4,
1071
+ 4,
1072
+ 4,
1073
+ 4,
1074
+ 4,
1075
+ 4,
1076
+ 4,
1077
+ 4,
1078
+ 4,
1079
+ 4,
1080
+ 4,
1081
+ 4,
1082
+ 4,
1083
+ 4,
1084
+ 4,
1085
+ 4,
1086
+ 4,
1087
+ 4,
1088
+ 4,
1089
+ 4,
1090
+ 4,
1091
+ 4,
1092
+ 4,
1093
+ 4,
1094
+ 4,
1095
+ 4,
1096
+ 4,
1097
+ 4,
1098
+ 4,
1099
+ 4,
1100
+ 4,
1101
+ 4,
1102
+ 4,
1103
+ 4,
1104
+ 4
1105
+ ],
1106
+ "executed_later_heads": 11359,
1107
+ "passed": true,
1108
+ "latency_seed": 0,
1109
+ "profile_path": "/home/ubuntu/codex/mikasa-h8/results/profiling/downloads/profiles/qwenpi_v3/1x-rtx3090/mikasa_intercept_grab_fast/instance_3a0d42681a03715c/66414463f2a609316da63935941a79abf0a73ce9/profile.json"
1110
+ },
1111
+ "checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-naive-dagger-20260923/qwenpi_v3/bundles/best/checkpoints/model.pt",
1112
+ "resident_step": null
1113
+ },
1114
+ "latest": {
1115
+ "seed": 4242424542,
1116
+ "episodes": 200,
1117
+ "success_count": 42.0,
1118
+ "success_rate": 0.21,
1119
+ "mean_return": 8.46148858869644,
1120
+ "audit": {
1121
+ "episodes": 200,
1122
+ "request_fps": 20,
1123
+ "simulated_worker_capacity": 1,
1124
+ "latency_method": "temporal",
1125
+ "startup_policy": "environment_starts_at_reset",
1126
+ "initial_noop_transitions": 641,
1127
+ "first_action_apply_raw_frames": [
1128
+ 3,
1129
+ 3,
1130
+ 3,
1131
+ 3,
1132
+ 3,
1133
+ 3,
1134
+ 3,
1135
+ 3,
1136
+ 3,
1137
+ 3,
1138
+ 3,
1139
+ 3,
1140
+ 3,
1141
+ 3,
1142
+ 3,
1143
+ 3,
1144
+ 3,
1145
+ 3,
1146
+ 3,
1147
+ 3,
1148
+ 3,
1149
+ 3,
1150
+ 3,
1151
+ 3,
1152
+ 3,
1153
+ 3,
1154
+ 3,
1155
+ 3,
1156
+ 3,
1157
+ 3,
1158
+ 3,
1159
+ 3,
1160
+ 3,
1161
+ 3,
1162
+ 3,
1163
+ 3,
1164
+ 3,
1165
+ 3,
1166
+ 3,
1167
+ 3,
1168
+ 3,
1169
+ 3,
1170
+ 3,
1171
+ 3,
1172
+ 3,
1173
+ 3,
1174
+ 3,
1175
+ 3,
1176
+ 3,
1177
+ 3,
1178
+ 3,
1179
+ 3,
1180
+ 3,
1181
+ 3,
1182
+ 3,
1183
+ 3,
1184
+ 3,
1185
+ 3,
1186
+ 3,
1187
+ 3,
1188
+ 3,
1189
+ 3,
1190
+ 3,
1191
+ 3,
1192
+ 3,
1193
+ 3,
1194
+ 3,
1195
+ 3,
1196
+ 3,
1197
+ 3,
1198
+ 3,
1199
+ 3,
1200
+ 3,
1201
+ 3,
1202
+ 3,
1203
+ 3,
1204
+ 3,
1205
+ 3,
1206
+ 3,
1207
+ 3,
1208
+ 3,
1209
+ 3,
1210
+ 3,
1211
+ 3,
1212
+ 3,
1213
+ 3,
1214
+ 3,
1215
+ 3,
1216
+ 3,
1217
+ 3,
1218
+ 3,
1219
+ 3,
1220
+ 3,
1221
+ 3,
1222
+ 3,
1223
+ 3,
1224
+ 3,
1225
+ 3,
1226
+ 3,
1227
+ 3,
1228
+ 3,
1229
+ 3,
1230
+ 3,
1231
+ 3,
1232
+ 3,
1233
+ 3,
