diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/README.md b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/README.md index b670c7929b9e7c5a18c43841b4dfeec836e8fb0c..9a286d14a88736801aeb32ea824bc82799c83f9b 100644 --- a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/README.md +++ b/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="", - 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. diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/REPORT.md b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/REPORT.md new file mode 100644 index 0000000000000000000000000000000000000000..ba18818fa18ba38bba3211c94fb2a5ca6c6f0e37 --- /dev/null +++ b/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. diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/checkpoints/model.pt b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/checkpoints/model.pt index 9e1a72b37abfb7e72949dc5942aaaaa4a37d275a..282785df38b49ecd51bba1ac3c92626f546404f4 100644 --- a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/checkpoints/model.pt +++ b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/checkpoints/model.pt @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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"gradient checkpointing", + "micro batch selected by OOM" + ] +} diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/config.full.yaml b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/config.full.yaml index 041d1322b89fdb1e62693245103e0903999a5e30..4d9ebad58b25932bb454830af813519d30cf37c0 100644 --- a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/config.full.yaml +++ b/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 diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/config.yaml b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/config.yaml index e693865f0de9791008d4311e13a9c1badc44cef3..75ce9e98b36bc93f8553d8ec07770bf6ce9bb56d 100644 --- a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/config.yaml +++ b/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: diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/dataset_statistics.json b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/dataset_statistics.json index 1dc43f7c4be63aef75ecda73562bf5428e64c769..29adabdcc4b17b89c22b52d0e36443cc2613e10d 100644 --- a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/dataset_statistics.json +++ b/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, - -0.29137447476387024, - 0.9985677003860474, - 0.7979836463928223, - 0.38867390155792236 + 0.4981546700000763, + 0.4653775095939636, + -0.2947416603565216, + 0.9996105432510376, + 0.8025897741317749, + 0.38950979709625244 ], "std": [ - 0.581741213798523, - 0.4915325939655304, - 0.7721808552742004, - 0.035041093826293945, - 0.5022090673446655, - 0.6507065296173096 + 0.5788458585739136, + 0.48928776383399963, + 0.7716024518013, + 0.01672535389661623, + 0.4969850182533264, + 0.6478453278541565 ], "max": [ 1.0, @@ -29,7 +29,7 @@ -1.0, -1.0, -1.0, - 0.0, + -1.0, -1.0, -1.0 ], @@ -60,121 +60,121 @@ }, "state": { "mean": [ - 0.23815855383872986, - -0.1610857993364334, - 0.5441378951072693, - 0.672118604183197, - -0.11596863716840744, - 0.6917569041252136, - 0.637482762336731, - 0.4345299303531647, - -0.18043601512908936, - 0.1474768966436386, - -0.007371156010776758, - -0.01192600466310978, - -0.0426424965262413, - 0.011722072958946228, - -0.002667834050953388, - -0.02254018746316433, - -0.048787184059619904 + 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"return_raw": null, "survival_steps": 1000} diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/issued_action_iid_20261010/eval_config.yaml b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/issued_action_iid_20261010/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..78f48a983963ab3b88b49c1953bd18ac31030d46 --- /dev/null +++ b/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 diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/manifest.json b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/manifest.json index 0accecb9d0bc35de149aa1c22576692081ef6e9e..7a10b7753d9eaae6b3ade4f8a3bc74d4af1754da 100644 --- a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/manifest.json +++ b/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": [ - 0.801384687423706, - -0.3846876919269562, - -1.3016910552978516, - -2.7476444244384766, - -1.5346914529800415, - -0.8290755152702332, - -2.1717329025268555, - -1.4086319208145142, - -0.415105402469635, - -4.531341552734375, + 0.8091598153114319, + -0.958375871181488, + -1.471215009689331, + -2.750671863555908, + -1.5357930660247803, + -1.3458030223846436, + -1.5723819732666016, + -1.5042258501052856, + -0.7429636120796204, + -5.120609760284424, -10.0, -10.0, -10.0, @@ -78,16 +78,16 @@ -10.0 ], "max": [ - 1.7503005266189575, - 0.9993473291397095, - 0.15303508937358856, - 0.31470051407814026, - 1.3454551696777344, - 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 } \ No newline at end of file diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/normalization_binding.json b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/normalization_binding.json new file mode 100644 index 0000000000000000000000000000000000000000..4f2e22eea2ef62d31e30cadd5744236ed3ec40ce --- /dev/null +++ b/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" +} diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/original_training_statistics.json b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/original_training_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..caa154606cb762ed9b9597527baafc64608b4351 --- /dev/null +++ b/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 + ], + "std": [ + 0.5788458585739136, + 0.48928776383399963, + 0.7716024518013, + 0.01672535389661623, + 0.4969850182533264, + 0.6478453278541565 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -1.0, + -1.0, + -1.0, + 1.0, + -1.0, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.23792263865470886, + 0.18470169603824615, + 0.5776959657669067, + 0.6617908477783203, + -0.12576328217983246, + 0.8187075853347778, + 0.5637369155883789, + 0.43144461512565613, + -0.1433890163898468, + 0.20708228647708893, + -0.007593836635351181, + -0.012343162670731544, + -0.04303945600986481, + 0.010517130605876446, + -0.002804339397698641, + -0.02231612242758274, + -0.04842042177915573 + ], + "std": [ + 0.3836668133735657, + 0.15493330359458923, + 0.2817511558532715, + 0.24344688653945923, + 0.5168323516845703, + 0.07930017262697185, + 0.27416202425956726, + 0.4340347349643707, + 0.2744417190551758, + 0.34808868169784546, + 0.30759069323539734, + 0.279937207698822, + 0.44789883494377136, + 0.5409497022628784, + 0.17595402896404266, + 0.40527644753456116, + 0.5279714465141296 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.4113236618041992, + -0.21736109972000123, + -0.18296106100082396, + -0.07217283248901366, + -0.7223247408866882, + 0.47785244464874266, + -0.3314486837387085, + -0.7239453530311585, + -0.8191078186035157, + -0.44607192516326905, + -0.5727321386337281, + -0.5157614970207214, + -1.0, + -1.0, + -0.396851544380188, + -1.0, + -1.0 + ], + "q99": [ + 0.8920213985443114, + 0.4974299812316893, + 0.9348369693756103, + 0.9200620412826538, + 0.8252453470230101, + 0.9311845254898071, + 0.8568081760406492, + 0.8925079727172848, + 0.6340228366851779, + 0.9249057865142821, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ] + }, + "num_transitions": 89169, + "num_trajectories": 90 + } +} \ No newline at end of file diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/provenance.json b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/provenance.json deleted file mode 100644 index 51fe619b830ef26b878ddae43fec25bc62f21917..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/provenance.json +++ /dev/null @@ -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 -} diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/source/README.md b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/source/README.md deleted file mode 100644 index 79bf51d3a3b48b57ccd8f3b4efc69889cba9669a..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/source/README.md +++ /dev/null @@ -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. diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/source/provenance.json b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/source/provenance.json deleted file mode 100644 index 8a55acebd85e170fc0a15e08348e5828d0c5384e..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/source/provenance.json +++ /dev/null @@ -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, - -0.8290755152702332, - -2.1717329025268555, - -1.4086319208145142, - -0.415105402469635, - -4.531341552734375, - -10.0, - -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" -} diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/task_contract.json b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/task_contract.json deleted file mode 100644 index 83e3865ecb5e5aad835cb8de453f17e41e7eb216..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/task_contract.json +++ /dev/null @@ -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" -} diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/training.complete.json b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/training.complete.json new file mode 100644 index 0000000000000000000000000000000000000000..63924a1fd5a36eab3d57787c1433ce345efc8a8e --- /dev/null +++ b/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" + } + ] +} diff --git a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/validation.json b/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/validation.json deleted file mode 100644 index 0fc56c96caf6d78d6d06a60dbbff4cbc3ae3b351..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/validation.json +++ /dev/null @@ -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" -}