Publish zero-latency/mikasa-intercept-grab-fast/vla/starvla-wanoft-h1/mikasa_intercept_grab_fast_wanoft_formal_latest_r8gpu7_20260907T075003Z

zero-latency/mikasa-intercept-grab-fast/vla/starvla-wanoft-h1/mikasa_intercept_grab_fast_wanoft_formal_latest_r8gpu7_20260907T075003Z/README.md

@@ -0,0 +1,4 @@
+# wanoft — mikasa_intercept_grab_fast
+
+RGB + continuous state, action horizon 1, VLA 20 Hz.
+See task_contract.json for normalization, eval_l0.json for zero-latency results, and provenance.json for exact teacher, backbone, and dataset revisions.

zero-latency/mikasa-intercept-grab-fast/vla/starvla-wanoft-h1/mikasa_intercept_grab_fast_wanoft_formal_latest_r8gpu7_20260907T075003Z/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f027673af8c22b61d501a8b03c5ed07ba4063a9b479080b2fc2d977d93a4808
+size 25079417873

zero-latency/mikasa-intercept-grab-fast/vla/starvla-wanoft-h1/mikasa_intercept_grab_fast_wanoft_formal_latest_r8gpu7_20260907T075003Z/config.yaml

@@ -0,0 +1,49 @@
+framework:
+  name: WanOFT
+  world_model:
+    base_wm: Wan-AI/Wan2.2-TI2V-5B-Diffusers
+    extract_layers:
+    - -1
+    num_frames: null
+  qwenvl:
+    base_vlm: Wan-AI/Wan2.2-TI2V-5B-Diffusers
+  action_model:
+    action_model_type: MLP
+    action_dim: 7
+    state_dim: 7
+    action_hidden_dim: 3072
+    action_horizon: 1
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: l1
+    state_encoding: continuous_projector
+    task_objective: null
+    class_weights: null
+    future_loss_weight: null
+    action_query_source: mean
+    action_query_num_heads: 24
+    action_env_dim: 7
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size:
+    - 224
+    - 224
+    image_mode: stitch_views
+    stitch_grid:
+    - 1
+    - 2
+    num_obs_frames: 1
+trainer:
+  pretrained_checkpoint: null
+backbone:
+  repo_id: Wan-AI/Wan2.2-TI2V-5B-Diffusers
+  revision: b8fff7315c768468a5333511427288870b2e9635
+  allow_patterns:
+  - model_index.json
+  - scheduler/*
+  - tokenizer/*
+  - text_encoder/*
+  - transformer/*
+  - vae/*

zero-latency/mikasa-intercept-grab-fast/vla/starvla-wanoft-h1/mikasa_intercept_grab_fast_wanoft_formal_latest_r8gpu7_20260907T075003Z/dataset_statistics.json