1234
+ 3,
1235
+ 3,
1236
+ 3,
1237
+ 3,
1238
+ 3,
1239
+ 3,
1240
+ 3,
1241
+ 3,
1242
+ 3,
1243
+ 3,
1244
+ 3,
1245
+ 3,
1246
+ 3,
1247
+ 3,
1248
+ 3,
1249
+ 3,
1250
+ 3,
1251
+ 3,
1252
+ 3,
1253
+ 3,
1254
+ 3,
1255
+ 3,
1256
+ 3,
1257
+ 3,
1258
+ 3,
1259
+ 3,
1260
+ 3,
1261
+ 3,
1262
+ 3,
1263
+ 3,
1264
+ 3,
1265
+ 3,
1266
+ 3,
1267
+ 3,
1268
+ 3,
1269
+ 3,
1270
+ 3,
1271
+ 3,
1272
+ 3,
1273
+ 3,
1274
+ 3,
1275
+ 3,
1276
+ 3,
1277
+ 3,
1278
+ 3,
1279
+ 3,
1280
+ 3,
1281
+ 3,
1282
+ 3,
1283
+ 3,
1284
+ 3,
1285
+ 3,
1286
+ 3,
1287
+ 4,
1288
+ 4,
1289
+ 4,
1290
+ 4,
1291
+ 4,
1292
+ 4,
1293
+ 4,
1294
+ 4,
1295
+ 4,
1296
+ 4,
1297
+ 4,
1298
+ 4,
1299
+ 4,
1300
+ 4,
1301
+ 4,
1302
+ 4,
1303
+ 4,
1304
+ 4,
1305
+ 4,
1306
+ 4,
1307
+ 4,
1308
+ 4,
1309
+ 4,
1310
+ 4,
1311
+ 4,
1312
+ 4,
1313
+ 4,
1314
+ 4,
1315
+ 4,
1316
+ 4,
1317
+ 4,
1318
+ 4,
1319
+ 4,
1320
+ 4,
1321
+ 4,
1322
+ 4,
1323
+ 4,
1324
+ 4,
1325
+ 4,
1326
+ 4,
1327
+ 4
1328
+ ],
1329
+ "executed_later_heads": 11359,
1330
+ "passed": true,
1331
+ "latency_seed": 0,
1332
+ "profile_path": "/home/ubuntu/codex/mikasa-h8/results/profiling/downloads/profiles/qwenpi_v3/1x-rtx3090/mikasa_intercept_grab_fast/instance_3a0d42681a03715c/66414463f2a609316da63935941a79abf0a73ce9/profile.json"
1333
+ },
1334
+ "checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-naive-dagger-20260923/qwenpi_v3/bundles/latest/checkpoints/model.pt",
1335
+ "resident_step": null
1336
+ }
1337
+ },
1338
+ "fixed-2": {
1339
+ "baseline": {
1340
+ "seed": 4242424542,
1341
+ "episodes": 200,
1342
+ "success_count": 42.0,
1343
+ "success_rate": 0.21,
1344
+ "mean_return": 7.938110168385359,
1345
+ "audit": {
1346
+ "episodes": 200,
1347
+ "request_fps": 20,
1348
+ "simulated_worker_capacity": 1,
1349
+ "latency_method": "fixed",
1350
+ "startup_policy": "environment_starts_at_reset",
1351
+ "initial_noop_transitions": 400,
1352
+ "first_action_apply_raw_frames": [
1353
+ 2,
1354
+ 2,
1355
+ 2,
1356
+ 2,
1357
+ 2,
1358
+ 2,
1359
+ 2,
1360
+ 2,
1361
+ 2,
1362
+ 2,
1363
+ 2,
1364
+ 2,
1365
+ 2,
1366
+ 2,
1367
+ 2,
1368
+ 2,
1369
+ 2,
1370
+ 2,
1371
+ 2,
1372
+ 2,
1373
+ 2,
1374
+ 2,
1375
+ 2,
1376
+ 2,
1377
+ 2,
1378
+ 2,
1379
+ 2,
1380
+ 2,
1381
+ 2,
1382
+ 2,
1383
+ 2,
1384
+ 2,
1385
+ 2,
1386
+ 2,
1387
+ 2,
1388
+ 2,
1389
+ 2,
1390
+ 2,
1391
+ 2,
1392
+ 2,
1393
+ 2,
1394
+ 2,
1395
+ 2,
