Bind hopper Pi0.5 legacy state and actions to the current inference code

latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/config.yaml

@@ -102,7 +102,7 @@ datasets:
         - leg_angular_velocity
         - foot_angular_velocity
       task_name: hopper
-    robot_type: rl_games_gymnasium
+    robot_type: rl_games_gymnasium_native
 trainer:
   pretrained_checkpoint: null
   profile_timing:

latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/dataset_statistics.json

@@ -22,12 +22,12 @@
         -1.0
       ],
       "q01": [
-        -0.5339896190166473,
+        -1.0,
         -1.0,
         -1.0
       ],
       "q99": [
-        0.6878953921794876,
+        1.0,
         1.0,
         1.0
       ],
@@ -91,29 +91,29 @@
         -10.0
       ],
       "q01": [
-        1.0245488870695927,
-        -0.15144138299100837,
-        -0.7427855337859313,
-        -0.8104351850643912,
-        -0.8960894427439994,
-        0.44528900369002233,
-        -2.74102122555904,
-        -2.6237940408222125,
-        -4.557577227105824,
-        -9.73546984195709,
+        0.701430082321167,
+        -0.18769849836826324,
+        -1.4578222036361694,
+        -1.9729520082473755,
+        -0.9319470524787903,
+        -0.014216306619346142,
+        -3.833221197128296,
+        -6.138384819030762,
+        -10.0,
+        -10.0,
         -10.0
       ],
       "q99": [
-        1.746462032848763,
-        0.07944139343900171,
-        -0.009743861129406839,
-        0.06964989517986797,
-        0.9054187285678829,
-        3.9090380648781706,
-        2.899137949682023,
-        2.2594460707147905,
-        5.696335758252259,
-        9.774792885780334,
+        1.8196797370910645,
+        0.1958828866481781,
+        0.041033145040273666,
+        0.1550283581018448,
+        0.9662267565727234,
+        7.04247522354126,
+        3.2499496936798096,
+        5.976532459259033,
+        7.204126834869385,
+        10.0,
         10.0
       ]
     },

latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/manifest.json

@@ -72,7 +72,7 @@
       10.0
     ]
   },
-  "robot_type": "rl_games_gymnasium",
+  "robot_type": "rl_games_gymnasium_native",
   "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/lerobot/latency_prompt_map.json",
   "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/_generated_mixtures/lerobot.json",
   "gymnasium_task": {
@@ -140,4 +140,4 @@
   "validation_dataset_name": "lerobot__val",
   "validation_episodes": 10,
   "validation_frames": 10000
-}
+}

latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/normalization_binding.json

@@ -1,6 +1,6 @@
 {
   "weights": "unchanged",
   "original_statistics": "original_training_statistics.json",
-  "state_transform": "Raw-state min/max from the source manifest reproduces converter-normalized training inputs.",
+  "state_transform": "State statistics reverse source converter coordinates; the legacy Gymnasium DataConfig uses clipped min/max state and identity native actions.",
   "manifest": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/new_bundle/manifest.json"
 }

latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/source_manifest.json

@@ -0,0 +1,143 @@
+{
+  "dataset_name": "lerobot",
+  "env_name": "hopper",
+  "episodes": 90,
+  "frames": 87583,
+  "task_prompts": [
+    "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 1 raw frames (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 2 raw frames (400.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
+  ],
+  "format": "lerobot_v2_image_parquet",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/raw",
+  "integration_name": "gymnasium",
+  "task_name": "hopper",
+  "action_layout": "gymnasium_continuous_v1",
+  "action_labels": [
+    "thigh_torque",
+    "leg_torque",
+    "foot_torque"
+  ],
+  "carrier_action_labels": [
+    "thigh_torque",
+    "leg_torque",
+    "foot_torque"
+  ],
+  "action_dim": 3,
+  "active_action_dim": 3,
+  "action_carrier": "native",
+  "rows_unit": "decision_step",
+  "obs_fps": 5.0,
+  "obs_stride_raw_frames": 1,
+  "uses_state": true,
+  "state_dim": 11,
+  "state_labels": [
+    "torso_height",
+    "torso_angle",
+    "thigh_angle",
+    "leg_angle",
+    "foot_angle",
+    "torso_x_velocity",
+    "torso_z_velocity",
+    "torso_angular_velocity",
+    "thigh_angular_velocity",
+    "leg_angular_velocity",
+    "foot_angular_velocity"
+  ],
+  "state_normalization": {
+    "type": "min_max",
+    "min": [
+      0.701430082321167,
+      -0.18769849836826324,
+      -1.4578222036361694,
+      -1.9729520082473755,
+      -0.9319470524787903,
+      -0.014216306619346142,
+      -3.833221197128296,
+      -6.138384819030762,
+      -10.0,
+      -10.0,
+      -10.0
+    ],
+    "max": [
+      1.8196797370910645,
+      0.1958828866481781,
+      0.041033145040273666,
+      0.1550283581018448,
+      0.9662267565727234,
+      7.04247522354126,
+      3.2499496936798096,
+      5.976532459259033,
+      7.204126834869385,
+      10.0,
+      10.0
+    ]
+  },
+  "robot_type": "rl_games_gymnasium",
+  "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/_generated_mixtures/lerobot.json",
+  "gymnasium_task": {
+    "action_space": {
+      "dtype": "float32",
+      "high": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "labels": [
+        "thigh_torque",
+        "leg_torque",
+        "foot_torque"
+      ],
+      "low": [
+        -1.0,
+        -1.0,
+        -1.0
+      ],
+      "type": "box"
+    },
+    "base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+    "env_fps": 5.0,
+    "env_id": "LatencyBench/Hopper-v0",
+    "frame_stack": 1,
+    "make_kwargs": {
+      "base_env_id": "Hopper-v4",
+      "base_make_kwargs": {
+        "ctrl_cost_weight": 0.001,
+        "exclude_current_positions_from_observation": true,
+        "forward_reward_weight": 1.0,
+        "healthy_reward": 1.0,
+        "reset_noise_scale": 0.005,
+        "terminate_when_unhealthy": true
+      },
+      "render_mode": "rgb_array"
+    },
+    "noop_action": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "obs_fps": 5.0,
+    "registration_imports": [
+      "latency_bench.envs.tasks.hopper"
+    ],
+    "state_space": {
+      "labels": [
+        "torso_height",
+        "torso_angle",
+        "thigh_angle",
+        "leg_angle",
+        "foot_angle",
+        "torso_x_velocity",
+        "torso_z_velocity",
+        "torso_angular_velocity",
+        "thigh_angular_velocity",
+        "leg_angular_velocity",
+        "foot_angular_velocity"
+      ]
+    },
+    "task_name": "hopper"
+  },
+  "validation_dataset_name": "lerobot__val",
+  "validation_episodes": 10,
+  "validation_frames": 10000
+}