diff --git a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md index 847a773a3e96c7548dbd3ed16faf47dfc6934544..b82bb184ccabc111d1e2450147d6942c1c552fa4 100644 --- a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md +++ b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md @@ -1,30 +1,5 @@ -# walker2d / qwenoft +# walker2d openvla l0 -Training condition: `zero-latency`. Run: `walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k`. - -Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/zero_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`. - -- Checkpoint: `checkpoints/model.pt` -- Selection: only published VLA checkpoint -- Checkpoint SHA256: `8287406d754a46cf89c798a807bff000c9dc0bf93a6b7c49c51e74928599f259` -- 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. - -Missing in this source model bundle: `manifest.json`, `latency_prompt_map.json`. -These files were not substituted with files from another training condition. - -## Download - -```python -from huggingface_hub import snapshot_download -prefix = "zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k" -snapshot_download("latency-sensitive-bench/benchmark-models", revision="", - allow_patterns=[prefix + "/**"]) -``` - -Use the verified import commit listed in the repository's import report. +Global batch128, seed42, 5000 optimizer updates. Gradient checkpointing False. +Evaluation: simulated IID, 100 episodes, seeds42-141, latency seed0, parallel32, 10 FPS, cap1000, per-environment capacity1. +See config.full.yaml, training.complete.json, results.json and evaluation evidence. diff --git a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..d5f7bc1fc3b2bfc793cbac47bca0ce79bff8daf8 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b44fb96397d0664f68d2c8b51c85a4074b9fd9c058f19082f7418b83c772308d +size 9785142689 diff --git a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml index a329004ac43ab9a027bbaadd3a73ed490564da2d..da9a36afcbb1a9020adea9291027b7f9e5384181 100644 --- a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml +++ b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml @@ -1,18 +1,18 @@ framework: name: QwenOFT qwenvl: - base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 attn_implementation: flash_attention_2 - enable_gradient_checkpointing: true + enable_gradient_checkpointing: false action_model: action_model_type: MLP action_dim: 6 + state_dim: 17 action_hidden_dim: 2560 future_action_window_size: 0 past_action_window_size: 0 loss_type: l1 state_encoding: continuous_projector - state_dim: 17 action_horizon: 1 action_env_dim: 6 kv_memory: @@ -25,11 +25,11 @@ datasets: vla_data: dataset_py: lerobot_datasets include_state: true - data_root_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games - data_mix: walker2d_rgb_state_l0_return_gt3000_100ep - eval_data_mix: walker2d_rgb_state_l0_return_gt3000_100ep__val - custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/walker2d_rgb_state_l0_return_gt3000_100ep.json - action_type: discrete + data_root_dir: / + data_mix: train + eval_data_mix: validation + custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/mixture.json + action_type: continuous sequential_step_sampling: false eval_sequential_step_sampling: null num_workers: 8 @@ -59,7 +59,7 @@ datasets: eval_at_phase_end: false save_at_phase_end: false computed_plan: null - per_device_batch_size: 16 + per_device_batch_size: 32 load_all_data_for_training: true num_obs_frames: 1 image_mode: single @@ -141,6 +141,7 @@ datasets: - left_foot_angular_velocity task_name: walker2d_rgb_state active_action_dim: 6 + robot_type: rl_games_gymnasium dataset: source_hf: '' config_name: null @@ -201,7 +202,7 @@ trainer: enabled: true log_interval: 10 gradient_clipping: 1.0 - gradient_accumulation_steps: 1 + gradient_accumulation_steps: 2 distributed_backend: deepspeed is_resume: false pretrained_checkpoint: null @@ -217,9 +218,9 @@ trainer: fused: true save_format: pt workspace_dir: /home/lzj/code/latency-sensitive-bench -run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs +run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/training seed: 42 -wandb_entity: dongqianyu99-zhejiang-university +wandb_entity: saberrr-zju wandb_project: latency-sensitive-bench auth: env_file: null @@ -377,7 +378,7 @@ checkpoint: save_best_model: false save_final_model: true save_pt_file: true - save_training_state: false + save_training_state: true save_safetensors_file: false local: keep_last_n: 1 @@ -387,8 +388,16 @@ checkpoint: keep_last_n: 0 sync_every_n_checkpoints: 1 resume_policy: local_latest -run_id: walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k -output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k -config_yaml: null +run_id: walker2d_openvla_l0_issued_iid_g128_s42_20261010 is_debug: false version_id: '0.21' +training_latency_condition: zero_latency +wandb_name: walker2d_openvla_l0_issued_iid_g128_s42_20261010 +wandb_group: continuous-control-issued-iid-20261010 +wandb_tags: +- walker2d +- openvla +- issued-action +- iid +config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/train.yaml +output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/training/walker2d_openvla_l0_issued_iid_g128_s42_20261010 diff --git a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml index a329004ac43ab9a027bbaadd3a73ed490564da2d..d5285df1a601ae9313ebfff65460707915f53b39 100644 --- a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml +++ b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml @@ -1,9 +1,9 @@ framework: name: QwenOFT qwenvl: - base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + base_vlm: Qwen/Qwen3-VL-4B-Instruct attn_implementation: flash_attention_2 - enable_gradient_checkpointing: true + enable_gradient_checkpointing: false action_model: action_model_type: MLP action_dim: 6 @@ -69,7 +69,7 @@ datasets: - 2 obs_image_size: null video_backend: torchvision_av - gymnasium_task_contract: + gymnasium_task_contract: &id001 action_space: dtype: float32 high: @@ -141,6 +141,7 @@ datasets: - left_foot_angular_velocity task_name: walker2d_rgb_state active_action_dim: 6 + robot_type: rl_games_gymnasium dataset: source_hf: '' config_name: null @@ -293,77 +294,7 @@ rl_games: - 0 task: gymnasium gymnasium: - task_contract: - 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: 125.0 - 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: 125.0 - 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_rgb_state + task_contract: *id001 task_name: walker2d_rgb_state initialization_mode: scratch action_carrier: native @@ -392,3 +323,6 @@ output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/walker2d_rgb_s config_yaml: null is_debug: false version_id: '0.21' +backbone: + repo_id: Qwen/Qwen3-VL-4B-Instruct + revision: ebb281ec70b05090aa6165b016eac8ec08e71b17 diff --git a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json index bfb9e72f511b15f1aba80c6eb1faa007fa88cee2..9d5a6e36d25920896d29bf51a8e2eb5778f25a67 100644 --- a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json +++ b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json @@ -60,118 +60,118 @@ }, "state": { "mean": [ - 0.38908126950263977, - -0.06854692101478577, - 0.5603042840957642, - 0.295283704996109, - 0.20391421020030975, - 0.7933022975921631, - 0.32835325598716736, - 0.7283809781074524, - -0.11274679005146027, - 0.36438047885894775, 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past_action_window_size: 0 + loss_type: l1 + state_encoding: continuous_projector + state_dim: 17 + action_horizon: 1 + action_env_dim: 6 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + data_mix: walker2d_rgb_state_l0_return_gt3000_100ep + eval_data_mix: walker2d_rgb_state_l0_return_gt3000_100ep__val + custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/walker2d_rgb_state_l0_return_gt3000_100ep.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + persistent_workers: true + pin_memory: true + shuffle: true + action_balance: + enabled: false + strategy: balanced_epoch + action_key: action_id + target_flap_fraction: 0.3 + noop_id: 0 + flap_id: 1 + latency_curriculum: + enabled: false + strategy: exclusive + latencies: null + phase_steps: null + phase_distributions: null + new_latency_passes: 1.0 + replay_passes: 0.25 + target_total_passes: 2.0 + final_equalization: true + step_budget_mode: auto + eval_at_phase_end: false + save_at_phase_end: false + computed_plan: null + per_device_batch_size: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + gymnasium_task_contract: &id001 + 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: 125.0 + 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: 125.0 + 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_rgb_state + active_action_dim: 6 + robot_type: rl_games_gymnasium +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: walker2d_rgb_state_l0_return_gt3000_100ep + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: walker2d_rgb_state_l0_return_gt3000_100ep + mixed_converted_name: walker2d_rgb_state_l0_return_gt3000_100ep + single_latency_filter: null + mixed_latency_filter: null + force_download: false + setup_force: false + skip_verification: false + target_latency_unit: observation_steps + verify_rows: 200 + max_episodes: null + episodes_per_latency: null + latency_filter: null + debug_subset: + enabled: false + max_episodes: 5 + suffix: debug +base_model: + repo_id: Qwen/Qwen3-VL-4B-Instruct +initialization: + checkpoint_local_dir: null + checkpoint_hf_repo_id: null + checkpoint_filename: null +trainer: + max_train_steps: 5000 + num_warmup_steps: 100 + save_interval: 500 + eval_interval: 500 + eval_num_batches: 200 + per_latency_eval_num_batches: null + eval_action_classification: false + eval_action_classification_interval: null + cc_f1_tolerance: 1 + learning_rate: + base: 2.0e-05 + qwen_vl_interface: 1.0e-05 + action_model: 0.0001 + lr_scheduler_type: cosine_with_min_lr + scheduler_specific_kwargs: + min_lr: 1.0e-06 + freeze_modules: '' + freeze_vit: false + freeze_tied_embedding: false + freeze_llm_layers: [] + loss_scale: + vla: 1.0 + vlm: 0.1 + max_grad_norm: 1.0 + weight_decay: 0.0 + logging_frequency: 1 + profile_timing: + enabled: true + log_interval: 10 + gradient_clipping: 1.0 + gradient_accumulation_steps: 1 + distributed_backend: deepspeed + is_resume: false + pretrained_checkpoint: null + resume_step: 0 + reload_modules: null + optimizer: + name: AdamW + betas: + - 0.9 + - 0.95 + eps: 1.0e-08 + weight_decay: 1.0e-08 + fused: true + save_format: pt +workspace_dir: /home/lzj/code/latency-sensitive-bench +run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs + dataset_local_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: null + mode: single + values: + - 0 + task: gymnasium + gymnasium: + task_contract: *id001 + task_name: walker2d_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +config_yaml: null +is_debug: false +version_id: '0.21' +backbone: + repo_id: Qwen/Qwen3-VL-4B-Instruct + revision: ebb281ec70b05090aa6165b016eac8ec08e71b17 diff --git a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/dataset_statistics.json b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/dataset_statistics.json new file mode 100644 index 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"/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/evaluation/iid_parallel32_ib8", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_openvla_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/profile/profile.json", "source_run_id": "20260912T093545326611Z", "submitted_observation_frames": 65, "workload_id": "walker2d"}, "num_actions": 65, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 71.59900107305182, "p99_latency_ms": 73.51630070264552, "return_raw": null, "survival_steps": 65} diff --git a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/eval_config.yaml b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..927599e8ba4899b861bc5ba88e875c624fbc1fc7 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/eval_config.yaml @@ -0,0 +1,166 @@ +experiment: + name: walker2d_openvla_l0_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: 10 + obs_fps: 10 + 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/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/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/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/new_bundle/checkpoints/model.pt + model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/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/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/new_bundle/manifest.json + latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/new_bundle/latency_prompt_map.json + latency_prompt_key: 0 +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/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/evaluation/iid_parallel32_ib8 + 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/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/latency_prompt_map.json b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..c81e2129be0cfb104234720ac25d078d9cb70643 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/latency_prompt_map.json @@ -0,0 +1,7 @@ +{ + "0": { + "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. Current action latency is 0 raw frames (0.00 ms). The environment runs at 125 FPS and observations are emitted at 125 FPS. Choose the best next action.", + "latency_raw_frames": 0, + "latency_ms": 0.0 + } +} \ No newline at end of file diff --git a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/manifest.json b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..854c9f2b12713060d9981c18f44745d5e2352e49 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/manifest.json @@ -0,0 +1,184 @@ +{ + "dataset_name": "lerobot", + "env_name": "walker2d_rgb_state", + "episodes": 90, + "frames": 85160, + "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 0 raw frames (0.00 ms). The environment runs at 125 FPS and observations are emitted at 125 FPS. Choose the best next action." + ], + "format": "lerobot_v2_image_parquet", + "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/raw", + "integration_name": "gymnasium", + "task_name": "walker2d_rgb_state", + "action_layout": "gymnasium_continuous_v1", + "action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "carrier_action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "action_dim": 6, + "active_action_dim": 6, + "action_carrier": "native", + "rows_unit": "decision_step", + "obs_fps": 125.0, + "obs_stride_raw_frames": 