1396
+ 2,
1397
+ 2,
1398
+ 2,
1399
+ 2,
1400
+ 2,
1401
+ 2,
1402
+ 2,
1403
+ 2,
1404
+ 2,
1405
+ 2,
1406
+ 2,
1407
+ 2,
1408
+ 2,
1409
+ 2,
1410
+ 2,
1411
+ 2,
1412
+ 2,
1413
+ 2,
1414
+ 2,
1415
+ 2,
1416
+ 2,
1417
+ 2,
1418
+ 2,
1419
+ 2,
1420
+ 2,
1421
+ 2,
1422
+ 2,
1423
+ 2,
1424
+ 2,
1425
+ 2,
1426
+ 2,
1427
+ 2,
1428
+ 2,
1429
+ 2,
1430
+ 2,
1431
+ 2,
1432
+ 2,
1433
+ 2,
1434
+ 2,
1435
+ 2,
1436
+ 2,
1437
+ 2,
1438
+ 2,
1439
+ 2,
1440
+ 2,
1441
+ 2,
1442
+ 2,
1443
+ 2,
1444
+ 2,
1445
+ 2,
1446
+ 2,
1447
+ 2,
1448
+ 2,
1449
+ 2,
1450
+ 2,
1451
+ 2,
1452
+ 2,
1453
+ 2,
1454
+ 2,
1455
+ 2,
1456
+ 2,
1457
+ 2,
1458
+ 2,
1459
+ 2,
1460
+ 2,
1461
+ 2,
1462
+ 2,
1463
+ 2,
1464
+ 2,
1465
+ 2,
1466
+ 2,
1467
+ 2,
1468
+ 2,
1469
+ 2,
1470
+ 2,
1471
+ 2,
1472
+ 2,
1473
+ 2,
1474
+ 2,
1475
+ 2,
1476
+ 2,
1477
+ 2,
1478
+ 2,
1479
+ 2,
1480
+ 2,
1481
+ 2,
1482
+ 2,
1483
+ 2,
1484
+ 2,
1485
+ 2,
1486
+ 2,
1487
+ 2,
1488
+ 2,
1489
+ 2,
1490
+ 2,
1491
+ 2,
1492
+ 2,
1493
+ 2,
1494
+ 2,
1495
+ 2,
1496
+ 2,
1497
+ 2,
1498
+ 2,
1499
+ 2,
1500
+ 2,
1501
+ 2,
1502
+ 2,
1503
+ 2,
1504
+ 2,
1505
+ 2,
1506
+ 2,
1507
+ 2,
1508
+ 2,
1509
+ 2,
1510
+ 2,
1511
+ 2,
1512
+ 2,
1513
+ 2,
1514
+ 2,
1515
+ 2,
1516
+ 2,
1517
+ 2,
1518
+ 2,
1519
+ 2,
1520
+ 2,
1521
+ 2,
1522
+ 2,
1523
+ 2,
1524
+ 2,
1525
+ 2,
1526
+ 2,
1527
+ 2,
1528
+ 2,
1529
+ 2,
1530
+ 2,
1531
+ 2,
1532
+ 2,
1533
+ 2,
1534
+ 2,
1535
+ 2,
1536
+ 2,
1537
+ 2,
1538
+ 2,
1539
+ 2,
1540
+ 2,
1541
+ 2,
1542
+ 2,
1543
+ 2,
1544
+ 2,
1545
+ 2,
1546
+ 2,
1547
+ 2,
1548
+ 2,
1549
+ 2,
1550
+ 2,
1551
+ 2,
1552
+ 2
1553
+ ],
1554
+ "executed_later_heads": 11600,
1555
+ "passed": true,
1556
+ "fixed_latency_ms": 100.0,
1557
+ "latency_raw_frames": 2
1558
+ },
1559
+ "checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-naive-dagger-20260923/qwenpi_v3/bundles/source/checkpoints/model.pt",
1560
+ "resident_step": null
1561
+ },
1562
+ "best": {
1563
+ "seed": 4242424542,
1564
+ "episodes": 200,
1565
+ "success_count": 115.0,
1566
+ "success_rate": 0.575,
1567
+ "mean_return": 21.472858561251496,
1568
+ "audit": {
1569
+ "episodes": 200,
1570
+ "request_fps": 20,
1571
+ "simulated_worker_capacity": 1,
1572
+ "latency_method": "fixed",
1573
+ "startup_policy": "environment_starts_at_reset",
1574
+ "initial_noop_transitions": 400,
1575
+ "first_action_apply_raw_frames": [
1576
+ 2,
