Publish corrected issued-action hopper pi05 profile model

latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/README.md

@@ -1,31 +1,9 @@
-# hopper / qwenpi_v3
+# hopper Pi0.5 profile model
 
-Training condition: `latency-aware`. Run: `hopper_pi05_profile_gt2500_h1_5fps_g128_20260922`.
+Corrected source-observation teacher-issued action supervision.
 
-Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/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: `93f66960f8eae69b52350e2d15271ef037dc8826332268fac69ce7c018d654c8`
-- 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/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922"
-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/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/REPORT.md

@@ -0,0 +1,18 @@
+# hopper 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 | 262.3369 | 37.4922 | 114.44 |
+| new | 2654.2118 | 803.8749 | 735.43 |
+
+Mean paired gain: 2391.8750. 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/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/checkpoints/model.pt

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+oid sha256:a801630001819f98592eaaab891e3e3a9fc59f9c8b4e7965d78c5bb92a89ec64
 size 10922629277

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

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+}

latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/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: 3
     state_dim: 11
     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: 3
     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_gt2500_20260922/mixture.json
+    custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/mixture.json
     action_type: continuous
     sequential_step_sampling: true
     eval_sequential_step_sampling: null
@@ -126,7 +126,7 @@ datasets:
       - 0.0
       obs_fps: 5.0
       registration_imports:
-      - latency_bench.envs.gymnasium_hopper
+      - latency_bench.envs.tasks.hopper
       state_space:
         labels:
         - torso_height
@@ -217,20 +217,21 @@ trainer:
     weight_decay: 1.0e-08
     fused: true
   save_format: pt
-run_id: hopper_pi05_profile_gt2500_h1_5fps_g128_20260922
-run_root_dir: ${PI05_RUN_DIR}/profile_latency/vla_gt2500_20260922/training
+run_id: hopper_pi05_issued_action_iid_s42_20261010
+run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/training
 seed: 42
 is_debug: false
 version_id: '0.21'
 wandb_project: latency-sensitive-bench
-wandb_entity: dongqianyu99-zhejiang-university
-wandb_name: hopper_pi05_profile_gt2500_h1_5fps_g128_20260922
-wandb_group: pi05-seven-env
+wandb_entity: saberrr-zju
+wandb_name: hopper_pi05_issued_action_iid_s42_20261010
+wandb_group: pi05-issued-action-iid-20261010
 wandb_tags:
 - hopper
-- profile_latency
 - Pi05
-- h1
+- H1
+- IID
+- teacher-issued-action
 training_latency_condition: profile_latency
 backbone:
   repo_id: Qwen/Qwen3-VL-4B-Instruct
@@ -242,5 +243,5 @@ checkpoint:
   save_training_state: true
   local:
     keep_last_n: 1
-config_yaml: ${PI05_RUN_DIR}/profile_latency/vla_gt2500_20260922/train.yaml
-output_dir: ${PI05_RUN_DIR}/profile_latency/vla_gt2500_20260922/training/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922
+config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/train.yaml
+output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/training/hopper_pi05_issued_action_iid_s42_20261010

latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/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: 3
@@ -87,7 +87,7 @@ datasets:
       - 0.0
       obs_fps: 5.0
       registration_imports:
-      - latency_bench.envs.gymnasium_hopper
+      - latency_bench.envs.tasks.hopper
       state_space:
         labels:
         - torso_height
@@ -102,6 +102,7 @@ datasets:
         - leg_angular_velocity
         - foot_angular_velocity
       task_name: hopper
+    robot_type: rl_games_gymnasium
 trainer:
   pretrained_checkpoint: null
   profile_timing:

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

@@ -2,32 +2,32 @@
   "new_embodiment": {
     "action": {
       "mean": [
-        0.004830775782465935,
-        0.6506988406181335,
-        -0.16816289722919464
+        0.0049229697324335575,
+        0.6521896719932556,
+        -0.16889438033103943
       ],
       "std": [
-        0.2572890818119049,
-        0.6471112370491028,
-        0.8130112886428833
+        0.25756168365478516,
+        0.6470958590507507,
+        0.8130757212638855
       ],
       "max": [
-        0.92793208360672,
+        0.9395251870155334,
         1.0,
         1.0
       ],
       "min": [
-        -0.6471852660179138,
+        -0.647185206413269,
         -1.0,
         -1.0
       ],
       "q01": [
-        -0.535171184539795,
+        -0.5339896190166473,
         -1.0,
         -1.0
       ],
       "q99": [
-        0.6878180891275406,
+        0.6878953921794876,
         1.0,
         1.0
       ],
@@ -39,85 +39,85 @@
     },
     "state": {
       "mean": [
-        0.256259024143219,
-        -0.2865329384803772,
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-        -0.0018315694760531187,
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+        1.4038741677172233,
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+        2.5896574613061207,
+        0.014219261764100821,
+        -0.0027642566730881057,
+        -0.06534762915136128,
+        -0.01900440896861255,
+        -0.05215180106461048
       ],
       "std": [
-        0.32620856165885925,
-        0.27870386838912964,
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-        0.2515462040901184,
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-        0.1715511977672577,
-        0.2775718867778778,
-        0.40339428186416626,
-        0.58819580078125
+        0.18169916562795407,
+        0.05370829882705741,
+        0.168601958593215,
+        0.2657877089817179,
+        0.644133713584381,
+        0.7606154433863563,
+        1.6420806424411438,
+        1.0595477842694372,
+        2.384524139756408,
+        4.032128751277924,
+        5.881499648094177
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       "max": [
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-        1.0,
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+        1.8196797370910645,
+        0.1958828866481781,
+        0.041033145040273666,
+        0.1550283581018448,
+        0.9662267565727234,
+        7.04247522354126,
+        3.2499496936798096,
+        5.976532459259033,
+        7.204126834869385,
+        10.0,
+        10.0
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       "min": [
-        -1.0,
-        -1.0,
-        -1.0,
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-        -1.0,
-        -1.0,
-        -1.0,
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-        -1.0,
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+        0.701430082321167,
+        -0.18769849836826324,
+        -1.4578222036361694,
+        -1.9729520082473755,
+        -0.9319470524787903,
+        -0.014216306619346142,
+        -3.833221197128296,
+        -6.138384819030762,
+        -10.0,
+        -10.0,
+        -10.0
       ],
       "q01": [
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+        1.0245488870695927,
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+        0.44528900369002233,
+        -2.74102122555904,
+        -2.6237940408222125,
+        -4.557577227105824,
+        -9.73546984195709,
+        -10.0
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       "q99": [
-        0.8820206296443941,
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-        0.36585895061492923,
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-        1.0
+        1.746462032848763,
+        0.07944139343900171,
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+        0.9054187285678829,
+        3.9090380648781706,
+        2.899137949682023,
+        2.2594460707147905,
+        5.696335758252259,
+        9.774792885780334,
+        10.0
       ]
     },
-    "num_transitions": 87404,
+    "num_transitions": 87583,
     "num_trajectories": 90
   }
-}
+}

latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/evaluations/issued_action_iid_20261010/eval_config.yaml

