talha1503 commited on
Commit
b58ff4a
·
verified ·
1 Parent(s): 03728ff

Publish latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922_evalfix_20260923

Browse files
latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922_evalfix_20260923/README.md ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ # qwenpi_v3 — MIKASA InterceptGrabFast H1
2
+
3
+ Latency-aware SFT with the matched RTX 3090 temporal profile. The 200-episode evaluation uses hold_last_chunk_action: true and seeds 4242424242–4242424441. See eval_profile.json and provenance.json for the corrected evaluation and sources.
latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922_evalfix_20260923/checkpoints/model.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6938375168dd24e186bbac9fa54268210ba33081116b9c8493a57cf49eecd93a
3
+ size 10922637469
latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922_evalfix_20260923/config.yaml ADDED
@@ -0,0 +1,62 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ framework:
2
+ name: QwenPI_v3
3
+ qwenvl:
4
+ base_vlm: Qwen/Qwen3-VL-4B-Instruct
5
+ attn_implementation: flash_attention_2
6
+ vl_hidden_dim: 2560
7
+ num_vl_layers: 36
8
+ enable_gradient_checkpointing: true
9
+ action_model:
10
+ action_model_type: LayerwiseFM
11
+ action_dim: 7
12
+ state_dim: 7
13
+ state_encoding: continuous_projector
14
+ task_objective: null
15
+ action_horizon: 1
16
+ repeated_diffusion_steps: 2
17
+ num_inference_timesteps: 4
18
+ add_pos_embed: true
19
+ max_seq_len: 1024
20
+ num_target_vision_tokens: 32
21
+ noise_beta_alpha: 1.5
22
+ noise_beta_beta: 1.0
23
+ noise_s: 0.999
24
+ num_timestep_buckets: 1000
25
+ diffusion_model_cfg:
26
+ action_dit_hidden_dim: 1024
27
+ dropout: 0.2
28
+ final_dropout: true
29
+ interleave_self_attention: true
30
+ norm_type: ada_norm
31
+ positional_embeddings: null
32
+ attention_head_dim: 64
33
+ num_layers: 36
34
+ input_embedding_dim: 1024
35
+ cross_attention_dim: 1024
36
+ output_dim: 1024
37
+ num_attention_heads: 16
38
+ action_env_dim: 7
39
+ future_action_window_size: 0
40
+ past_action_window_size: 0
41
+ version_id: '0.21'
42
+ datasets:
43
+ vla_data:
44
+ include_state: true
45
+ obs_image_size:
46
+ - 224
47
+ - 224
48
+ image_mode: single
49
+ stitch_grid:
50
+ - 1
51
+ - 2
52
+ num_obs_frames: 1
53
+ trainer:
54
+ pretrained_checkpoint: null
55
+ backbone:
56
+ repo_id: Qwen/Qwen3-VL-4B-Instruct
57
+ allow_patterns:
58
+ - '*.json'
59
+ - '*.safetensors'
60
+ - '*.txt'
61
+ - '*.jinja'
62
+ - '*.model'
latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922_evalfix_20260923/dataset_statistics.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "action": {
