Keep only zero-latency and latency-aware model directories

README.md

@@ -7,20 +7,62 @@ Inference-ready teachers and VLA policies for the supported benchmark tasks.
 
 ## Layout
 
-- `latency-aware/mikasa-intercept-grab-fast/small-policy/ppo-qwenoft-rtx3090-v1`: scratch-trained PPO with the QwenOFT RTX 3090 temporal profile; independent 256-episode final success 98.83% (253/256).
-- `zero-latency/mikasa-intercept-grab-fast/small-policy/ppo-v1`: accepted PPO teacher and strict evaluation.
-- `zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-v1`: StarVLA QwenOFT 5k inference checkpoint, portable config, statistics, and zero-latency evaluation.
-- `zero-latency/humanoidbench-balance-simple/small-policy/fasttd3-v1`: accepted FastTD3 teacher and portable train/eval configs.
-- `zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1`: official GR00T N1.7 10k inference bundle and zero-latency evaluation.
+- `zero-latency/<task>/small-policy/` and `zero-latency/<task>/vla/`: models trained without latency.
+- `latency-aware/<task>/small-policy/` and `latency-aware/<task>/vla/`: models trained for latency. Profile and fixed-2 training conditions are identified by run ID and bundle provenance.
 
-Extreme Parkour and HAIC artifacts are intentionally not published until their current VLA pipelines pass their documented gates.
+MIKASA H8 conditioned inference bundles use `latency-aware/mikasa-intercept-grab-fast/vla/starvla-<model>-h8/<run-id>/`, where `<model>` is `qwenoft`, `qwenpi_v3`, or `qwengr00t`. Each model has an SFT run `h8-conditioned-seed-reset-20260922-{profile|fixed-2}` and a DAgger run `h8-conditioned-dagger-20260923-{profile|fixed-2}`.
 
-Historical source repositories remain unchanged: MIKASA model revision `38327e16f9b33cf5f827b54a606cb4c22d4dfbfc` and Balance model revision `734dcedcafbcbffab7f8665d09de42a9c8416d38`.
+## Hist8 VLA release: 18 models, 27 formal evaluations
 
-See the repository artifact registry for exact task contracts and reproduction commands.
+Flappy, Demon Attack and Deadly Corridor × QwenOFT, QwenGR00T and QwenPI v3 × zero/profile training. Each model is the evaluated step-5000 checkpoint, initialized from Qwen3-VL-4B revision `ebb281ec70b05090aa6165b016eac8ec08e71b17` with seed 42.
 
-## Hist8 VLA models (2026-09-24)
+Input is one current RGB image plus eight causal decision histories, passed as raw 0/1 transport state. Action horizon is **1**; the model directory suffix `h1` refers to this action horizon, while `hist8` in each run ID refers to input history.
 
-18 final step-5000 models for Flappy, Demon Attack and Deadly Corridor are published under `zero-latency/<game>/vla/starvla-<model>-h1/<run-id>` (9) and `latency-aware/<game>/vla/starvla-<model>-h1/<run-id>` (9). Each uses one RGB image and eight raw 0/1 decision histories. All 27 formal evaluation conditions have 100 episodes.
+### Formal scores
 
