Publish corrected issued-action walker2d pi05 profile model

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/README.md

@@ -1,31 +1,9 @@
-# walker2d / qwenpi_v3
+# walker2d Pi0.5 profile model
 
-Training condition: `latency-aware`. Run: `walker2d_pi05_profile_h1_5fps_g128_20260922_m32`.
+Corrected source-observation teacher-issued action supervision.
 
-Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/Pi05) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+Step 5000, seed 42, global batch 128, gradient checkpointing enabled.
+Evaluation: 100 episodes, seeds 42–141, simulated IID, latency seed 0, 5 FPS, H1, cap 1000, parallel 32, simulated capacity 1.
 
-- Checkpoint: `checkpoints/model.pt`
-- Selection: only published VLA checkpoint
-- Checkpoint SHA256: `248d8959f1c4b4045b64fd0c4f7a8e086606eea5827f263b04ef703e26b4cd84`
-- 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/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32"
-snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
-                  allow_patterns=[prefix + "/**"])
-```
-
-Use the verified import commit listed in the repository's import report.
+See comparison.json, training.complete.json and evaluations/issued_action_iid_20261010 for checkpoint and episode evidence.
+Inference state statistics use the source manifest raw-state extrema; original training statistics are retained.

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/REPORT.md

@@ -0,0 +1,18 @@
+# walker2d Pi0.5 IID rerun
+
+Training and evaluation completed. Publication was not performed.
+
+Evaluation: simulated IID, 100 episodes, seeds 42–141, latency seed 0, 5 FPS, H1, cap 1000.
+Parallel environments: 32. Simulated worker capacity remains 1 per environment.
+
+| Checkpoint | Mean return | Population SD | Mean length |
+| --- | ---: | ---: | ---: |
+| old | 405.6097 | 88.3381 | 183.43 |
+| new | 3812.6454 | 1016.7950 | 913.76 |
+
+Mean paired gain: 3407.0357. Improved seeds: 100/100.
+
+Changes include corrected labels, current runtime/loader code, gradient checkpointing and the selected micro batch.
+This comparison does not isolate label correction from these other changes.
+
+Checkpoint identities, source versions, profile, configurations and episode evidence are in comparison.json.

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/checkpoints/model.pt

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+oid sha256:4834728df5aa192b59664546e6caeae2941d0a0aee2c49e63275cc8742560358
 size 10922653853