4
+ "mean": [
5
+ -0.10215120762586594,
6
+ 0.10132476687431335,
7
+ -0.2438453733921051,
8
+ 0.01111134048551321,
9
+ -0.8881415128707886,
10
+ -0.10646563768386841,
11
+ 0.47470536828041077
12
+ ],
13
+ "std": [
14
+ 0.16094739735126495,
15
+ 0.5702834725379944,
16
+ 0.22946466505527496,
17
+ 0.5226696729660034,
18
+ 0.2010585218667984,
19
+ 0.2854595482349396,
20
+ 0.6032779812812805
21
+ ],
22
+ "max": [
23
+ 0.38224369287490845,
24
+ 1.0,
25
+ 0.09058055281639099,
26
+ 1.0,
27
+ -0.06414948403835297,
28
+ 0.760503888130188,
29
+ 1.0
30
+ ],
31
+ "min": [
32
+ -0.6491771936416626,
33
+ -1.0,
34
+ -1.0,
35
+ -1.0,
36
+ -1.0,
37
+ -0.7751432657241821,
38
+ -0.6108982563018799
39
+ ],
40
+ "q01": [
41
+ -0.5124077796936035,
42
+ -1.0,
43
+ -1.0,
44
+ -1.0,
45
+ -1.0,
46
+ -0.6587873697280884,
47
+ -0.5026684999465942
48
+ ],
49
+ "q99": [
50
+ 0.23909083008766174,
51
+ 0.9713786244392395,
52
+ 0.005090017337352037,
53
+ 0.9494695663452148,
54
+ -0.3319934010505676,
55
+ 0.548750638961792,
56
+ 1.0
57
+ ],
58
+ "mask": [
59
+ true,
60
+ true,
61
+ true,
62
+ true,
63
+ true,
64
+ true,
65
+ true
66
+ ]
67
+ },
68
+ "state": {
69
+ "mean": [
70
+ -0.14817781746387482,
71
+ -0.016091182827949524,
72
+ 0.10810766369104385,
73
+ -0.43997007608413696,
74
+ 0.5857720375061035,
75
+ 0.06411444395780563,
76
+ 0.0646793320775032
77
+ ],
78
+ "std": [
79
+ 0.08591964840888977,
80
+ 0.1754709929227829,
81
+ 0.10272235423326492,
82
+ 3.0040841102600098,
83
+ 0.4119439721107483,
84
+ 0.12868760526180267,
85
+ 0.01811102405190468
86
+ ],
87
+ "max": [
88
+ 0.005265368148684502,
89
+ 0.32714223861694336,
90
+ 0.3523734211921692,
91
+ 3.1415467262268066,
92
+ 1.313940167427063,
93
+ 0.5567901730537415,
94
+ 0.07999999821186066
95
+ ],
96
+ "min": [
97
+ -0.3542146682739258,
98
+ -0.41725730895996094,
99
+ 0.012769285589456558,
100
+ -3.141481399536133,
101
+ -0.0871390551328659,
102
+ -0.4303751587867737,
103
+ 0.03159383684396744
104
+ ],
105
+ "q01": [
106
+ -0.33661243319511414,
107
+ -0.34266963601112366,
108
+ 0.014652558602392673,
109
+ -3.1393043994903564,
110
+ -0.05069528520107269,
111
+ -0.2810786962509155,
112
+ 0.03292768448591232
113
+ ],
114
+ "q99": [
115
+ -0.01803133822977543,
116
+ 0.2867877185344696,
117
+ 0.3375680446624756,
118
+ 3.1414120197296143,
119
+ 1.2180181741714478,
120
+ 0.3755331337451935,
121
+ 0.07999999821186066
122
+ ]
123
+ },
124
+ "num_transitions": 3757,
125
+ "num_trajectories": 250
126
+ }
127
+ }
latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922_evalfix_20260923/eval_profile.json ADDED
The diff for this file is too large to render. See raw diff
 
latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922_evalfix_20260923/provenance.json ADDED
@@ -0,0 +1,1141 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "mikasa_intercept_grab_fast",
3
+ "model": "qwenpi_v3",
4
+ "run_id": "mikasa_qwenpi_v3_latency_3090_2xh200_20260922",
5
+ "condition": "latency-aware",
6
+ "teacher": {
7
+ "repo_id": "latency-sensitive-bench/benchmark-models",
8
+ "revision": "36ce8ed93649b6213d82df9174530255bef44233",
9
+ "path": "latency-aware/mikasa-intercept-grab-fast/small-policy/ppo-qwenpi_v3-rtx3090-v1/checkpoint.pt"
10
+ },
11
+ "profile": {
12
+ "repo_id": "latency-sensitive-bench/profiles",
13
+ "revision": "66414463f2a609316da63935941a79abf0a73ce9",
14
+ "path": "profiles/qwenpi_v3/1x-rtx3090/mikasa_intercept_grab_fast/instance_3a0d42681a03715c"
15
+ },
16
+ "dataset": {
17
+ "episodes": 275,
18
+ "unique_episode_seeds": 275,
19
+ "episode_seeds": [
20
+ 0,
21
+ 1,
22
+ 2,
23
+ 3,
24
+ 4,
25
+ 5,
26
+ 6,
27
+ 7,
28
+ 8,
29
+ 9,
30
+ 10,
31
+ 11,
32
+ 12,
33
+ 13,
34
+ 14,
35
+ 15,
36
+ 16,
37
+ 17,
38
+ 18,
39
+ 19,
40
+ 110,
41
+ 111,
42
+ 112,
43
+ 113,
44
+ 114,
45
+ 115,
46
+ 116,
47
+ 117,
48
+ 118,
49
+ 119,
50
+ 120,
51
+ 121,
52
+ 122,
53
+ 123,
54
+ 124,
55
+ 125,
56
+ 126,
57
+ 127,
58
+ 128,
59
+ 129,
60
+ 130,
61
+ 131,
62
+ 132,
63
+ 133,
64
+ 134,
65
+ 135,
66
+ 136,
67
+ 137,
68
+ 138,
69
+ 139,
70
+ 140,
71
+ 141,
72
+ 142,
73
+ 143,
74
+ 144,
75
+ 145,
76
+ 146,
77
+ 147,
78
+ 148,
79
+ 149,
80
+ 150,
81
+ 151,
82
+ 152,
83
+ 153,
84
+ 154,
85
+ 155,
86
+ 156,
87
+ 157,
88
+ 158,
89
+ 159,
90
+ 160,
91
+ 161,
92
+ 162,
93
+ 163,
94
+ 164,
95
+ 165,
96
+ 166,
97
+ 167,
98
+ 168,
99
+ 169,
100
+ 170,
101
+ 171,
102
+ 172,
103
+ 173,
104
+ 174,
105
+ 175,
106
+ 176,
107
+ 177,
108
+ 178,
109
+ 179,
110
+ 180,
111
+ 181,
112
+ 182,
113
+ 183,
114
+ 184,
115
+ 185,
116
+ 186,
117
+ 187,
118
+ 188,
119
+ 189,
120
+ 190,
121
+ 191,
122
+ 192,
123
+ 193,
124
+ 194,
125
+ 195,
126
+ 196,
127
+ 197,
128
+ 198,
129
+ 199,
130
+ 200,
131
+ 201,
132
+ 202,
133
+ 203,
134
+ 204,
135
+ 205,
136
+ 206,
137
+ 207,
138
+ 208,
139
+ 209,
140
+ 20,
141
+ 21,
142
+ 22,
143
+ 23,
144
+ 24,
145
+ 25,
146
+ 26,
147
+ 27,
148
+ 28,
149
+ 29,
150
+ 210,
151
+ 211,
152
+ 212,
153
+ 213,
154
+ 214,
155
+ 215,
156
+ 216,
157
+ 217,
158
+ 218,
159
+ 219,
160
+ 220,
161
+ 221,
162
+ 222,
163
+ 223,
164
+ 224,
165
+ 225,
166
+ 226,
167
+ 227,
168
+ 228,
169
+ 229,
170
+ 230,
171
+ 231,
172
+ 232,
173
+ 233,
174
+ 234,
175
+ 235,
176
+ 236,
177
+ 237,
178
+ 238,
179
+ 239,
180
+ 240,
181
+ 241,
182
+ 242,
183
+ 243,
184
+ 244,
185
+ 245,
186
+ 246,
187
+ 247,
188
+ 248,
189
+ 249,
190
+ 250,