@@ -0,0 +1,162 @@
+env:
+  state_space:
+    labels:
+    - torso_height
+    - torso_angle
+    - thigh_angle
+    - leg_angle
+    - foot_angle
+    - torso_x_velocity
+    - torso_z_velocity
+    - torso_angular_velocity
+    - thigh_angular_velocity
+    - leg_angular_velocity
+    - foot_angular_velocity
+  name: gymnasium
+  task_name: hopper
+  env_id: LatencyBench/Hopper-v0
+  registration_imports:
+  - latency_bench.envs.tasks.hopper
+  make_kwargs:
+    base_env_id: Hopper-v4
+    base_make_kwargs:
+      ctrl_cost_weight: 0.001
+      exclude_current_positions_from_observation: true
+      forward_reward_weight: 1.0
+      healthy_reward: 1.0
+      reset_noise_scale: 0.005
+      terminate_when_unhealthy: true
+    render_mode: rgb_array
+  env_fps: 5
+  obs_fps: 5
+  frame_stack: 1
+  action_space:
+    dtype: float32
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    labels:
+    - thigh_torque
+    - leg_torque
+    - foot_torque
+    low:
+    - -1.0
+    - -1.0
+    - -1.0
+    type: box
+  noop_action:
+  - 0.0
+  - 0.0
+  - 0.0
+  base_prompt: Move the Hopper robot forward while keeping its torso upright. Predict
+    three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+  obs_resize:
+  - 224
+  - 224
+experiment:
+  name: hopper_pi05_new_iid_100ep
+  seed: 42
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/hopper
+  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
+latency:
+  method: iid
+  sync_cuda: false
+  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/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/hopper/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/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/hopper/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/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
+  num_batches_to_accumulate: 2
+  policy_workers_per_policy: 1
+  max_policy_lag: 10000
+  learning_rate: 0.00295
+  lr_schedule: linear_decay
+  lr_schedule_kl_threshold: 0.008
+  gamma: 0.99
+  gae_lambda: 0.95
+  ppo_clip_ratio: 0.2
+  ppo_clip_value: 1.0
+  value_loss_coeff: 1.3
+  max_grad_norm: 3.5
+  exploration_loss: entropy
+  exploration_loss_coeff: 0.0
+  kl_loss_coeff: 0.1
+  reward_scale: 1.0
+  reward_clip: 1000.0
+  async_rl: false
+  serial_mode: false
+  batched_sampling: false
+  with_vtrace: false
+  use_rnn: false
+  env_framestack: 4
+  encoder_mlp_layers:
+  - 64
+  - 64
+  nonlinearity: tanh
+  adaptive_stddev: false
+  policy_initialization: torch_default
+  initial_stddev: 1.0
+  actor_critic_share_weights: true
+  shuffle_minibatches: false
+  value_bootstrap: false
+  normalize_input: true
+  normalize_returns: true
+  decorrelate_experience_max_seconds: 10
+  decorrelate_envs_on_one_worker: true
+  set_workers_cpu_affinity: true
+  force_envs_single_thread: true
+  save_every_sec: 600
+  keep_checkpoints: 3
+  save_best_every_sec: 60
+  save_best_after: 100000
+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/hopper/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/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/manifest.json

@@ -1,14 +1,14 @@
 {
-  "dataset_name": "hopper_h1_5fps_profile_gt2500",
+  "dataset_name": "lerobot",
   "env_name": "hopper",
   "episodes": 90,
-  "frames": 87404,
+  "frames": 87583,
   "task_prompts": [
     "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 1 raw frames (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
     "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 2 raw frames (400.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
   ],
   "format": "lerobot_v2_image_parquet",
-  "source": "${PI05_RUN_DIR}/profile_latency/data/raw_profile_gt2500",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/raw",
   "integration_name": "gymnasium",
   "task_name": "hopper",
   "action_layout": "gymnasium_continuous_v1",
@@ -46,35 +46,35 @@
   "state_normalization": {
     "type": "min_max",
     "min": [
-      0.7025294303894043,
-      -0.18769855797290802,
-      -1.4441453218460083,
-      -1.9619364738464355,
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+      0.701430082321167,
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       -0.014216306619346142,
-      -5.1731038093566895,
-      -6.168967247009277,
+      -3.833221197128296,
+      -6.138384819030762,
       -10.0,
       -10.0,
       -10.0
     ],
     "max": [
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-      0.19951485097408295,
-      0.0425863191485405,
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-      7.153366565704346,
-      3.250192880630493,
-      6.1806535720825195,
+      1.8196797370910645,
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+      0.041033145040273666,
+      0.1550283581018448,
+      0.9662267565727234,
+      7.04247522354126,
+      3.2499496936798096,
+      5.976532459259033,
       7.204126834869385,
       10.0,
       10.0
     ]
   },
   "robot_type": "rl_games_gymnasium",
-  "latency_prompt_map_path": "${PI05_RUN_DIR}/profile_latency/data/lerobot/hopper_h1_5fps_profile_gt2500/latency_prompt_map.json",
-  "custom_mixtures_path": "${PI05_RUN_DIR}/profile_latency/data/lerobot/_generated_mixtures/hopper_h1_5fps_profile_gt2500.json",
+  "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/_generated_mixtures/lerobot.json",
   "gymnasium_task": {
     "action_space": {
       "dtype": "float32",
@@ -118,7 +118,7 @@
     ],
     "obs_fps": 5.0,
     "registration_imports": [
-      "latency_bench.envs.gymnasium_hopper"
+      "latency_bench.envs.tasks.hopper"
     ],
     "state_space": {
       "labels": [
@@ -137,7 +137,7 @@
     },
     "task_name": "hopper"
   },
-  "validation_dataset_name": "hopper_h1_5fps_profile_gt2500__val",
+  "validation_dataset_name": "lerobot__val",
   "validation_episodes": 10,
-  "validation_frames": 9776
+  "validation_frames": 10000
 }

latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/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/hopper/new_bundle/manifest.json"
+}