1577
+ 2,
1578
+ 2,
1579
+ 2,
1580
+ 2,
1581
+ 2,
1582
+ 2,
1583
+ 2,
1584
+ 2,
1585
+ 2,
1586
+ 2,
1587
+ 2,
1588
+ 2,
1589
+ 2,
1590
+ 2,
1591
+ 2,
1592
+ 2,
1593
+ 2,
1594
+ 2,
1595
+ 2,
1596
+ 2,
1597
+ 2,
1598
+ 2,
1599
+ 2,
1600
+ 2,
1601
+ 2,
1602
+ 2,
1603
+ 2,
1604
+ 2,
1605
+ 2,
1606
+ 2,
1607
+ 2,
1608
+ 2,
1609
+ 2,
1610
+ 2,
1611
+ 2,
1612
+ 2,
1613
+ 2,
1614
+ 2,
1615
+ 2,
1616
+ 2,
1617
+ 2,
1618
+ 2,
1619
+ 2,
1620
+ 2,
1621
+ 2,
1622
+ 2,
1623
+ 2,
1624
+ 2,
1625
+ 2,
1626
+ 2,
1627
+ 2,
1628
+ 2,
1629
+ 2,
1630
+ 2,
1631
+ 2,
1632
+ 2,
1633
+ 2,
1634
+ 2,
1635
+ 2,
1636
+ 2,
1637
+ 2,
1638
+ 2,
1639
+ 2,
1640
+ 2,
1641
+ 2,
1642
+ 2,
1643
+ 2,
1644
+ 2,
1645
+ 2,
1646
+ 2,
1647
+ 2,
1648
+ 2,
1649
+ 2,
1650
+ 2,
1651
+ 2,
1652
+ 2,
1653
+ 2,
1654
+ 2,
1655
+ 2,
1656
+ 2,
1657
+ 2,
1658
+ 2,
1659
+ 2,
1660
+ 2,
1661
+ 2,
1662
+ 2,
1663
+ 2,
1664
+ 2,
1665
+ 2,
1666
+ 2,
1667
+ 2,
1668
+ 2,
1669
+ 2,
1670
+ 2,
1671
+ 2,
1672
+ 2,
1673
+ 2,
1674
+ 2,
1675
+ 2,
1676
+ 2,
1677
+ 2,
1678
+ 2,
1679
+ 2,
1680
+ 2,
1681
+ 2,
1682
+ 2,
1683
+ 2,
1684
+ 2,
1685
+ 2,
1686
+ 2,
1687
+ 2,
1688
+ 2,
1689
+ 2,
1690
+ 2,
1691
+ 2,
1692
+ 2,
1693
+ 2,
1694
+ 2,
1695
+ 2,
1696
+ 2,
1697
+ 2,
1698
+ 2,
1699
+ 2,
1700
+ 2,
1701
+ 2,
1702
+ 2,
1703
+ 2,
1704
+ 2,
1705
+ 2,
1706
+ 2,
1707
+ 2,
1708
+ 2,
1709
+ 2,
1710
+ 2,
1711
+ 2,
1712
+ 2,
1713
+ 2,
1714
+ 2,
1715
+ 2,
1716
+ 2,
1717
+ 2,
1718
+ 2,
1719
+ 2,
1720
+ 2,
1721
+ 2,
1722
+ 2,
1723
+ 2,
1724
+ 2,
1725
+ 2,
1726
+ 2,
1727
+ 2,
1728
+ 2,
1729
+ 2,
1730
+ 2,
1731
+ 2,
1732
+ 2,
1733
+ 2,
1734
+ 2,
1735
+ 2,
1736
+ 2,
1737
+ 2,
1738
+ 2,
1739
+ 2,
1740
+ 2,
1741
+ 2,
1742
+ 2,
1743
+ 2,
1744
+ 2,
1745
+ 2,
1746
+ 2,
1747
+ 2,
1748
+ 2,
1749
+ 2,
1750
+ 2,
1751
+ 2,
1752
+ 2,
1753
+ 2,
1754
+ 2,
1755
+ 2,
1756
+ 2,
1757
+ 2,
1758
+ 2,
1759
+ 2,
1760
+ 2,
1761
+ 2,
1762
+ 2,
1763
+ 2,
1764
+ 2,
1765
+ 2,
1766
+ 2,
1767
+ 2,
1768
+ 2,
1769
+ 2,
1770
+ 2,
1771
+ 2,
1772
+ 2,
1773
+ 2,
1774
+ 2,
1775
+ 2
1776
+ ],
1777
+ "executed_later_heads": 11600,
1778
+ "passed": true,
1779
+ "fixed_latency_ms": 100.0,
1780
+ "latency_raw_frames": 2
1781
+ },
1782
+ "checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-naive-dagger-20260923/qwenpi_v3/bundles/best/checkpoints/model.pt",
1783
+ "resident_step": null
1784
+ },
1785
+ "latest": {
1786
+ "seed": 4242424542,