@@ -0,0 +1,127 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        -0.11131570488214493,
+        0.040192198008298874,
+        -0.24009454250335693,
+        -0.23081380128860474,
+        -0.41221386194229126,
+        0.18129923939704895,
+        0.013331156224012375
+      ],
+      "std": [
+        0.22855518758296967,
+        0.5893623232841492,
+        0.26777687668800354,
+        0.27581456303596497,
+        0.3006018102169037,
+        0.3146352171897888,
+        0.40770089626312256
+      ],
+      "max": [
+        0.3204230070114136,
+        0.9921634197235107,
+        0.6247130036354065,
+        0.8002768158912659,
+        0.6306125521659851,
+        1.0,
+        0.774597704410553
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.9346221089363098,
+        -1.0,
+        -0.5651661157608032,
+        -1.0
+      ],
+      "q01": [
+        -0.8506493151187897,
+        -1.0,
+        -0.9802482903003692,
+        -0.6838930904865265,
+        -1.0,
+        -0.4035292208194733,
+        -0.831850928068161
+      ],
+      "q99": [
+        0.2628934979438781,
+        0.8585556507110594,
+        0.18524706959724418,
+        0.5309111773967736,
+        0.22950317859649652,
+        0.8685460448265068,
+        0.6467343747615811
+      ],
+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true
+      ]
+    },
+    "state": {
+      "mean": [
+        -0.18996892869472504,
+        -0.09119448065757751,
+        0.08502458781003952,
+        -2.616269588470459,
+        0.33758142590522766,
+        -0.17528389394283295,
+        0.04933461919426918
+      ],
+      "std": [
+        0.08925069123506546,
+        0.1439206600189209,
+        0.08522012829780579,
+        1.4712677001953125,
+        0.18586333096027374,
+        0.10226143896579742,
+        0.01495052408427
+      ],
+      "max": [
+        -0.004026889801025391,
+        0.23487472534179688,
+        0.3442644476890564,
+        3.1415677070617676,
+        0.9648659229278564,
+        0.0931963101029396,
+        0.07999999821186066
+      ],
+      "min": [
+        -0.41803836822509766,
+        -0.37668657302856445,
+        0.015313848853111267,
+        -3.1415457725524902,
+        -0.07448819279670715,
+        -0.40120765566825867,
+        0.02547522261738777
+      ],
+      "q01": [
+        -0.3719064712524414,
+        -0.3454733848571777,
+        0.018063589930534363,
+        -3.1388832092285157,
+        -0.029389445297420023,
+        -0.3605163902044296,
+        0.0291226364672184
+      ],
+      "q99": [
+        -0.03631005287170415,
+        0.17424454689025873,
+        0.3186076879501343,
+        3.1387048721313477,
+        0.7408432960510251,
+        0.053878990560769925,
+        0.07999999821186066
+      ]
+    },
+    "num_transitions": 8911,
+    "num_trajectories": 250
+  }
+}

zero-latency/mikasa-intercept-grab-fast/vla/starvla-wanoft-h1/mikasa_intercept_grab_fast_wanoft_formal_latest_r8gpu7_20260907T075003Z/provenance.json

@@ -0,0 +1,85 @@
+{
+  "task": "mikasa",
+  "model": "wanoft",
+  "run_id": "mikasa_intercept_grab_fast_wanoft_formal_latest_r8gpu7_20260907T075003Z",
+  "smoke": false,
+  "teacher": {
+    "repo_id": "latency-sensitive-bench/benchmark-models",
+    "revision": "46abd9ece5745d808d16aa8013766a26b4f6c371",
+    "path": "zero-latency/mikasa-intercept-grab-fast/small-policy/ppo-v1/checkpoint.pt"
+  },
+  "backbone": {
+    "repo_id": "Wan-AI/Wan2.2-TI2V-5B-Diffusers",
+    "revision": "b8fff7315c768468a5333511427288870b2e9635",
+    "allow_patterns": [
+      "model_index.json",
+      "scheduler/*",
+      "tokenizer/*",
+      "text_encoder/*",
+      "transformer/*",
+      "vae/*"
+    ]
+  },
+  "code_revisions": {
+    "benchmark": {
+      "revision": "2f18d4620afd1861059d8cecfc2b1410a4a4777d",
+      "dirty": true
+    },
+    "starvla": {
+      "revision": "73cd1e6175d8c6e5896e742b6a8c8ca3aef52dca",
+      "dirty": false
+    },
+    "haic": {
+      "revision": "b96533e17dfb6d5a1bd3a67032a66acc76e2fd80",
+      "dirty": true
+    },
+    "parkour": {
+      "revision": "26274b2ad83cd6f45d061973a4d102fd492010de",
+      "dirty": false
+    },
+    "mikasa": {
+      "revision": "a5f72ac4faf1f83ea1ccbf7f33ca04173554d3bc",
+      "dirty": true
+    },
+    "gr00t": {
+      "revision": "aa0c592853102010080e4f61609db8e3dc0779d4",
+      "dirty": false
+    }
+  },
+  "datasets": [
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/mikasa-intercept-grab-fast/teacher-rollouts-h1-state-v1",
+      "revision": "5421c9d272d7a939bb04045b047af84519c1fba8"
+    }
+  ],
+  "seed": 0,
+  "training": {
+    "sft_updates": 5000,
+    "dagger_updates": 0,
+    "global_batch": 128,
+    "bootstrap_weight": 1.0,
+    "dagger_weight": 0.0,
+    "micro_batch": 8,
+    "num_gpus": 8,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08,
+      "fused": true
+    },
+    "learning_rate": {
+      "base": 3e-05,
+      "action_model": 0.0001
+    },
+    "scheduler": "cosine_with_min_lr",
+    "scheduler_kwargs": {
+      "min_lr": 1e-06
+    },
+    "warmup_updates": 100
+  }
+}