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

@@ -0,0 +1,123 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        0.0049229697324335575,
+        0.6521896719932556,
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+        -1.0
+      ],
+      "q99": [
+        0.6878953921794876,
+        1.0,
+        1.0
+      ],
+      "mask": [
+        true,
+        true,
+        true
+      ]
+    },
+    "state": {
+      "mean": [
+        0.2563278377056122,
+        -0.2801421284675598,
+        0.41175389289855957,
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+        0.40321287512779236,
+        0.5881499648094177
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+      ],
+      "q01": [
+        -0.42209898591041567,
+        -0.8109547710418701,
+        -0.04588969111442565,
+        0.0926010799407959,
+        -0.9622188341617585,
+        -0.8697674942016601,
+        -0.6916070532798767,
+        -0.4197912049293518,
+        -0.36731194496154784,
+        -0.9735469841957092,
+        -1.0
+      ],
+      "q99": [
+        0.8690494489669794,
+        0.3928720331192016,
+        0.932245621681213,
+        0.9197563433647156,
+        0.935929968357086,
+        0.11192457675933756,
+        0.9009450006484983,
+        0.3863620686531066,
+        0.8247175121307372,
+        0.9774792885780333,
+        1.0
+      ]
+    },
+    "num_transitions": 87583,
+    "num_trajectories": 90
+  }
+}

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

@@ -1,34 +0,0 @@
-{
-  "task": "hopper",
-  "model": "qwenpi_v3",
-  "training_condition": "latency-aware",
-  "training_run_id": "hopper_pi05_profile_gt2500_h1_5fps_g128_20260922",
-  "source": {
-    "repo_id": "latency-sensitive-bench/Standard-Pipeline",
-    "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
-    "path": "hopper/profile_latency/Pi05",
-    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/Pi05"
-  },
-  "hf_repo_id": "latency-sensitive-bench/benchmark-models",
-  "hf_path": "latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922",
-  "checkpoint": {
-    "source_file": "hopper/profile_latency/Pi05/checkpoints/model.pt",
-    "source_sha256": "93f66960f8eae69b52350e2d15271ef037dc8826332268fac69ce7c018d654c8",
-    "source_bytes": 10922629277,
-    "file": "checkpoints/model.pt",
-    "selection_rule": "only published VLA checkpoint",
-    "method": "copy",
-    "sha256": "93f66960f8eae69b52350e2d15271ef037dc8826332268fac69ce7c018d654c8",
-    "bytes": 10922629277
-  },
-  "config_source": "hopper/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/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/source/README.md

@@ -1,5 +0,0 @@
-# hopper Pi0.5 profile-latency VLA
-
-Fresh QwenPI_v3,5000 updates,seed42,global128 (micro64 × accumulation1 ×2 GPUs),GC off,ZeRO2,H1,RGB224,5/5FPS,native state/action and train-only state min-max once. Dataset used the explicitly approved >2500 gate without an attempt ceiling: 218 total attempts, 53 earlier >3000 accepted records retained plus 47 new >2500 records.
-
-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/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/source/provenance.json