1787
+ "episodes": 200,
1788
+ "success_count": 117.0,
1789
+ "success_rate": 0.585,
1790
+ "mean_return": 22.180005111230585,
1791
+ "audit": {
1792
+ "episodes": 200,
1793
+ "request_fps": 20,
1794
+ "simulated_worker_capacity": 1,
1795
+ "latency_method": "fixed",
1796
+ "startup_policy": "environment_starts_at_reset",
1797
+ "initial_noop_transitions": 400,
1798
+ "first_action_apply_raw_frames": [
1799
+ 2,
1800
+ 2,
1801
+ 2,
1802
+ 2,
1803
+ 2,
1804
+ 2,
1805
+ 2,
1806
+ 2,
1807
+ 2,
1808
+ 2,
1809
+ 2,
1810
+ 2,
1811
+ 2,
1812
+ 2,
1813
+ 2,
1814
+ 2,
1815
+ 2,
1816
+ 2,
1817
+ 2,
1818
+ 2,
1819
+ 2,
1820
+ 2,
1821
+ 2,
1822
+ 2,
1823
+ 2,
1824
+ 2,
1825
+ 2,
1826
+ 2,
1827
+ 2,
1828
+ 2,
1829
+ 2,
1830
+ 2,
1831
+ 2,
1832
+ 2,
1833
+ 2,
1834
+ 2,
1835
+ 2,
1836
+ 2,
1837
+ 2,
1838
+ 2,
1839
+ 2,
1840
+ 2,
1841
+ 2,
1842
+ 2,
1843
+ 2,
1844
+ 2,
1845
+ 2,
1846
+ 2,
1847
+ 2,
1848
+ 2,
1849
+ 2,
1850
+ 2,
1851
+ 2,
1852
+ 2,
1853
+ 2,
1854
+ 2,
1855
+ 2,
1856
+ 2,
1857
+ 2,
1858
+ 2,
1859
+ 2,
1860
+ 2,
1861
+ 2,
1862
+ 2,
1863
+ 2,
1864
+ 2,
1865
+ 2,
1866
+ 2,
1867
+ 2,
1868
+ 2,
1869
+ 2,
1870
+ 2,
1871
+ 2,
1872
+ 2,
1873
+ 2,
1874
+ 2,
1875
+ 2,
1876
+ 2,
1877
+ 2,
1878
+ 2,
1879
+ 2,
1880
+ 2,
1881
+ 2,
1882
+ 2,
1883
+ 2,
1884
+ 2,
1885
+ 2,
1886
+ 2,
1887
+ 2,
1888
+ 2,
1889
+ 2,
1890
+ 2,
1891
+ 2,
1892
+ 2,
1893
+ 2,
1894
+ 2,
1895
+ 2,
1896
+ 2,
1897
+ 2,
1898
+ 2,
1899
+ 2,
1900
+ 2,
1901
+ 2,
1902
+ 2,
1903
+ 2,
1904
+ 2,
1905
+ 2,
1906
+ 2,
1907
+ 2,
1908
+ 2,
1909
+ 2,
1910
+ 2,
1911
+ 2,
1912
+ 2,
1913
+ 2,
1914
+ 2,
1915
+ 2,
1916
+ 2,
1917
+ 2,
1918
+ 2,
1919
+ 2,
1920
+ 2,
1921
+ 2,
1922
+ 2,
1923
+ 2,
1924
+ 2,
1925
+ 2,
1926
+ 2,
1927
+ 2,
1928
+ 2,
1929
+ 2,
1930
+ 2,
1931
+ 2,
1932
+ 2,
1933
+ 2,
1934
+ 2,
1935
+ 2,
1936
+ 2,
1937
+ 2,
1938
+ 2,
1939
+ 2,
1940
+ 2,
1941
+ 2,
1942
+ 2,
1943
+ 2,
1944
+ 2,
1945
+ 2,
1946
+ 2,
1947
+ 2,
1948
+ 2,
1949
+ 2,
1950
+ 2,
1951
+ 2,
1952
+ 2,
1953
+ 2,
1954
+ 2,
1955
+ 2,
1956
+ 2,
1957
+ 2,
1958
+ 2,
1959
+ 2,
1960
+ 2,
1961
+ 2,
1962
+ 2,
1963
+ 2,
1964
+ 2,
1965
+ 2,
1966
+ 2,
1967
+ 2,
1968
+ 2,
1969
+ 2,
1970
+ 2,
1971
+ 2,
1972
+ 2,
1973
+ 2,
1974
+ 2,
1975
+ 2,
1976
+ 2,
1977
+ 2,
1978
+ 2,
1979
+ 2,
1980
+ 2,
1981
+ 2,
1982
+ 2,
1983
+ 2,
1984
+ 2,
1985
+ 2,
1986
+ 2,
1987
+ 2,
1988
+ 2,
1989
+ 2,
1990
+ 2,
1991
+ 2,
1992
+ 2,