191
+ 251,
192
+ 252,
193
+ 253,
194
+ 254,
195
+ 255,
196
+ 256,
197
+ 257,
198
+ 258,
199
+ 259,
200
+ 260,
201
+ 261,
202
+ 262,
203
+ 263,
204
+ 264,
205
+ 265,
206
+ 266,
207
+ 267,
208
+ 268,
209
+ 269,
210
+ 270,
211
+ 271,
212
+ 272,
213
+ 273,
214
+ 274,
215
+ 275,
216
+ 276,
217
+ 277,
218
+ 278,
219
+ 279,
220
+ 280,
221
+ 281,
222
+ 282,
223
+ 283,
224
+ 284,
225
+ 30,
226
+ 31,
227
+ 32,
228
+ 33,
229
+ 34,
230
+ 35,
231
+ 36,
232
+ 37,
233
+ 38,
234
+ 39,
235
+ 40,
236
+ 41,
237
+ 42,
238
+ 43,
239
+ 44,
240
+ 45,
241
+ 46,
242
+ 47,
243
+ 48,
244
+ 49,
245
+ 50,
246
+ 51,
247
+ 52,
248
+ 53,
249
+ 54,
250
+ 55,
251
+ 56,
252
+ 57,
253
+ 58,
254
+ 59,
255
+ 60,
256
+ 61,
257
+ 62,
258
+ 63,
259
+ 64,
260
+ 65,
261
+ 66,
262
+ 67,
263
+ 68,
264
+ 69,
265
+ 70,
266
+ 71,
267
+ 72,
268
+ 73,
269
+ 74,
270
+ 75,
271
+ 76,
272
+ 77,
273
+ 78,
274
+ 79,
275
+ 80,
276
+ 81,
277
+ 82,
278
+ 83,
279
+ 84,
280
+ 85,
281
+ 86,
282
+ 87,
283
+ 88,
284
+ 89,
285
+ 90,
286
+ 91,
287
+ 92,
288
+ 93,
289
+ 94,
290
+ 95,
291
+ 96,
292
+ 97,
293
+ 98,
294
+ 99
295
+ ],
296
+ "episode_lengths": [
297
+ 15,
298
+ 16,
299
+ 17,
300
+ 15,
301
+ 14,
302
+ 15,
303
+ 15,
304
+ 15,
305
+ 16,
306
+ 14,
307
+ 16,
308
+ 16,
309
+ 16,
310
+ 17,
311
+ 15,
312
+ 14,
313
+ 14,
314
+ 17,
315
+ 14,
316
+ 14,
317
+ 14,
318
+ 15,
319
+ 17,
320
+ 17,
321
+ 14,
322
+ 17,
323
+ 13,
324
+ 13,
325
+ 14,
326
+ 15,
327
+ 14,
328
+ 13,
329
+ 14,
330
+ 13,
331
+ 18,
332
+ 14,
333
+ 12,
334
+ 15,
335
+ 13,
336
+ 16,
337
+ 15,
338
+ 14,
339
+ 15,
340
+ 15,
341
+ 19,
342
+ 17,
343
+ 15,
344
+ 15,
345
+ 14,
346
+ 14,
347
+ 17,
348
+ 13,
349
+ 17,
350
+ 13,
351
+ 13,
352
+ 14,
353
+ 14,
354
+ 14,
355
+ 17,
356
+ 15,
357
+ 16,
358
+ 17,
359
+ 13,
360
+ 13,
361
+ 15,
362
+ 13,
363
+ 15,
364
+ 16,
365
+ 15,
366
+ 12,
367
+ 14,
368
+ 16,
369
+ 14,
370
+ 14,
371
+ 13,
372
+ 15,
373
+ 15,
374
+ 13,
375
+ 13,
376
+ 13,
377
+ 16,
378
+ 19,
379
+ 15,
380
+ 15,
381
+ 18,
382
+ 15,
383
+ 16,
384
+ 13,
385
+ 16,
386
+ 13,
387
+ 13,
388
+ 17,
389
+ 17,
390
+ 19,
391
+ 16,
392
+ 14,
393
+ 14,
394
+ 13,
395
+ 14,
396
+ 14,
397
+ 17,
398
+ 14,
399
+ 14,
400
+ 13,
401
+ 16,
402
+ 15,
403
+ 14,
404
+ 14,
405
+ 14,
406
+ 15,
407
+ 16,
408
+ 14,
409
+ 14,
410
+ 17,
411
+ 15,
412
+ 16,
413
+ 12,
414
+ 13,
415
+ 14,
416
+ 15,
417
+ 14,
418
+ 13,
419
+ 15,
420
+ 15,
421
+ 17,
422
+ 15,
423
+ 15,
424
+ 15,
425
+ 18,
426
+ 17,
427
+ 16,
428
+ 16,
429
+ 13,
430
+ 15,
431
+ 15,
432
+ 15,
433
+ 17,
434
+ 13,
435
+ 14,
436
+ 13,
437
+ 15,
438
+ 14,
439
+ 14,
440
+ 15,
441
+ 13,
442
+ 18,
443
+ 16,
444
+ 14,
445
+ 15,
446
+ 16,
447
+ 16,
448
+ 14,
449
+ 15,
450
+ 14,
451