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/comparison.json

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+  ]
+}

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/config.full.yaml

@@ -1,17 +1,16 @@
 framework:
   name: QwenPI_v3
   qwenvl:
-    base_vlm: ${oc.env:PI05_BACKBONE_DIR}
+    base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
     attn_implementation: flash_attention_2
     vl_hidden_dim: 2560
     num_vl_layers: 36
-    enable_gradient_checkpointing: false
+    enable_gradient_checkpointing: true
   action_model:
     action_model_type: LayerwiseFM
     action_dim: 6
     state_dim: 17
     state_encoding: continuous_projector
-    task_objective: null
     action_horizon: 1
     repeated_diffusion_steps: 2
     num_inference_timesteps: 4
@@ -35,6 +34,7 @@ framework:
       cross_attention_dim: 1024
       output_dim: 1024
       num_attention_heads: 16
+    task_objective: null
     action_env_dim: 6
     future_action_window_size: 0
     past_action_window_size: 0
@@ -45,7 +45,7 @@ datasets:
     data_root_dir: /
     data_mix: train
     eval_data_mix: validation
-    custom_mixtures_path: ${PI05_RUN_DIR}/profile_latency/vla/mixture.json
+    custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/mixture.json
     action_type: continuous
     sequential_step_sampling: true
     eval_sequential_step_sampling: null
@@ -76,7 +76,7 @@ datasets:
       eval_at_phase_end: false
       save_at_phase_end: false
       computed_plan: null
-    per_device_batch_size: 32
+    per_device_batch_size: 64
     load_all_data_for_training: true
     num_obs_frames: 1
     image_mode: single
@@ -139,7 +139,7 @@ datasets:
       - 0.0
       obs_fps: 5.0
       registration_imports:
-      - latency_bench.envs.gymnasium_walker2d
+      - latency_bench.envs.tasks.walker2d
       state_space:
         labels:
         - torso_height
@@ -221,7 +221,7 @@ trainer:
     enabled: false
     log_interval: 10
   gradient_clipping: 1.0
-  gradient_accumulation_steps: 2
+  gradient_accumulation_steps: 1
   distributed_backend: deepspeed
   is_resume: false
   pretrained_checkpoint: null
@@ -236,20 +236,21 @@ trainer:
     weight_decay: 1.0e-08
     fused: true
   save_format: pt
-run_id: walker2d_pi05_profile_h1_5fps_g128_20260922_m32
-run_root_dir: ${PI05_RUN_DIR}/profile_latency/vla/training
+run_id: walker2d_pi05_issued_action_iid_s42_20261010
+run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/training
 seed: 42
 is_debug: false
 version_id: '0.21'
 wandb_project: latency-sensitive-bench
-wandb_entity: dongqianyu99-zhejiang-university
-wandb_name: walker2d_pi05_profile_h1_5fps_g128_20260922_m32
-wandb_group: pi05-seven-env
+wandb_entity: saberrr-zju
+wandb_name: walker2d_pi05_issued_action_iid_s42_20261010
+wandb_group: pi05-issued-action-iid-20261010
 wandb_tags:
 - walker2d
-- profile_latency
 - Pi05
-- h1
+- H1
+- IID
+- teacher-issued-action
 training_latency_condition: profile_latency
 backbone:
   repo_id: Qwen/Qwen3-VL-4B-Instruct
@@ -262,5 +263,5 @@ checkpoint:
   local:
     keep_last_n: 1
 global_batch: 128
-config_yaml: ${PI05_RUN_DIR}/profile_latency/train-m32.yaml
-output_dir: ${PI05_RUN_DIR}/profile_latency/vla/training/walker2d_pi05_profile_h1_5fps_g128_20260922_m32
+config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/train.yaml
+output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/training/walker2d_pi05_issued_action_iid_s42_20261010

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/config.yaml

@@ -1,11 +1,11 @@
 framework:
   name: QwenPI_v3
   qwenvl:
-    base_vlm: ${oc.env:PI05_BACKBONE_DIR}
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
     attn_implementation: flash_attention_2
     vl_hidden_dim: 2560
     num_vl_layers: 36
-    enable_gradient_checkpointing: false
+    enable_gradient_checkpointing: true
   action_model:
     action_model_type: LayerwiseFM
     action_dim: 6
@@ -100,7 +100,7 @@ datasets:
       - 0.0
       obs_fps: 5.0
       registration_imports:
-      - latency_bench.envs.gymnasium_walker2d
+      - latency_bench.envs.tasks.walker2d
       state_space:
         labels:
         - torso_height
@@ -121,6 +121,7 @@ datasets:
         - left_leg_angular_velocity
         - left_foot_angular_velocity
       task_name: walker2d
+    robot_type: rl_games_gymnasium
 trainer:
   pretrained_checkpoint: null
   profile_timing:

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/dataset_statistics.json

@@ -2,20 +2,20 @@
   "new_embodiment": {
     "action": {
       "mean": [
-        0.4979535639286041,
-        0.46174800395965576,
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+        0.9996105432510376,
+        0.8025897741317749,
+        0.38950979709625244
       ],
       "std": [
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+        0.01672535389661623,
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       "max": [
         1.0,
@@ -29,7 +29,7 @@
         -1.0,
         -1.0,
         -1.0,
-        0.0,
+        -1.0,
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@@ -60,121 +60,121 @@
     },
     "state": {
       "mean": [
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+        10.0
       ]
     },
-    "num_transitions": 88708,
+    "num_transitions": 89169,
     "num_trajectories": 90
   }
-}
+}

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/issued_action_iid_20261010/eval_config.yaml