1993
+ 2,
1994
+ 2,
1995
+ 2,
1996
+ 2,
1997
+ 2,
1998
+ 2
1999
+ ],
2000
+ "executed_later_heads": 11600,
2001
+ "passed": true,
2002
+ "fixed_latency_ms": 100.0,
2003
+ "latency_raw_frames": 2
2004
+ },
2005
+ "checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-naive-dagger-20260923/qwenpi_v3/bundles/latest/checkpoints/model.pt",
2006
+ "resident_step": null
2007
+ }
2008
+ }
2009
+ }
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/eval_profile.json ADDED
@@ -0,0 +1,223 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seed": 4242424542,
3
+ "episodes": 200,
4
+ "success_count": 40.0,
5
+ "success_rate": 0.2,
6
+ "mean_return": 8.082106734152214,
7
+ "audit": {
8
+ "episodes": 200,
9
+ "request_fps": 20,
10
+ "simulated_worker_capacity": 1,
11
+ "latency_method": "temporal",
12
+ "startup_policy": "environment_starts_at_reset",
13
+ "initial_noop_transitions": 641,
14
+ "first_action_apply_raw_frames": [
15
+ 3,
16
+ 3,
17
+ 3,
18
+ 3,
19
+ 3,
20
+ 3,
21
+ 3,
22
+ 3,
23
+ 3,
24
+ 3,
25
+ 3,
26
+ 3,
27
+ 3,
28
+ 3,
29
+ 3,
30
+ 3,
31
+ 3,
32
+ 3,
33
+ 3,
34
+ 3,
35
+ 3,
36
+ 3,
37
+ 3,
38
+ 3,
39
+ 3,
40
+ 3,
41
+ 3,
42
+ 3,
43
+ 3,
44
+ 3,
45
+ 3,
46
+ 3,
47
+ 3,
48
+ 3,
49
+ 3,
50
+ 3,
51
+ 3,
52
+ 3,
53
+ 3,
54
+ 3,
55
+ 3,
56
+ 3,
57
+ 3,
58
+ 3,
59
+ 3,
60
+ 3,
61
+ 3,
62
+ 3,
63
+ 3,
64
+ 3,
65
+ 3,
66
+ 3,
67
+ 3,
68
+ 3,
69
+ 3,
70
+ 3,
71
+ 3,
72
+ 3,
73
+ 3,
74
+ 3,
75
+ 3,
76
+ 3,
77
+ 3,
78
+ 3,
79
+ 3,
80
+ 3,
81
+ 3,
82
+ 3,
83
+ 3,
84
+ 3,
85
+ 3,
86
+ 3,
87
+ 3,
88
+ 3,
89
+ 3,
90
+ 3,
91
+ 3,
92
+ 3,
93
+ 3,
94
+ 3,
95
+ 3,
96
+ 3,
97
+ 3,
98
+ 3,
99
+ 3,
100
+ 3,
101
+ 3,
102
+ 3,
103
+ 3,
104
+ 3,
105
+ 3,
106
+ 3,
107
+ 3,
108
+ 3,
109
+ 3,
110
+ 3,
111
+ 3,
112
+ 3,
113
+ 3,
114
+ 3,
115
+ 3,
116
+ 3,
117
+ 3,
118
+ 3,
119
+ 3,
120
+ 3,
121
+ 3,
122
+ 3,
123
+ 3,
124
+ 3,
125
+ 3,
126
+ 3,
127
+ 3,
128
+ 3,
129
+ 3,
130
+ 3,
131
+ 3,
132
+ 3,
133
+ 3,
134
+ 3,
135
+ 3,
136
+ 3,
137
+ 3,
138
+ 3,
139
+ 3,
140
+ 3,
141
+ 3,
142
+ 3,
143
+ 3,
144
+ 3,
145
+ 3,
146
+ 3,
147
+ 3,
148
+ 3,
149
+ 3,
150
+ 3,
151
+ 3,
152
+ 3,
153
+ 3,
154
+ 3,
155
+ 3,
156
+ 3,
157
+ 3,
158
+ 3,
159
+ 3,
160
+ 3,
161
+ 3,
162
+ 3,
163
+ 3,
164
+ 3,
165
+ 3,
166
+ 3,
167
+ 3,
168
+ 3,
169
+ 3,
170
+ 3,
171
+ 3,
172
+ 3,
173
+ 3,
174
+ 4,
175
+ 4,
176
+ 4,
177
+ 4,
178
+ 4,
179
+ 4,
180
+ 4,
181
+ 4,