1, + "uses_state": true, + "state_dim": 17, + "state_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" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.8001501560211182, + -0.9963381290435791, + -1.2083065509796143, + -2.6031124591827393, + -1.4880801439285278, + -1.7395809888839722, + -2.8114991188049316, + -1.4173651933670044, + -1.9014521837234497, + -5.880380630493164, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0 + ], + "max": [ + 1.4312387704849243, + 0.9942846298217773, + 0.35824716091156006, + 0.42332249879837036, + 1.4080666303634644, + 0.19403602182865143, + 0.508411705493927, + 1.1665540933609009, + 9.758368492126465, + 2.7117056846618652, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/lerobot/latency_prompt_map.json", + "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/_generated_mixtures/lerobot.json", + "gymnasium_task": { + "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": 125.0, + "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": 125.0, + "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", 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0000000000000000000000000000000000000000..d5285df1a601ae9313ebfff65460707915f53b39 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/config.yaml @@ -0,0 +1,328 @@ +framework: + name: QwenOFT + qwenvl: + base_vlm: Qwen/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + enable_gradient_checkpointing: false + action_model: + action_model_type: MLP + action_dim: 6 + action_hidden_dim: 2560 + future_action_window_size: 0 + past_action_window_size: 0 + loss_type: l1 + state_encoding: continuous_projector + state_dim: 17 + action_horizon: 1 + action_env_dim: 6 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + data_mix: walker2d_rgb_state_l0_return_gt3000_100ep + eval_data_mix: walker2d_rgb_state_l0_return_gt3000_100ep__val + custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/walker2d_rgb_state_l0_return_gt3000_100ep.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 8 + eval_num_workers: 8 + prefetch_factor: 4 + persistent_workers: true + pin_memory: true + shuffle: true + action_balance: + enabled: false + strategy: balanced_epoch + action_key: action_id + target_flap_fraction: 0.3 + noop_id: 0 + flap_id: 1 + latency_curriculum: + enabled: false + strategy: exclusive + latencies: null + phase_steps: null + phase_distributions: null + new_latency_passes: 1.0 + replay_passes: 0.25 + target_total_passes: 2.0 + final_equalization: true + step_budget_mode: auto + eval_at_phase_end: false + save_at_phase_end: false + computed_plan: null + per_device_batch_size: 16 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av + gymnasium_task_contract: &id001 + 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: 125.0 + 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: 125.0 + 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_rgb_state + active_action_dim: 6 + robot_type: rl_games_gymnasium +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: walker2d_rgb_state_l0_return_gt3000_100ep + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: walker2d_rgb_state_l0_return_gt3000_100ep + mixed_converted_name: walker2d_rgb_state_l0_return_gt3000_100ep + single_latency_filter: null + mixed_latency_filter: null + force_download: false + setup_force: false + skip_verification: false + target_latency_unit: observation_steps + verify_rows: 200 + max_episodes: null + episodes_per_latency: null + latency_filter: null + debug_subset: + enabled: false + max_episodes: 5 + suffix: debug +base_model: + repo_id: Qwen/Qwen3-VL-4B-Instruct +initialization: + checkpoint_local_dir: null + checkpoint_hf_repo_id: null + checkpoint_filename: null +trainer: + max_train_steps: 5000 + num_warmup_steps: 100 + save_interval: 500 + eval_interval: 500 + eval_num_batches: 200 + per_latency_eval_num_batches: null + eval_action_classification: false + eval_action_classification_interval: null + cc_f1_tolerance: 1 + learning_rate: + base: 2.0e-05 + qwen_vl_interface: 1.0e-05 + action_model: 0.0001 + lr_scheduler_type: cosine_with_min_lr + scheduler_specific_kwargs: + min_lr: 1.0e-06 + freeze_modules: '' + freeze_vit: false + freeze_tied_embedding: false + freeze_llm_layers: [] + loss_scale: + vla: 1.0 + vlm: 0.1 + max_grad_norm: 1.0 + weight_decay: 0.0 + logging_frequency: 1 + profile_timing: + enabled: true + log_interval: 10 + gradient_clipping: 1.0 + gradient_accumulation_steps: 1 + distributed_backend: deepspeed + is_resume: false + pretrained_checkpoint: null + resume_step: 0 + reload_modules: null + optimizer: + name: AdamW + betas: + - 0.9 + - 0.95 + eps: 1.0e-08 + weight_decay: 1.0e-08 + fused: true + save_format: pt +workspace_dir: /home/lzj/code/latency-sensitive-bench +run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs +seed: 42 +wandb_entity: dongqianyu99-zhejiang-university +wandb_project: latency-sensitive-bench +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs + dataset_local_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games + dataset_cache_dir: null + base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: openvla + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + gymnasium: + make_kwargs: {} + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: null + mode: single + values: + - 0 + task: gymnasium + gymnasium: + task_contract: *id001 + task_name: walker2d_rgb_state + initialization_mode: scratch + action_carrier: native +model: openvla +env: gymnasium +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: false + save_safetensors_file: false + local: + keep_last_n: 1 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k +config_yaml: null +is_debug: 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b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d60ad9122f2c88026f9596c73276a640c2cd84c5 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/eval_config.yaml @@ -0,0 +1,163 @@ +experiment: + name: walker2d_openvla_l0_zero_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: 10 + obs_fps: 10 + 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: zero + sync_cuda: false +scheduler: + hold_policy: hold + ordering_policy: issue_order_fifo +policy: + type: starvla + checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/new_bundle/checkpoints/model.pt + model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/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/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/new_bundle/manifest.json + latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/new_bundle/latency_prompt_map.json + latency_prompt_key: 0 +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/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/evaluation/zero_parallel32_ib8 + 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/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/latency_prompt_map.json b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..c81e2129be0cfb104234720ac25d078d9cb70643 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/latency_prompt_map.json @@ -0,0 +1,7 @@ +{ + "0": { + "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. Current action latency is 0 raw frames (0.00 ms). The environment runs at 125 FPS and observations are emitted at 125 FPS. Choose the best next action.", + "latency_raw_frames": 0, + "latency_ms": 0.0 + } +} \ No newline at end of file diff --git a/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/manifest.json b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..854c9f2b12713060d9981c18f44745d5e2352e49 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwenoft-h1/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/manifest.json @@ -0,0 +1,184 @@ +{ + "dataset_name": "lerobot", + "env_name": "walker2d_rgb_state", + "episodes": 90, + "frames": 85160, + "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 0 raw frames (0.00 ms). The environment runs at 125 FPS and observations are emitted at 125 FPS. Choose the best next action." + ], + "format": "lerobot_v2_image_parquet", + "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/raw", + "integration_name": "gymnasium", + "task_name": "walker2d_rgb_state", + "action_layout": "gymnasium_continuous_v1", + "action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "carrier_action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "action_dim": 6, + "active_action_dim": 6, + "action_carrier": "native", + "rows_unit": "decision_step", + "obs_fps": 125.0, + "obs_stride_raw_frames": 1, + "uses_state": true, + "state_dim": 17, + "state_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" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.8001501560211182, + -0.9963381290435791, + -1.2083065509796143, + -2.6031124591827393, + -1.4880801439285278, + -1.7395809888839722, + -2.8114991188049316, + -1.4173651933670044, + -1.9014521837234497, + -5.880380630493164, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0 + ], + "max": [ + 1.4312387704849243, + 0.9942846298217773, + 0.35824716091156006, + 0.42332249879837036, + 1.4080666303634644, + 0.19403602182865143, + 0.508411705493927, + 1.1665540933609009, + 9.758368492126465, + 2.7117056846618652, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/lerobot/latency_prompt_map.json", + "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/openvla_l0/_generated_mixtures/lerobot.json", + "gymnasium_task": { + "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. 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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 0 raw frames (0.00 ms). The environment runs at 125 FPS and observations are emitted at 125 FPS. 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