-See [the hist8 model index and evaluation matrix](reports/hist8-v2/README.md) and [model paths / checkpoint SHA256](reports/hist8-v2/models.json).
+Each value is the mean of 100 episodes, seeds 1,000,000–1,000,099; parallel 32 and capacity 1. Flappy/Demon/Deadly caps are 3,600/7,200/3,600 raw frames at FPS/decision Hz 10/10, 60/15, 35/8.75. Deadly uses the corrected sf-render-v4 view (160×120 RGB with HUD).
+
+| Game / model | zero→zero | zero→profile | profile→profile |
+|---|---:|---:|---:|
+| flappy / qwenoft | 439.13 | 19.19 | 373.78 |
+| flappy / qwengr00t | 428.48 | 6.62 | 414.52 |
+| flappy / qwenpi_v3 | 408.72 | 5.58 | 344.48 |
+| demon_attack / qwenoft | 2362.15 | 584.35 | 1452.80 |
+| demon_attack / qwengr00t | 2370.90 | 231.90 | 1203.10 |
+| demon_attack / qwenpi_v3 | 2350.95 | 112.30 | 907.30 |
+| deadly_corridor / qwenoft | 2098.67 | 742.35 | 2091.23 |
+| deadly_corridor / qwengr00t | 2100.46 | 341.76 | 2090.82 |
+| deadly_corridor / qwenpi_v3 | 2104.09 | 140.94 | 1450.83 |
+
+### Downloadable models
+
+| Training | Game / model | Run |
+|---|---|---|
+| profile | flappy / qwenoft | [flappy-qwenoft-hist8-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2) |
+| profile | demon_attack / qwenoft | [demon_attack-qwenoft-hist8-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/latency-aware/demon-attack/vla/starvla-qwenoft-h1/demon_attack-qwenoft-hist8-scratch-s42-v2) |
+| profile | flappy / qwengr00t | [flappy-qwengr00t-hist8-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/latency-aware/flappy/vla/starvla-qwengr00t-h1/flappy-qwengr00t-hist8-scratch-s42-v2) |
+| profile | demon_attack / qwengr00t | [demon_attack-qwengr00t-hist8-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/latency-aware/demon-attack/vla/starvla-qwengr00t-h1/demon_attack-qwengr00t-hist8-scratch-s42-v2) |
+| profile | demon_attack / qwenpi_v3 | [demon_attack-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/latency-aware/demon-attack/vla/starvla-qwenpi_v3-h1/demon_attack-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6) |
+| zero | flappy / qwenoft | [flappy-qwenoft-hist8-zero-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/zero-latency/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-zero-scratch-s42-v2) |
+| profile | flappy / qwenpi_v3 | [flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6) |
+| zero | demon_attack / qwenoft | [demon_attack-qwenoft-hist8-zero-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/zero-latency/demon-attack/vla/starvla-qwenoft-h1/demon_attack-qwenoft-hist8-zero-scratch-s42-v2) |
+| zero | flappy / qwengr00t | [flappy-qwengr00t-hist8-zero-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/zero-latency/flappy/vla/starvla-qwengr00t-h1/flappy-qwengr00t-hist8-zero-scratch-s42-v2) |
+| zero | flappy / qwenpi_v3 | [flappy-qwenpi_v3-hist8-zero-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2) |
+| zero | deadly_corridor / qwenoft | [deadly_corridor-qwenoft-hist8-zero-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/zero-latency/deadly-corridor/vla/starvla-qwenoft-h1/deadly_corridor-qwenoft-hist8-zero-scratch-s42-v2) |
+| zero | demon_attack / qwengr00t | [demon_attack-qwengr00t-hist8-zero-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/zero-latency/demon-attack/vla/starvla-qwengr00t-h1/demon_attack-qwengr00t-hist8-zero-scratch-s42-v2) |
+| profile | deadly_corridor / qwenpi_v3 | [deadly_corridor-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/latency-aware/deadly-corridor/vla/starvla-qwenpi_v3-h1/deadly_corridor-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6) |
+| profile | deadly_corridor / qwenoft | [deadly_corridor-qwenoft-hist8-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/latency-aware/deadly-corridor/vla/starvla-qwenoft-h1/deadly_corridor-qwenoft-hist8-scratch-s42-v2) |
+| profile | deadly_corridor / qwengr00t | [deadly_corridor-qwengr00t-hist8-scratch-s42-v2-workers16](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/latency-aware/deadly-corridor/vla/starvla-qwengr00t-h1/deadly_corridor-qwengr00t-hist8-scratch-s42-v2-workers16) |
+| zero | demon_attack / qwenpi_v3 | [demon_attack-qwenpi_v3-hist8-zero-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/zero-latency/demon-attack/vla/starvla-qwenpi_v3-h1/demon_attack-qwenpi_v3-hist8-zero-scratch-s42-v2) |
+| zero | deadly_corridor / qwengr00t | [deadly_corridor-qwengr00t-hist8-zero-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/zero-latency/deadly-corridor/vla/starvla-qwengr00t-h1/deadly_corridor-qwengr00t-hist8-zero-scratch-s42-v2) |
+| zero | deadly_corridor / qwenpi_v3 | [deadly_corridor-qwenpi_v3-hist8-zero-scratch-s42-v2](https://huggingface.co/latency-sensitive-bench/benchmark-models/tree/main/zero-latency/deadly-corridor/vla/starvla-qwenpi_v3-h1/deadly_corridor-qwenpi_v3-hist8-zero-scratch-s42-v2) |
+
+Every model contains its README, checkpoint, inference/training configuration, statistics, task contract, collection/training provenance, exact latency profile and episode-level evaluation evidence. The original detailed JSON index remains in the benchmark publication receipt.
+
+### Interpretation and reproduction
+
+The same zero-trained checkpoint is used in both evaluation environments. Each architecture has its own latency profile, so this is not a same-latency cross-architecture ranking. Zero and profile training use different teachers and collected data; differences do not isolate learning rate or a single training factor. Results use one training seed.
+
+Common training: two GPUs, bf16 ZeRO-2, batch 64/rank, accumulation 1, global batch 128, 16 workers/rank, prefetch 4, backbone LR 3e-6, action-head LR 1e-4, 100-step warmup, cosine min_lr_rate 1/30, 5,000 steps. Architecture-specific losses and other parameter groups are retained.
+
+Hist8 corrects the earlier -1/1 history input mismatch. Deadly also corrects an evaluation rendering mismatch; invalid older results are not included in this release. Profiles are preserved byte-for-byte with their sampling sidecars. Use each model task contract and pinned base-model revision when replaying.

fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/README.md

@@ -1,3 +0,0 @@
-# MIKASA H8 fixed-2 qwengr00t DAgger
-
-Selected development checkpoint: step 5000. The independent 200-episode results are in eval_matrix.json.

fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/checkpoints/model.pt

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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/config.yaml