182
+ 4,
183
+ 4,
184
+ 4,
185
+ 4,
186
+ 4,
187
+ 4,
188
+ 4,
189
+ 4,
190
+ 4,
191
+ 4,
192
+ 4,
193
+ 4,
194
+ 4,
195
+ 4,
196
+ 4,
197
+ 4,
198
+ 4,
199
+ 4,
200
+ 4,
201
+ 4,
202
+ 4,
203
+ 4,
204
+ 4,
205
+ 4,
206
+ 4,
207
+ 4,
208
+ 4,
209
+ 4,
210
+ 4,
211
+ 4,
212
+ 4,
213
+ 4,
214
+ 4
215
+ ],
216
+ "executed_later_heads": 11359,
217
+ "passed": true,
218
+ "latency_seed": 0,
219
+ "profile_path": "/home/ubuntu/codex/mikasa-h8/results/profiling/downloads/profiles/qwenpi_v3/1x-rtx3090/mikasa_intercept_grab_fast/instance_3a0d42681a03715c/66414463f2a609316da63935941a79abf0a73ce9/profile.json"
220
+ },
221
+ "checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-naive-dagger-20260923/qwenpi_v3/bundles/best/checkpoints/model.pt",
222
+ "resident_step": null
223
+ }
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/provenance.json ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "mikasa_intercept_grab_fast",
3
+ "model": "qwenpi_v3",
4
+ "condition": "zero-latency",
5
+ "phase": "dagger",
6
+ "source_sft_checkpoint": "/home/ubuntu/codex/mikasa-h8/outputs/starvla/runs/mikasa_intercept_grab_fast/h8-zero-latency/qwenpi_v3/training/bootstrap/checkpoints/steps_5000_pytorch_model.pt",
7
+ "selected_step": 4000,
8
+ "latest_step": 5000,
9
+ "dagger_optimizer_steps": 5000,
10
+ "development_seeds": [
11
+ 4242424442,
12
+ 4242424541
13
+ ],
14
+ "heldout_seeds": [
15
+ 4242424542,
16
+ 4242424741
17
+ ],
18
+ "checkpoint": "checkpoints/model.pt",
19
+ "latest_checkpoint": "checkpoints/latest_model.pt"
20
+ }
zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-naive-dagger-20260923/task_contract.json ADDED
@@ -0,0 +1,138 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format": "latency_bench_starvla_h8_v1",
3
+ "task": "mikasa_intercept_grab_fast",
4
+ "robot_type": "latency_mikasa_h8",
5
+ "state_dim": 7,
6
+ "action_dim": 7,
7
+ "action_horizon": 8,
8
+ "fps": 20.0,
9
+ "state_key": "observation.state",
10
+ "action_key": "issued_command_chunk",
11
+ "video_keys": [
12
+ "video.top",
13
+ "video.wrist"
14
+ ],
15
+ "auxiliary": {
16
+ "action_loss_mask": {
17
+ "shape": [
18
+ 8
19
+ ],
20
+ "column": "action_loss_mask"
21
+ }
22
+ },
23
+ "normalization": {
24
+ "state": {
25
+ "mean": [
26
+ -0.18996892869472504,
27
+ -0.09119448065757751,
28
+ 0.08502458781003952,
29
+ -2.616269588470459,