+ 17,
452
+ 16,
453
+ 17,
454
+ 17,
455
+ 17,
456
+ 18,
457
+ 14,
458
+ 14,
459
+ 15,
460
+ 13,
461
+ 18,
462
+ 15,
463
+ 14,
464
+ 13,
465
+ 15,
466
+ 14,
467
+ 14,
468
+ 16,
469
+ 15,
470
+ 16,
471
+ 16,
472
+ 14,
473
+ 13,
474
+ 16,
475
+ 13,
476
+ 14,
477
+ 18,
478
+ 15,
479
+ 15,
480
+ 13,
481
+ 16,
482
+ 17,
483
+ 14,
484
+ 16,
485
+ 12,
486
+ 14,
487
+ 17,
488
+ 15,
489
+ 14,
490
+ 15,
491
+ 16,
492
+ 16,
493
+ 14,
494
+ 15,
495
+ 18,
496
+ 15,
497
+ 14,
498
+ 17,
499
+ 17,
500
+ 14,
501
+ 15,
502
+ 16,
503
+ 15,
504
+ 13,
505
+ 17,
506
+ 15,
507
+ 14,
508
+ 13,
509
+ 14,
510
+ 15,
511
+ 13,
512
+ 15,
513
+ 16,
514
+ 15,
515
+ 13,
516
+ 14,
517
+ 15,
518
+ 17,
519
+ 13,
520
+ 17,
521
+ 17,
522
+ 14,
523
+ 15,
524
+ 14,
525
+ 18,
526
+ 15,
527
+ 15,
528
+ 14,
529
+ 16,
530
+ 15,
531
+ 14,
532
+ 13,
533
+ 15,
534
+ 15,
535
+ 20,
536
+ 15,
537
+ 15,
538
+ 20,
539
+ 15,
540
+ 15,
541
+ 15,
542
+ 14,
543
+ 16,
544
+ 14,
545
+ 16,
546
+ 17,
547
+ 14,
548
+ 14,
549
+ 15,
550
+ 13,
551
+ 18,
552
+ 14,
553
+ 17,
554
+ 14,
555
+ 17,
556
+ 16,
557
+ 15,
558
+ 13,
559
+ 19,
560
+ 17,
561
+ 16,
562
+ 14,
563
+ 14,
564
+ 16,
565
+ 15,
566
+ 14,
567
+ 13,
568
+ 14,
569
+ 14,
570
+ 15,
571
+ 16
572
+ ],
573
+ "admitted_request_counts": [
574
+ 15,
575
+ 16,
576
+ 17,
577
+ 15,
578
+ 14,
579
+ 15,
580
+ 15,
581
+ 15,
582
+ 16,
583
+ 14,
584
+ 16,
585
+ 16,
586
+ 16,
587
+ 17,
588
+ 15,
589
+ 14,
590
+ 14,
591
+ 17,
592
+ 14,
593
+ 14,
594
+ 14,
595
+ 15,
596
+ 17,
597
+ 17,
598
+ 14,
599
+ 17,
600
+ 13,
601
+ 13,
602
+ 14,
603
+ 15,
604
+ 14,
605
+ 13,
606
+ 14,
607
+ 13,
608
+ 18,
609
+ 14,
610
+ 12,
611
+ 15,
612
+ 13,
613
+ 16,
614
+ 15,
615
+ 14,
616
+ 15,
617
+ 15,
618
+ 19,
619
+ 17,
620
+ 15,
621
+ 15,
622
+ 14,
623
+ 14,
624
+ 17,
625
+ 13,
626
+ 17,
627
+ 13,
628
+ 13,
629
+ 14,
630
+ 14,
631
+ 14,
632
+ 17,
633
+ 15,
634
+ 16,
635
+ 17,
636
+ 13,
637
+ 13,
638
+ 15,
639
+ 13,
640
+ 15,
641
+ 16,
642
+ 15,
643
+ 12,
644
+ 14,
645
+ 16,
646
+ 14,
647
+ 14,
648
+ 13,
649
+ 15,
650
+ 15,
651
+ 13,
652
+ 13,
653
+ 13,
654
+ 16,
655
+ 19,
656
+ 15,
657
+ 15,
658
+ 18,
659
+ 15,
660
+ 16,
661
+ 13,
662
+ 16,
663
+ 13,
664
+ 13,
665
+ 17,
666
+ 17,
667
+ 19,
668
+ 16,
669
+ 14,
670
+ 14,
671
+ 13,
672
+ 14,
673
+ 14,
674
+ 17,
675
+ 14,
676
+ 14,
677
+ 13,
678
+ 16,
679
+ 15,
680
+ 14,
681
+ 14,
682
+ 14,
683
+ 15,
684
+ 16,
685
+ 14,
686
+ 14,
687
+ 17,
688
+ 15,
689
+ 16,
690
+ 12,
691
+ 13,
692
+ 14,
693
+ 15,
694
+ 14,
695
+ 13,
696
+ 15,
697
+ 15,
698
+ 17,
699
+ 15,
700
+ 15,
701
+ 15,
702
+ 18,
703
+ 17,
704
+ 16,
705
+ 16,
706
+ 13,
707
+ 15,
708
+ 15,
709
+ 15,
710
+ 17,
711
+ 13,
712
+ 14,
713
+ 13,
714
+ 15,