@@ -0,0 +1,166 @@
+experiment:
+  name: walker2d_pi05_new_iid_100ep
+  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
+  - cuda:1
+  inference_batch_size: 8
+  simulated_inference_pool: true
+  simulated_worker_capacity: 1
+env:
+  name: gymnasium
+  task_name: walker2d
+  env_id: LatencyBench/Walker2dContinuous-v0
+  registration_imports:
+  - latency_bench.envs.tasks.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: iid
+  sync_cuda: false
+  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/original_profile/profiling/profile/profile.json
+  profile_worker_slot: 0
+  seed: 0
+scheduler:
+  hold_policy: hold
+  ordering_policy: issue_order_fifo
+policy:
+  type: starvla
+  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/new_bundle/config.yaml
+  backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
+  device: cuda:0
+  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/new_bundle/latency_prompt_map.json
+  latency_prompt_key: 1
+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: 100
+  eval_parallel_envs: 32
+  eval_max_steps: 1000
+  eval_deterministic: true
+  eval_latency_values: null
+  episode_seed_offset: 0
+logging:
+  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/evaluation/new_parallel32
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: true
+  save_action_records: true
+  save_latency_records: true
+  realtime_pipeline_profile: false

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/manifest.json

@@ -1,15 +1,15 @@
 {
-  "dataset_name": "walker2d_h1_5fps_profile",
+  "dataset_name": "lerobot",
   "env_name": "walker2d",
   "episodes": 90,
-  "frames": 88708,
+  "frames": 89169,
   "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 (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 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 (400.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 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 3 raw frames (600.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
   ],
   "format": "lerobot_v2_image_parquet",
-  "source": "${PI05_RUN_DIR}/profile_latency/data/raw_profile",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/raw",
   "integration_name": "gymnasium",
   "task_name": "walker2d",
   "action_layout": "gymnasium_continuous_v1",
@@ -59,16 +59,16 @@
   "state_normalization": {
     "type": "min_max",
     "min": [
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+      -5.120609760284424,
       -10.0,
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@@ -78,16 +78,16 @@
       -10.0
     ],
     "max": [
-      1.7503005266189575,
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-      0.16739727556705475,
-      0.3809681832790375,
-      1.2573986053466797,
-      9.562085151672363,
-      3.402139902114868,
+      1.7504061460494995,
+      0.9881704449653625,
+      0.16799136996269226,
+      0.33612364530563354,
+      1.3760323524475098,
+      0.14901067316532135,
+      0.335942804813385,
+      1.3045134544372559,
+      9.560564041137695,
+      3.40214204788208,
       10.0,
       10.0,
       10.0,
@@ -98,8 +98,8 @@
     ]
   },
   "robot_type": "rl_games_gymnasium",
-  "latency_prompt_map_path": "${PI05_RUN_DIR}/profile_latency/data/lerobot/walker2d_h1_5fps_profile/latency_prompt_map.json",
-  "custom_mixtures_path": "${PI05_RUN_DIR}/profile_latency/data/lerobot/_generated_mixtures/walker2d_h1_5fps_profile.json",
+  "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/_generated_mixtures/lerobot.json",
   "gymnasium_task": {
     "action_space": {
       "dtype": "float32",
@@ -155,7 +155,7 @@
     ],
     "obs_fps": 5.0,
     "registration_imports": [
-      "latency_bench.envs.gymnasium_walker2d"
+      "latency_bench.envs.tasks.walker2d"
     ],
     "state_space": {
       "labels": [
@@ -180,7 +180,7 @@
     },
     "task_name": "walker2d"
   },
-  "validation_dataset_name": "walker2d_h1_5fps_profile__val",
+  "validation_dataset_name": "lerobot__val",
   "validation_episodes": 10,
   "validation_frames": 10000
 }

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/normalization_binding.json

@@ -0,0 +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.",
+  "manifest": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/new_bundle/manifest.json"
+}

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/original_training_statistics.json