@@ -1,512 +0,0 @@
-{
-  "task": "hopper",
-  "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": "hopper_pi05_profile_gt2500_h1_5fps_g128_20260922",
-  "condition": "profile_latency",
-  "source": {
-    "task": "hopper",
-    "condition": "profile_latency",
-    "teacher_checkpoint_path": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_hopper_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/checkpoint_000019536_10002432.pth",
-    "teacher_checkpoint_sha256": "9b78ae32c795cf0eecbd2b66e04f2775091a9756a40e5f5635791ac2b2ca4b86",
-    "teacher": {
-      "state": "TEACHER_FULL_TRACE_AUDIT_PASSED",
-      "verified_at": "2026-09-21T14:09:31.112834+00:00",
-      "task": "hopper",
-      "model_revision": "408930d8a85f0cb316dc3bdebfb8142526570355",
-      "P_profile_sha256": "1289653bf6e8591cdd5cf805ad539ddd1cb041cdad08a9f2833597fe72271e1e",
-      "P_warnings": [
-        {
-          "session": 1,
-          "warmup_status": "unstable",
-          "warmup_stability_reason": "drifting",
-          "samples_excluded": 100
-        }
-      ],
-      "actual_final_env_steps": 10002432,
-      "actual_final_train_step": 19536,
-      "selection": {
-        "selected": "final",
-        "candidates": {
-          "final": {
-            "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_hopper_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/checkpoint_000019536_10002432.pth",
-            "sha256": "9b78ae32c795cf0eecbd2b66e04f2775091a9756a40e5f5635791ac2b2ca4b86",
-            "episodes": 20,
-            "seeds": [
-              104771,
-              104772,
-              104773,
-              104774,
-              104775,
-              104776,
-              104777,
-              104778,
-              104779,
-              104780,
-              104781,
-              104782,
-              104783,
-              104784,
-              104785,
-              104786,
-              104787,
-              104788,
-              104789,
-              104790
-            ],
-            "returns": [
-              2224.1403163381674,
-              2819.128114077857,
-              3489.646074260514,
-              2009.7554991069278,
-              2113.0389978032463,
-              2530.889359173486,
-              3528.0257119878297,
-              3480.216905777773,
-              1947.2163728885328,
-              2019.6803983866998,
-              271.37905453360946,
-              2083.796228363727,
-              3447.6906733909796,
-              2591.8151761056497,
-              265.78937272271213,
-              1892.4932081793627,
-              1981.7056002712736,
-              3621.6136520722443,
-              3614.0425221471028,
-              3542.033646827985
-            ],
-            "mean": 2473.704844220784,
-            "population_std": 983.5990191484575,
-            "strict_gt3000": 7
-          },
-          "training_best": {
-            "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_hopper_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/best_000019536_10002432_reward_2535.456.pth",
-            "sha256": "f0d71c11d6f468510a6b1e98d528060bfe213e094ae81a13a7c9129af2f5b2ec",
-            "episodes": 20,
-            "seeds": [
-              104771,
-              104772,
-              104773,
-              104774,
-              104775,
-              104776,
-              104777,
-              104778,
-              104779,
-              104780,
-              104781,
-              104782,
-              104783,
-              104784,
-              104785,
-              104786,
-              104787,
-              104788,
-              104789,
-              104790
-            ],
-            "returns": [
-              2224.1403163381674,
-              2819.128114077857,
-              3489.646074260514,
-              2009.7554991069278,
-              2113.0389978032463,
-              2530.889359173486,
-              3528.0257119878297,
-              3480.216905777773,
-              1947.2163728885328,
-              2019.6803983866998,
-              271.37905453360946,
-              2083.796228363727,
-              3447.6906733909796,
-              2591.8151761056497,
-              265.78937272271213,
-              1892.4932081793627,
-              1981.7056002712736,
-              3621.6136520722443,
-              3614.0425221471028,
-              3542.033646827985
-            ],
-            "mean": 2473.704844220784,
-            "population_std": 983.5990191484575,
-            "strict_gt3000": 7
-          }
-        },
-        "completed_at": "2026-09-21T14:06:00.799410+00:00",
-        "final_checkpoint_env_steps": 10002432,
-        "final_checkpoint_train_step": 19536
-      },
-      "evaluations": {
-        "final": {
-          "episodes": 20,
-          "seeds": [
-            104771,
-            104772,
-            104773,
-            104774,
-            104775,
-            104776,
-            104777,
-            104778,
-            104779,
-            104780,
-            104781,
-            104782,
-            104783,
-            104784,
-            104785,
-            104786,
-            104787,
-            104788,
-            104789,