715
+ 14,
716
+ 14,
717
+ 15,
718
+ 13,
719
+ 18,
720
+ 16,
721
+ 14,
722
+ 15,
723
+ 16,
724
+ 16,
725
+ 14,
726
+ 15,
727
+ 14,
728
+ 17,
729
+ 16,
730
+ 17,
731
+ 17,
732
+ 17,
733
+ 18,
734
+ 14,
735
+ 14,
736
+ 15,
737
+ 13,
738
+ 18,
739
+ 15,
740
+ 14,
741
+ 13,
742
+ 15,
743
+ 14,
744
+ 14,
745
+ 16,
746
+ 15,
747
+ 16,
748
+ 16,
749
+ 14,
750
+ 13,
751
+ 16,
752
+ 13,
753
+ 14,
754
+ 18,
755
+ 15,
756
+ 15,
757
+ 13,
758
+ 16,
759
+ 17,
760
+ 14,
761
+ 16,
762
+ 12,
763
+ 14,
764
+ 17,
765
+ 15,
766
+ 14,
767
+ 15,
768
+ 16,
769
+ 16,
770
+ 14,
771
+ 15,
772
+ 18,
773
+ 15,
774
+ 14,
775
+ 17,
776
+ 17,
777
+ 14,
778
+ 15,
779
+ 16,
780
+ 15,
781
+ 13,
782
+ 17,
783
+ 15,
784
+ 14,
785
+ 13,
786
+ 14,
787
+ 15,
788
+ 13,
789
+ 15,
790
+ 16,
791
+ 15,
792
+ 13,
793
+ 14,
794
+ 15,
795
+ 17,
796
+ 13,
797
+ 17,
798
+ 17,
799
+ 14,
800
+ 15,
801
+ 14,
802
+ 18,
803
+ 15,
804
+ 15,
805
+ 14,
806
+ 16,
807
+ 15,
808
+ 14,
809
+ 13,
810
+ 15,
811
+ 15,
812
+ 20,
813
+ 15,
814
+ 15,
815
+ 20,
816
+ 15,
817
+ 15,
818
+ 15,
819
+ 14,
820
+ 16,
821
+ 14,
822
+ 16,
823
+ 17,
824
+ 14,
825
+ 14,
826
+ 15,
827
+ 13,
828
+ 18,
829
+ 14,
830
+ 17,
831
+ 14,
832
+ 17,
833
+ 16,
834
+ 15,
835
+ 13,
836
+ 19,
837
+ 17,
838
+ 16,
839
+ 14,
840
+ 14,
841
+ 16,
842
+ 15,
843
+ 14,
844
+ 13,
845
+ 14,
846
+ 14,
847
+ 15,
848
+ 16
849
+ ]
850
+ },
851
+ "splits": {
852
+ "train": 250,
853
+ "validation": 25
854
+ },
855
+ "task_contract": {
856
+ "state_dim": 7,
857
+ "action_dim": 7,
858
+ "action_horizon": 1,
859
+ "env_fps": 20,
860
+ "obs_fps": 20
861
+ },
862
+ "action_labels": "issued H1 teacher actions at admitted request observations",
863
+ "code_revisions": {
864
+ "benchmark": {
865
+ "revision": "9b2b9360e0e5441172c4f8cd3cf70b4bca4afbc7",
866
+ "dirty": false
867
+ },
868
+ "mikasa": {
869
+ "revision": "017490bbb787c6efa8c025f9558e1a691965c0e0",
870
+ "dirty": false
871
+ },
872
+ "starvla": {
873
+ "revision": "3d2cd7fce72def48d9020d794392489031ba3f46",
874
+ "dirty": false
875
+ },
876
+ "rlds_builder": {
877
+ "revision": "7b2f4f38a7773b792f6e690f5c838aaea39754f6",
878
+ "dirty": false
879
+ }
880
+ },
881
+ "launcher": {
882
+ "gradient_checkpointing": true,
883
+ "oom_retry": false,
884
+ "haic_hf_exchange": false
885
+ },
886
+ "training": {
887
+ "sft_updates": 5000,
888
+ "dagger_updates": 0,
889
+ "global_batch": 128,
890
+ "bootstrap_weight": 1.0,
891
+ "dagger_weight": 0.0,
892
+ "micro_batch": 64,
893
+ "num_gpus": 2,
894
+ "gradient_accumulation_steps": 1,
895
+ "gradient_checkpointing": true,
896
+ "oom_retry": false,
897
+ "optimizer": {
898
+ "name": "AdamW",
899
+ "betas": [
900
+ 0.9,
901
