diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/README.md b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/README.md index f0231e9e4bfd839beed3537e49a53ee06a41e3c7..ee0b8756ae8a86fde71fc2bb6b1e482b9763c5b0 100644 --- a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/README.md +++ b/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="", - allow_patterns=[prefix + "/**"]) -``` - -Use the verified import commit listed in the repository's import report. +See comparison.json, training.complete.json and evaluations/issued_action_iid_20261010 for checkpoint and episode evidence. +Inference state statistics use the source manifest raw-state extrema; original training statistics are retained. diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/REPORT.md b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/REPORT.md new file mode 100644 index 0000000000000000000000000000000000000000..1f17048f9b7a06b42972bffffdece906f6433b44 --- /dev/null +++ b/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. diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/checkpoints/model.pt b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/checkpoints/model.pt index e7d7d25cde3e4f80211075478052337a3aa0886e..73a62bffcc28c7f128ff5e0a0ffc6e9f9bd17092 100644 --- a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/checkpoints/model.pt +++ b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/checkpoints/model.pt @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/config.full.yaml b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/config.full.yaml index 03da84df401fec997985ea6c707f624950a69561..6b530d999937a6748dffd08c205d0b7d1eb0bb34 100644 --- a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/config.full.yaml +++ b/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 diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/config.yaml b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/config.yaml index 82ffbbde4b690326f35826fe42a0c9921237a13f..f96a0a18701819f112a6a242ca5cd5eb79b60a34 100644 --- a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/config.yaml +++ b/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: diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/dataset_statistics.json b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/dataset_statistics.json index b93096bbdc9cb9ebccedded01bcb2ccae138309c..214f7fd94a48f39030e29fe6046416b737029335 100644 --- a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/dataset_statistics.json +++ b/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, - 0.40575700998306274, - 0.7239107489585876, - -0.09208492189645767, - -0.27265146374702454, - 0.23160217702388763, - -0.001304655452258885, - 0.15476475656032562, - -0.0018315694760531187, - -0.0054734814912080765 + 1.4038741677172233, + -0.04963645867956279, + -0.3998147669432712, + -0.14033257949240863, + -0.06559796251102945, + 2.5896574613061207, + 0.014219261764100821, + -0.0027642566730881057, + -0.06534762915136128, + -0.01900440896861255, + -0.05215180106461048 ], "std": [ - 0.32620856165885925, - 0.27870386838912964, - 0.22778616845607758, - 0.2515462040901184, - 0.6812174916267395, - 0.2129003256559372, - 0.389985591173172, - 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 ], "max": [ - 1.0, - 1.0, - 1.0, - 1.0, - 1.0, - 1.0, - 1.0, - 1.0, - 1.0, - 1.0, - 1.0 + 1.8196797370910645, + 0.1958828866481781, + 0.041033145040273666, + 0.1550283581018448, + 0.9662267565727234, + 7.04247522354126, + 3.2499496936798096, + 5.976532459259033, + 7.204126834869385, + 10.0, + 10.0 ], "min": [ - -1.0, - -1.0, - -1.0, - -1.0, - -1.0, - -1.0, - -1.0, - -1.0, - -1.0, - -1.0, - -1.0 + 0.701430082321167, + -0.18769849836826324, + -1.4578222036361694, + -1.9729520082473755, + -0.9319470524787903, + -0.014216306619346142, + -3.833221197128296, + -6.138384819030762, + -10.0, + -10.0, + -10.0 ], "q01": [ - -0.4246590751409531, - -0.8132983136177063, - -0.05858398914337158, - 0.08747239470481873, - -0.9689728409051895, - -0.8721107774972916, - -0.4223246592283249, - -0.42529766380786893, - -0.36811228275299074, - -0.9744406068325042, - -1.0 + 1.0245488870695927, + -0.15144138299100837, + -0.7427855337859313, + -0.8104351850643912, + -0.8960894427439994, + 0.44528900369002233, + -2.74102122555904, + -2.6237940408222125, + -4.557577227105824, + -9.73546984195709, + -10.0 ], "q99": [ - 0.8820206296443941, - 0.38169503450393677, - 0.9299243867397309, - 0.9230736374855042, - 0.935717363357544, - 0.10131574153900186, - 0.9169844460487366, - 0.36585895061492923, - 0.8261520147323609, - 0.9779282450675965, - 1.0 + 1.746462032848763, + 0.07944139343900171, + -0.009743861129406839, + 0.06964989517986797, + 0.9054187285678829, + 3.9090380648781706, + 2.899137949682023, + 2.2594460707147905, + 5.696335758252259, + 9.774792885780334, + 10.0 ] }, - "num_transitions": 87404, + "num_transitions": 87583, "num_trajectories": 90 } -} \ No newline at end of file +} diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/evaluations/issued_action_iid_20261010/episode_metrics.jsonl b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/evaluations/issued_action_iid_20261010/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a00d0cbb58c08dd4929344865ef81c8fbdecaeda --- /dev/null +++ b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/evaluations/issued_action_iid_20261010/episode_metrics.jsonl @@ -0,0 +1,100 @@ +{"episode_id": 0, "episode_return": 1959.8923171587408, "episode_return_env": 1959.8923171587408, "game_score": null, "mean_latency_ms": 202.34299674152285, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/hopper/new_bundle/checkpoints/model.pt", "config_name": "hopper_pi05_new_iid_100ep", "dropped_observation_count": 132, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 42, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_3e2f0f5afcb9c13e", "latency_type": "profile_sample", "mode": "simulated", 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"submitted_observation_frames": 779, "workload_id": "hopper"}, "num_actions": 779, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 212.90417039673724, "p99_latency_ms": 348.56441662224364, "return_raw": null, "survival_steps": 1000} diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/evaluations/issued_action_iid_20261010/eval_config.yaml b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/evaluations/issued_action_iid_20261010/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa525736315de72d209549a2c316e25e4ae7c253 --- /dev/null +++ b/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 diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/manifest.json b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/manifest.json index 58dd565706228890110fe328b49c48e3bf8b99cf..bd92f11fef0651457a92584bbfae5979e82f2862 100644 --- a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/manifest.json +++ b/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, - -0.9252399802207947, + 0.701430082321167, + -0.18769849836826324, + -1.4578222036361694, + -1.9729520082473755, + -0.9319470524787903, -0.014216306619346142, - -5.1731038093566895, - -6.168967247009277, + -3.833221197128296, + -6.138384819030762, -10.0, -10.0, -10.0 ], "max": [ - 1.819760799407959, - 0.19951485097408295, - 0.0425863191485405, - 0.15077050030231476, - 0.9662268757820129, - 7.153366565704346, - 3.250192880630493, - 6.1806535720825195, + 1.8196797370910645, + 0.1958828866481781, + 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 } \ No newline at end of file diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/normalization_binding.json b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/normalization_binding.json new file mode 100644 index 0000000000000000000000000000000000000000..ad96080dfb425538c98f398808908689f3b88ccf --- /dev/null +++ b/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" +} diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/original_training_statistics.json b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/original_training_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..c8e47d924e169df8a5e89d79c048c17c3975a188 --- /dev/null +++ b/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, + -0.16889438033103943 + ], + "std": [ + 0.25756168365478516, + 0.6470958590507507, + 0.8130757212638855 + ], + "max": [ + 0.9395251870155334, + 1.0, + 1.0 + ], + "min": [ + -0.647185206413269, + -1.0, + -1.0 + ], + "q01": [ + -0.5339896190166473, + -1.0, + -1.0 + ], + "q99": [ + 0.6878953921794876, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.2563278377056122, + -0.2801421284675598, + 0.41175389289855957, + 0.7224025726318359, + -0.08717622607946396, + -0.26201286911964417, + 0.08636104315519333, + 0.012903418391942978, + 0.15491503477096558, + -0.0019004408968612552, + -0.005215180106461048 + ], + "std": [ + 0.32497066259384155, + 0.28003600239753723, + 0.22497428953647614, + 0.24980278313159943, + 0.6786878108978271, + 0.21557281911373138, + 0.4636569321155548, + 0.17491622269153595, + 0.2772037386894226, + 0.40321287512779236, + 0.5881499648094177 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "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 + } +} \ No newline at end of file diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/provenance.json b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/provenance.json deleted file mode 100644 index 2a96191a492d73163418bcbe0b612be5403c2067..0000000000000000000000000000000000000000 --- a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/provenance.json +++ /dev/null @@ -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 -} diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/source/README.md b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/source/README.md deleted file mode 100644 index 3cab54929dcc01ebcea30fe5a0d6c623b4356c3d..0000000000000000000000000000000000000000 --- a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/source/README.md +++ /dev/null @@ -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. diff --git a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/source/provenance.json b/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/source/provenance.json deleted file mode 100644 index d76025946f5e98df4da9e9c2865e1ce6600e4c25..0000000000000000000000000000000000000000 --- a/latency-aware/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_profile_gt2500_h1_5fps_g128_20260922/source/provenance.json +++ /dev/null @@ -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", - 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