-            104790
-          ],
-          "returns": [
-            2224.1403163381674,
-            2819.128114077857,
-            3489.646074260514,
-            2009.7554991069278,
-            2113.0389978032463,
-            2530.889359173486,
-            3528.0257119878297,
-            3480.216905777773,
-            1947.2163728885328,
-            2019.6803983866998,
-            271.37905453360946,
-            2083.796228363727,
-            3447.6906733909796,
-            2591.8151761056497,
-            265.78937272271213,
-            1892.4932081793627,
-            1981.7056002712736,
-            3621.6136520722443,
-            3614.0425221471028,
-            3542.033646827985
-          ],
-          "lengths": [
-            594,
-            757,
-            1000,
-            544,
-            593,
-            682,
-            1000,
-            1000,
-            528,
-            539,
-            134,
-            566,
-            919,
-            698,
-            132,
-            508,
-            539,
-            1000,
-            983,
-            1000
-          ],
-          "mean_return": 2473.704844220784,
-          "population_std_return": 983.5990191484575,
-          "mean_length": 685.8,
-          "raw_steps": 13716,
-          "strict_gt3000": 7,
-          "actions": 10606,
-          "action_latency_mean_ms": 199.08640804375509,
-          "action_latency_p95_ms": 256.6691669408085,
-          "commands_requiring_native_clip": 0,
-          "invalid_actions": 0,
-          "dropped_actions": 0,
-          "submitted_observations": 10606,
-          "dropped_observations": 3110,
-          "observation_drop_fraction": 0.2267424905220181,
-          "config_sha256": "39166d114a7d4b46e64da14382bd644f4095e7eb36fc6eae52479c2545093f81",
-          "state_contract": "Native state11 is bound to manifest/loader QA/saved reload; no per-step state vector is recorded."
-        },
-        "training_best": {
-          "episodes": 20,
-          "seeds": [
-            104771,
-            104772,
-            104773,
-            104774,
-            104775,
-            104776,
-            104777,
-            104778,
-            104779,
-            104780,
-            104781,
-            104782,
-            104783,
-            104784,
-            104785,
-            104786,
-            104787,
-            104788,
-            104789,
-            104790
-          ],
-          "returns": [
-            2224.1403163381674,
-            2819.128114077857,
-            3489.646074260514,
-            2009.7554991069278,
-            2113.0389978032463,
-            2530.889359173486,
-            3528.0257119878297,
-            3480.216905777773,
-            1947.2163728885328,
-            2019.6803983866998,
-            271.37905453360946,
-            2083.796228363727,
-            3447.6906733909796,
-            2591.8151761056497,
-            265.78937272271213,
-            1892.4932081793627,
-            1981.7056002712736,
-            3621.6136520722443,
-            3614.0425221471028,
-            3542.033646827985
-          ],
-          "lengths": [
-            594,
-            757,
-            1000,
-            544,
-            593,
-            682,
-            1000,
-            1000,
-            528,
-            539,
-            134,
-            566,
-            919,
-            698,
-            132,
-            508,
-            539,
-            1000,
-            983,
-            1000
-          ],
-          "mean_return": 2473.704844220784,
-          "population_std_return": 983.5990191484575,
-          "mean_length": 685.8,
-          "raw_steps": 13716,
-          "strict_gt3000": 7,
-          "actions": 10606,
-          "action_latency_mean_ms": 199.08640804375509,
-          "action_latency_p95_ms": 256.6691669408085,
-          "commands_requiring_native_clip": 0,
-          "invalid_actions": 0,
-          "dropped_actions": 0,
-          "submitted_observations": 10606,
-          "dropped_observations": 3110,
-          "observation_drop_fraction": 0.2267424905220181,
-          "config_sha256": "8447bbc671595a369933dff026480db4f94846a7970e4e8ac6731abdf21d0138",
-          "state_contract": "Native state11 is bound to manifest/loader QA/saved reload; no per-step state vector is recorded."
-        }
-      },
-      "E10": {
-        "episodes": 10,
-        "seeds": [
-          104771,
-          104772,
-          104773,
-          104774,
-          104775,
-          104776,
-          104777,
-          104778,
-          104779,
-          104780
-        ],
-        "returns": [
-          2224.1403163381674,
-          2819.128114077857,
-          3489.646074260514,
-          2009.7554991069278,
-          2113.0389978032463,
-          2530.889359173486,
-          3528.0257119878297,
-          3480.216905777773,
-          1947.2163728885328,
-          2019.6803983866998
-        ],
-        "lengths": [
-          594,
-          757,
-          1000,
-          544,
-          593,
-          682,
-          1000,
-          1000,
-          528,
-          539
-        ],
-        "mean_return": 2616.173774980103,
-        "population_std_return": 629.868919379035,