@@ -1,59 +0,0 @@
-framework:
-  name: QwenGR00T
-  qwenvl:
-    base_vlm: Qwen/Qwen3-VL-4B-Instruct
-    attn_implementation: flash_attention_2
-    vl_hidden_dim: 2048
-    enable_gradient_checkpointing: true
-  action_model:
-    action_model_type: DiT-B
-    action_hidden_dim: 1024
-    hidden_size: 1024
-    add_pos_embed: true
-    max_seq_len: 1024
-    action_dim: 7
-    state_dim: 71
-    task_objective: null
-    action_horizon: 8
-    repeated_diffusion_steps: 8
-    noise_beta_alpha: 1.5
-    noise_beta_beta: 1.0
-    noise_s: 0.999
-    num_timestep_buckets: 1000
-    num_inference_timesteps: 4
-    num_target_vision_tokens: 32
-    diffusion_model_cfg:
-      cross_attention_dim: 2560
-      dropout: 0.2
-      final_dropout: true
-      interleave_self_attention: true
-      norm_type: ada_norm
-      num_layers: 16
-      output_dim: 1024
-      positional_embeddings: null
-    action_env_dim: 7
-    future_action_window_size: 7
-    past_action_window_size: 0
-version_id: '0.21'
-datasets:
-  vla_data:
-    include_state: true
-    obs_image_size:
-    - 224
-    - 224
-    image_mode: single
-    stitch_grid:
-    - 1
-    - 2
-    num_obs_frames: 1
-trainer:
-  pretrained_checkpoint: null
-backbone:
-  repo_id: Qwen/Qwen3-VL-4B-Instruct
-  allow_patterns:
-  - '*.json'
-  - '*.safetensors'
-  - '*.txt'
-  - '*.jinja'
-  - '*.model'
-  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17

fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/dataset_statistics.json

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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/provenance.json

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-{
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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-dagger-20260923/task_contract.json

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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-seed-reset-20260922-fixed-2/README.md

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-# qwengr00t — mikasa_intercept_grab_fast
-
-RGB + continuous state, action horizon 8, VLA 20 Hz. Formal evaluation is run separately.

fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-seed-reset-20260922-fixed-2/checkpoints/model.pt

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-version https://git-lfs.github.com/spec/v1
-oid sha256:041780630e42dcbdb1812b5052a59518df01027a7fa2b76aa9acf18dcfd114fd
-size 9976975139

fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-seed-reset-20260922-fixed-2/config.yaml

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-framework:
-  name: QwenGR00T
-  qwenvl:
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-    attn_implementation: flash_attention_2
-    vl_hidden_dim: 2048
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-    hidden_size: 1024
-    add_pos_embed: true
-    max_seq_len: 1024
-    action_dim: 7
-    state_dim: 71
-    task_objective: null
-    action_horizon: 8
-    repeated_diffusion_steps: 8
-    noise_beta_alpha: 1.5
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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-seed-reset-20260922-fixed-2/provenance.json

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-{
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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h8/h8-conditioned-seed-reset-20260922-fixed-2/task_contract.json

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-{
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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/h8-conditioned-dagger-20260923/README.md

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-# MIKASA H8 fixed-2 qwenoft DAgger
-
-Selected development checkpoint: step 5000. The independent 200-episode results are in eval_matrix.json.

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-version https://git-lfs.github.com/spec/v1
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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/h8-conditioned-seed-reset-20260922-fixed-2/README.md

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-# qwenoft — mikasa_intercept_grab_fast
-
-RGB + continuous state, action horizon 8, VLA 20 Hz. Formal evaluation is run separately.

fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/h8-conditioned-seed-reset-20260922-fixed-2/checkpoints/model.pt

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-version https://git-lfs.github.com/spec/v1
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-framework:
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-  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17

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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/h8-conditioned-seed-reset-20260922-fixed-2/provenance.json

@@ -1,85 +0,0 @@
-{
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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/h8-conditioned-seed-reset-20260922-fixed-2/task_contract.json

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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-conditioned-dagger-20260923/README.md

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-# MIKASA H8 fixed-2 qwenpi_v3 DAgger
-
-Selected development checkpoint: step 5000. The independent 200-episode results are in eval_matrix.json.

fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-conditioned-dagger-20260923/checkpoints/model.pt

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-framework:
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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-conditioned-seed-reset-20260922-fixed-2/README.md

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-# qwenpi_v3 — mikasa_intercept_grab_fast
-
-RGB + continuous state, action horizon 8, VLA 20 Hz. Formal evaluation is run separately.

fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-conditioned-seed-reset-20260922-fixed-2/checkpoints/model.pt

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-  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17

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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-conditioned-seed-reset-20260922-fixed-2/provenance.json

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-{
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fixed-2/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h8/h8-conditioned-seed-reset-20260922-fixed-2/task_contract.json

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-# MIKASA H8 profile-latency qwengr00t DAgger
-
-Selected development checkpoint: step 4000. The independent 200-episode results are in eval_matrix.json.

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