@@ -0,0 +1,180 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        0.4981546700000763,
+        0.4653775095939636,
+        -0.2947416603565216,
+        0.9996105432510376,
+        0.8025897741317749,
+        0.38950979709625244
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+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true
+      ]
+    },
+    "state": {
+      "mean": [
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+        0.18470169603824615,
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+        0.8568081760406492,
+        0.8925079727172848,
+        0.6340228366851779,
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+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ]
+    },
+    "num_transitions": 89169,
+    "num_trajectories": 90
+  }
+}

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/provenance.json

@@ -1,34 +0,0 @@
-{
-  "task": "walker2d",
-  "model": "qwenpi_v3",
-  "training_condition": "latency-aware",
-  "training_run_id": "walker2d_pi05_profile_h1_5fps_g128_20260922_m32",
-  "source": {
-    "repo_id": "latency-sensitive-bench/Standard-Pipeline",
-    "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
-    "path": "walker2d/profile_latency/Pi05",
-    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/Pi05"
-  },
-  "hf_repo_id": "latency-sensitive-bench/benchmark-models",
-  "hf_path": "latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32",
-  "checkpoint": {
-    "source_file": "walker2d/profile_latency/Pi05/checkpoints/model.pt",
-    "source_sha256": "248d8959f1c4b4045b64fd0c4f7a8e086606eea5827f263b04ef703e26b4cd84",
-    "source_bytes": 10922653853,
-    "file": "checkpoints/model.pt",
-    "selection_rule": "only published VLA checkpoint",
-    "method": "copy",
-    "sha256": "248d8959f1c4b4045b64fd0c4f7a8e086606eea5827f263b04ef703e26b4cd84",
-    "bytes": 10922653853
-  },
-  "config_source": "walker2d/profile_latency/Pi05/config.yaml",
-  "task_contract_file": "task_contract.json",
-  "missing_source_files": [],
-  "migration": {
-    "operation": "copy_selected_inference_bundle",
-    "source_modified": false,
-    "evaluation_performed": false,
-    "experiment_status": "preserved_in_source_evidence"
-  },
-  "action_horizon": 1
-}

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/source/README.md

@@ -1,5 +0,0 @@
-# walker2d Pi0.5 profile-latency VLA
-
-Fresh QwenPI_v3,5000 updates,seed42,global128 (micro32 × accumulation2 (explicitly approved after original micro64 OOM) ×2 GPUs),GC off,ZeRO2,H1,RGB224,5/5FPS,native state/action and train-only state min-max once. Dataset retained the >3000 gate: 100 accepted episodes in 118 total attempts including the original probe.
-
-Set PI05_BACKBONE_DIR to Qwen3-VL-4B-Instruct revision ebb281ec70b05090aa6165b016eac8ec08e71b17. Use config.yaml/checkpoints/model.pt and latency_prompt_map.json. Weights are byte-identical to final training export. CPU tensor-finiteness/hash validation passed; actual realtime F evaluation is a separate stage. No optimizer, training state, W&B cache or credentials are included.