-        "mean_length": 723.7,
-        "raw_steps": 7237,
-        "strict_gt3000": 3,
-        "actions": 5577,
-        "action_latency_mean_ms": 199.29742636488007,
-        "action_latency_p95_ms": 257.7097693485515,
-        "commands_requiring_native_clip": 0,
-        "invalid_actions": 0,
-        "dropped_actions": 0,
-        "submitted_observations": 5577,
-        "dropped_observations": 1660,
-        "observation_drop_fraction": 0.22937681359679427,
-        "config_sha256": "8a5246d083413a735ed88e2e3b9a5c4f7b49896abfd3153488d9fcd1edd62176",
-        "state_contract": "Native state11 is bound to manifest/loader QA/saved reload; no per-step state vector is recorded."
-      },
-      "probe": {
-        "attempts": 12,
-        "accepted": 2,
-        "rejected": 10,
-        "source_state_sha256": "fad846336f923f7f0bf755c2d5cdbbcc2a8c4f955556c2299ef088cbd20d1f72",
-        "accepted_specs": [
-          {
-            "attempt_idx": 4,
-            "episode_idx": 0,
-            "episode_length": 1000,
-            "episode_raw_frames": 1000,
-            "episode_raw_return": 3573.1784443855286,
-            "seed": 3337,
-            "split": "train"
-          },
-          {
-            "attempt_idx": 9,
-            "episode_idx": 1,
-            "episode_length": 1000,
-            "episode_raw_frames": 1000,
-            "episode_raw_return": 3552.9572883844376,
-            "seed": 3342,
-            "split": "val"
-          }
-        ]
-      },
-      "strict_gate": "episode_raw_return > 3000",
-      "E10_caveat": "Repeats the first ten selection seeds; not an independent gate.",
-      "training_unit_exit_claim": false,
-      "gate": "PASSED"
-    },
-    "profile_source": {
-      "model_revision": "408930d8a85f0cb316dc3bdebfb8142526570355",
-      "checkpoint_sha256": "c35ddc57fef8fd096adca3df9ecf94662824c26b311c3884508f07646231f05b",
-      "profile_sha256": "1289653bf6e8591cdd5cf805ad539ddd1cb041cdad08a9f2833597fe72271e1e",
-      "source_run_id": "20260921T094220318783Z",
-      "P_publication_revision": "e1a9bdd566b96d5da4703f769d40eab656af491e",
-      "warnings": [
-        {
-          "session": 1,
-          "warmup_status": "unstable",
-          "warmup_stability_reason": "drifting",
-          "samples_excluded": 100
-        }
-      ]
-    },
-    "dataset": {
-      "attempts": 218,
-      "accepted": 100,
-      "old_history": {
-        "attempts": 120,
-        "gate": "episode_raw_return > 3000",
-        "accepted_reused": 53,
-        "rejected": 67,
-        "rejections_reclassified": false
-      },
-      "continuation": {
-        "start_attempt_idx": 120,
-        "attempts": 98,
-        "accepted": 47,
-        "rejected": 51,
-        "gate": "episode_raw_return > 2500",
-        "attempt_limit": null
-      },
-      "max_total_attempts": null,
-      "splits": {
-        "train": {
-          "rows": 87404,
-          "episodes": 90,
-          "return_min": 2501.0231088399887,
-          "action_min": -1.0,
-          "action_max": 1.0
-        },
-        "val": {
-          "rows": 9776,
-          "episodes": 10,
-          "return_min": 2859.5413383841515,
-          "action_min": -1.0,
-          "action_max": 1.0
-        }
-      },
-      "sha256": {
-        "metadata.json": "6a0e1ef5b903e923c37f5091eeece485d4a00dfc7a8c63a95c523cf59399531a",
-        "train.parquet": "47b4bd70080aa670c285f207aca9cc2f3c803d1f07c58fa0faa3a585e325939a",
-        "val.parquet": "af5561f9912e9a580bc8112875cf11a55e7014e418677293428e32fb911962e0"
-      }
-    },
-    "probe_state": {
-      "path": "${PI05_RUN_DIR}/profile_latency/data/probe_state_gt2500.json",
-      "sha256": "eae3de415d0cced764c95c9ed12ae9b70a2a02ae30f7bbbc4bb461cd7f3da675",
-      "attempted": 218,
-      "accepted": 100,
-      "rejected": 118,
-      "original_12_sha256": "fad846336f923f7f0bf755c2d5cdbbcc2a8c4f955556c2299ef088cbd20d1f72",
-      "original_120_sha256": "8427adc4e968df0ea8467a8848462e51a481a9d31a2dbbc7f5458e3700da3a9b"
-    },
-    "evaluation_prompt_keys": [
-      "1",
-      "2"
-    ],
-    "state_dim": 11,
-    "action_dim": 3,
-    "action_units": "native continuous; environment Box clips pre-clip values outside [-1,1]",
-    "preclip_action_range": [
-      -1.0,
-      1.0
-    ],
-    "commands_requiring_native_clip": 0,
-    "teacher_seed": 3333,
-    "actual_final_env_steps": 10002432,
-    "selected_teacher": "final",
-    "selection_mean": 2473.704844220784,
-    "selection_strict_gt3000": 7,
-    "E10_repeats_first10_selection_seeds": true,
-    "loader_checks": {
-      "train": {
-        "rows": 87404,
-        "indices": [
-          0,
-          43702,
-          87403
-        ],
-        "state_train_minmax_exact_once": true,
-        "action_image_prompt_exact": true
-      },
-      "val": {
-        "rows": 9776,
-        "indices": [
-          0,
-          4888,
-          9775
-        ],
-        "state_train_minmax_exact_once": true,
-        "action_image_prompt_exact": true
-      }
-    }
-  },
-  "training_config_sha256": "1f30ce61cfd0ee83b15c2b34ca7f37ce2de836d7693aa7b4f37d4e921befb17c",
-  "dataset_manifest_sha256": "32324928c5d8f933ae59f76c0c9ac4121d631568a552348449fe7555d1f30e5e"
-}