30
+ 0.33758142590522766,
31
+ -0.17528389394283295,
32
+ 0.04933461919426918
33
+ ],
34
+ "std": [
35
+ 0.08925069123506546,
36
+ 0.1439206600189209,
37
+ 0.08522012829780579,
38
+ 1.4712677001953125,
39
+ 0.18586333096027374,
40
+ 0.10226143896579742,
41
+ 0.01495052408427
42
+ ],
43
+ "min": [
44
+ -0.41803836822509766,
45
+ -0.37668657302856445,
46
+ 0.015313848853111267,
47
+ -3.1415457725524902,
48
+ -0.07448819279670715,
49
+ -0.40120765566825867,
50
+ 0.02547522261738777
51
+ ],
52
+ "max": [
53
+ -0.004026889801025391,
54
+ 0.23487472534179688,
55
+ 0.3442644476890564,
56
+ 3.1415677070617676,
57
+ 0.9648659229278564,
58
+ 0.0931963101029396,
59
+ 0.07999999821186066
60
+ ],
61
+ "q01": [
62
+ -0.3719064712524414,
63
+ -0.3454733848571777,
64
+ 0.018063589930534363,
65
+ -3.1388832092285157,
66
+ -0.029389445297420023,
67
+ -0.3605163902044296,
68
+ 0.0291226364672184
69
+ ],
70
+ "q99": [
71
+ -0.03631005287170415,
72
+ 0.17424454689025873,
73
+ 0.3186076879501343,
74
+ 3.1387048721313477,
75
+ 0.7408432960510251,
76
+ 0.053878990560769925,
77
+ 0.07999999821186066
78
+ ]
79
+ },
80
+ "action": {
81
+ "mean": [
82
+ -0.0752570852637291,
83
+ 0.14676418900489807,
84
+ -0.18597613275051117,
85
+ -0.2451779991388321,
86
+ -0.3767579197883606,
87
+ 0.137332946062088,
88
+ 0.0018722218228504062
89
+ ],
90
+ "std": [
91
+ 0.19013969600200653,
92
+ 0.5180381536483765,
93
+ 0.21658223867416382,
94
+ 0.2836034893989563,
95
+ 0.29047703742980957,
96
+ 0.293570339679718,
97
+ 0.4252478778362274
98
+ ],
99
+ "min": [
100
+ -1.0,
101
+ -1.0,
102
+ -1.0,
103
+ -0.9346221089363098,
104
+ -1.0,
105
+ -0.5651661157608032,
106
+ -1.0
107
+ ],
108
+ "max": [
109
+ 0.3204230070114136,
110
+ 0.9921634197235107,
111
+ 0.6247130036354065,
112
+ 0.8002768158912659,
113
+ 0.6306125521659851,
114
+ 1.0,
115
+ 0.774597704410553
116
+ ],
117
+ "q01": [
118
+ -0.6492516398429871,
119
+ -1.0,
120
+ -0.8208754062652588,
121
+ -0.6876692175865173,
122
+ -0.8934756648540497,
123
+ -0.41017746925354004,
124
+ -0.8540400266647339
125
+ ],
126
+ "q99": [
127
+ 0.26425155997276306,
128
+ 0.8625524640083313,
129
+ 0.18927998840808868,
130
+ 0.5506407022476196,
131
+ 0.23522275686264038,
132
+ 0.7337803244590759,
133
+ 0.650341808795929
134
+ ]
135
+ }
136
+ },
137
+ "prompt": "Intercept the rolling ball and grasp it to stop it."
138
+ }