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/source/provenance.json

@@ -1,96 +0,0 @@
-{
-  "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": 128,
-  "training_run_id": "walker2d_pi05_profile_h1_5fps_g128_20260922_m32",
-  "condition": "profile_latency",
-  "source": {
-    "task": "walker2d",
-    "teacher_verification_sha256": "20a4dde06a7ab677d8cb59116b3cb69d75204aa0fc463e8c48511a69288920e2",
-    "profile_sha256": "b5409f8578bec62e2c5232c3916b3ddd2e0e9494031259265540ba6aef882e5e",
-    "profile_publication_revision": "e1a9bdd566b96d5da4703f769d40eab656af491e",
-    "selected_checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_walker2d_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/best_000018928_9691136_reward_4148.139.pth",
-    "selected_checkpoint_sha256": "3d51959c7d65d8e9d1ec34cfc4a8dc7741abf9726439512bc7a0442fd265044e",
-    "selected_checkpoint_env_steps": 9691136,
-    "probe12_state_sha256": "266f2ec22ca31030bcc2e2161543314b579d178a1f45ff428b3278aa0bdead58",
-    "full_probe_state_sha256": "369efebe9c5abd237b02f5d368c4d1f21b0533fea1c3d9f59e501484d386f67f",
-    "data_attempts": 118,
-    "data_accepted": 100,
-    "data_rejected": 18,
-    "splits": {
-      "train": {
-        "rows": 88708,
-        "episodes": 90,
-        "return_min": 3049.0915127396584,
-        "return_max": 4926.397267758846,
-        "length_min": 707,
-        "length_max": 1000
-      },
-      "val": {
-        "rows": 10000,
-        "episodes": 10,
-        "return_min": 4344.816579580307,
-        "return_max": 4727.460265636444,
-        "length_min": 1000,
-        "length_max": 1000
-      }
-    },
-    "state_dim": 17,
-    "native_action_dim": 6,
-    "action_carrier": "native",
-    "state_normalization": {
-      "type": "min_max",
-      "min": [
-        0.801384687423706,
-        -0.3846876919269562,
-        -1.3016910552978516,
-        -2.7476444244384766,
-        -1.5346914529800415,
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-        -2.1717329025268555,
-        -1.4086319208145142,
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-        -4.531341552734375,
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-        -10.0,
-        -10.0,
-        -10.0,
-        -10.0,
-        -10.0,
-        -10.0
-      ],
-      "max": [
-        1.7503005266189575,
-        0.9993473291397095,
-        0.15303508937358856,
-        0.31470051407814026,
-        1.3454551696777344,
-        0.16739727556705475,
-        0.3809681832790375,
-        1.2573986053466797,
-        9.562085151672363,
-        3.402139902114868,
-        10.0,
-        10.0,
-        10.0,
-        10.0,
-        10.0,
-        10.0,
-        10.0
-      ]
-    },
-    "raw_metadata_sha256": "f01614b1df2395b2a4ae5f7bcaf7c215c42a029543ee7d31758ce49170fdbea2",
-    "raw_train_parquet_sha256": "755e77d3f27a1e73ae2e01b720288b8ea261cbaaffb537b93794f3f8b2bae595",
-    "raw_val_parquet_sha256": "eaff1190ab7ecb98aa95051e06e9e5efc8dcdcb2054e3464b73da2cc286e824e",
-    "converted_manifest_sha256": "e850ecfe50be72061722c0a57d95efb797f705e5c0aa1049c56f9d0bec54fbdb",
-    "latency_prompt_map_sha256": "ea71f353aa39bd39ca32d0fdda58cac6a0d0ae158f948241d8d494d261e1c3bc"
-  },
-  "training_config_sha256": "385d1a431384f36a79d4d6531ea26da7e4751a6924aac343ed685d268440f83a",
-  "dataset_manifest_sha256": "e850ecfe50be72061722c0a57d95efb797f705e5c0aa1049c56f9d0bec54fbdb"
-}

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/task_contract.json

@@ -1,80 +0,0 @@
-{
-  "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": 5.0,
-  "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": 5.0,
-  "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"
-}

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/training.complete.json

@@ -0,0 +1,14 @@
+{
+  "steps": 5000,
+  "seed": 42,
+  "global_batch": 128,
+  "gradient_checkpointing": true,
+  "gpus": "2,3",
+  "attempts": [
+    {
+      "micro_batch": 64,
+      "accumulation": 1,
+      "state": "COMPLETED"
+    }
+  ]
+}

latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/validation.json

@@ -1,10 +0,0 @@
-{
-  "state": "CPU_STATE_DICT_AND_BUNDLE_HASH_VERIFIED",
-  "checkpoint_sha256": "248d8959f1c4b4045b64fd0c4f7a8e086606eea5827f263b04ef703e26b4cd84",
-  "tensor_count": 1386,
-  "all_floating_tensors_finite": true,
-  "training_steps": 5000,
-  "global_batch": 128,
-  "gpu_forward": "NOT_RUN_AT_PUBLICATION",
-  "verified_at": "2026-09-22T01:32:01.661335+00:00"
-}