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

@@ -1,62 +0,0 @@
-{
-  "action_space": {
-    "dtype": "float32",
-    "high": [
-      1.0,
-      1.0,
-      1.0
-    ],
-    "labels": [
-      "thigh_torque",
-      "leg_torque",
-      "foot_torque"
-    ],
-    "low": [
-      -1.0,
-      -1.0,
-      -1.0
-    ],
-    "type": "box"
-  },
-  "base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
-  "env_fps": 5.0,
-  "env_id": "LatencyBench/Hopper-v0",
-  "frame_stack": 1,
-  "make_kwargs": {
-    "base_env_id": "Hopper-v4",
-    "base_make_kwargs": {
-      "ctrl_cost_weight": 0.001,
-      "exclude_current_positions_from_observation": true,
-      "forward_reward_weight": 1.0,
-      "healthy_reward": 1.0,
-      "reset_noise_scale": 0.005,
-      "terminate_when_unhealthy": true
-    },
-    "render_mode": "rgb_array"
-  },
-  "noop_action": [
-    0.0,
-    0.0,
-    0.0
-  ],
-  "obs_fps": 5.0,
-  "registration_imports": [
-    "latency_bench.envs.gymnasium_hopper"
-  ],
-  "state_space": {
-    "labels": [
-      "torso_height",
-      "torso_angle",
-      "thigh_angle",
-      "leg_angle",
-      "foot_angle",
-      "torso_x_velocity",
-      "torso_z_velocity",
-      "torso_angular_velocity",
-      "thigh_angular_velocity",
-      "leg_angular_velocity",
-      "foot_angular_velocity"
-    ]
-  },
-  "task_name": "hopper"
-}

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

@@ -1,10 +0,0 @@
-{
-  "state": "CPU_STATE_DICT_AND_BUNDLE_HASH_VERIFIED",
-  "checkpoint_sha256": "93f66960f8eae69b52350e2d15271ef037dc8826332268fac69ce7c018d654c8",
-  "tensor_count": 1386,
-  "all_floating_tensors_finite": true,
-  "training_steps": 5000,
-  "global_batch": 128,
-  "gpu_forward": "NOT_RUN_AT_PUBLICATION",
-  "verified_at": "2026-09-22T01:31:19.235344+00:00"
-}