zero-latency/mikasa-intercept-grab-fast/vla/starvla-wanoft-h1/mikasa_intercept_grab_fast_wanoft_formal_latest_r8gpu7_20260907T075003Z/task_contract.json

@@ -0,0 +1,131 @@
+{
+  "format": "latency_bench_starvla_h1_v1",
+  "task": "mikasa_intercept_grab_fast",
+  "robot_type": "latency_mikasa_h1",
+  "state_dim": 7,
+  "action_dim": 7,
+  "action_horizon": 1,
+  "fps": 20.0,
+  "state_key": "observation.state",
+  "action_key": "action",
+  "video_keys": [
+    "video.top",
+    "video.wrist"
+  ],
+  "auxiliary": {},
+  "normalization": {
+    "state": {
+      "mean": [
+        -0.18996892869472504,
+        -0.09119448065757751,
+        0.08502458781003952,
+        -2.616269588470459,
+        0.33758142590522766,
+        -0.17528389394283295,
+        0.04933461919426918
+      ],
+      "std": [
+        0.08925069123506546,
+        0.1439206600189209,
+        0.08522012829780579,
+        1.4712677001953125,
+        0.18586333096027374,
+        0.10226143896579742,
+        0.01495052408427
+      ],
+      "min": [
+        -0.41803836822509766,
+        -0.37668657302856445,
+        0.015313848853111267,
+        -3.1415457725524902,
+        -0.07448819279670715,
+        -0.40120765566825867,
+        0.02547522261738777
+      ],
+      "max": [
+        -0.004026889801025391,
+        0.23487472534179688,
+        0.3442644476890564,
+        3.1415677070617676,
+        0.9648659229278564,
+        0.0931963101029396,
+        0.07999999821186066
+      ],
+      "q01": [
+        -0.3719064712524414,
+        -0.3454733848571777,
+        0.018063589930534363,
+        -3.1388832092285157,
+        -0.029389445297420023,
+        -0.3605163902044296,
+        0.0291226364672184
+      ],
+      "q99": [
+        -0.03631005287170415,
+        0.17424454689025873,
+        0.3186076879501343,
+        3.1387048721313477,
+        0.7408432960510251,
+        0.053878990560769925,
+        0.07999999821186066
+      ]
+    },
+    "action": {
+      "mean": [
+        -0.11131570488214493,
+        0.040192198008298874,
+        -0.24009454250335693,
+        -0.23081380128860474,
+        -0.41221386194229126,
+        0.18129923939704895,
+        0.013331156224012375
+      ],
+      "std": [
+        0.22855518758296967,
+        0.5893623232841492,
+        0.26777687668800354,
+        0.27581456303596497,
+        0.3006018102169037,
+        0.3146352171897888,
+        0.40770089626312256
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.9346221089363098,
+        -1.0,
+        -0.5651661157608032,
+        -1.0
+      ],
+      "max": [
+        0.3204230070114136,
+        0.9921634197235107,
+        0.6247130036354065,
+        0.8002768158912659,
+        0.6306125521659851,
+        1.0,
+        0.774597704410553
+      ],
+      "q01": [
+        -0.8506493151187897,
+        -1.0,
+        -0.9802482903003692,
+        -0.6838930904865265,
+        -1.0,
+        -0.4035292208194733,
+        -0.831850928068161
+      ],
+      "q99": [
+        0.2628934979438781,
+        0.8585556507110594,
+        0.18524706959724418,
+        0.5309111773967736,
+        0.22950317859649652,
+        0.8685460448265068,
+        0.6467343747615811
+      ]
+    }
+  },
+  "prompt": "Intercept the rolling ball and grasp it to stop it."
+}