+ 0.95
902
+ ],
903
+ "eps": 1e-08,
904
+ "weight_decay": 1e-08,
905
+ "fused": true
906
+ },
907
+ "learning_rate": {
908
+ "base": 3e-05,
909
+ "action_model": 0.0001
910
+ },
911
+ "scheduler": "cosine_with_min_lr",
912
+ "scheduler_kwargs": {
913
+ "min_lr": 1e-06
914
+ },
915
+ "warmup_updates": 100
916
+ },
917
+ "evaluation": {
918
+ "training_steps": 5000,
919
+ "global_batch": 128,
920
+ "evaluation_episodes": 200,
921
+ "evaluation_seeds": [
922
+ 4242424242,
923
+ 4242424243,
924
+ 4242424244,
925
+ 4242424245,
926
+ 4242424246,
927
+ 4242424247,
928
+ 4242424248,
929
+ 4242424249,
930
+ 4242424250,
931
+ 4242424251,
932
+ 4242424252,
933
+ 4242424253,
934
+ 4242424254,
935
+ 4242424255,
936
+ 4242424256,
937
+ 4242424257,
938
+ 4242424258,
939
+ 4242424259,
940
+ 4242424260,
941
+ 4242424261,
942
+ 4242424262,
943
+ 4242424263,
944
+ 4242424264,
945
+ 4242424265,
946
+ 4242424266,
947
+ 4242424267,
948
+ 4242424268,
949
+ 4242424269,
950
+ 4242424270,
951
+ 4242424271,
952
+ 4242424272,
953
+ 4242424273,
954
+ 4242424274,
955
+ 4242424275,
956
+ 4242424276,
957
+ 4242424277,
958
+ 4242424278,
959
+ 4242424279,
960
+ 4242424280,
961
+ 4242424281,
962
+ 4242424282,
963
+ 4242424283,
964
+ 4242424284,
965
+ 4242424285,
966
+ 4242424286,
967
+ 4242424287,
968
+ 4242424288,
969
+ 4242424289,
970
+ 4242424290,
971
+ 4242424291,
972
+ 4242424292,
973
+ 4242424293,
974
+ 4242424294,
975
+ 4242424295,
976
+ 4242424296,
977
+ 4242424297,
978
+ 4242424298,
979
+ 4242424299,
980
+ 4242424300,
981
+ 4242424301,
982
+ 4242424302,
983
+ 4242424303,
984
+ 4242424304,
985
+ 4242424305,
986
+ 4242424306,
987
+ 4242424307,
988
+ 4242424308,
989
+ 4242424309,
990
+ 4242424310,
991
+ 4242424311,
992
+ 4242424312,
993
+ 4242424313,
994
+ 4242424314,
995
+ 4242424315,
996
+ 4242424316,
997
+ 4242424317,
998
+ 4242424318,
999
+ 4242424319,
1000
+ 4242424320,
1001
+ 4242424321,
1002
+ 4242424322,
1003
+ 4242424323,
1004
+ 4242424324,
1005
+ 4242424325,
1006
+ 4242424326,
1007
+ 4242424327,
1008
+ 4242424328,
1009
+ 4242424329,
1010
+ 4242424330,
1011
+ 4242424331,
1012
+ 4242424332,
1013
+ 4242424333,
1014
+ 4242424334,
1015
+ 4242424335,
1016
+ 4242424336,
1017
+ 4242424337,
1018
+ 4242424338,
1019
+ 4242424339,
1020
+ 4242424340,
1021
+ 4242424341,
1022
+ 4242424342,
1023
+ 4242424343,
1024
+ 4242424344,
1025
+ 4242424345,
1026
+ 4242424346,
1027
+ 4242424347,
1028
+ 4242424348,
1029
+ 4242424349,
1030
+ 4242424350,
1031
+ 4242424351,
1032
+ 4242424352,
1033
+ 4242424353,
1034
+ 4242424354,
1035
+ 4242424355,
1036
+ 4242424356,
1037
+ 4242424357,
1038
+ 4242424358,
1039
+ 4242424359,
1040
+ 4242424360,
1041
+ 4242424361,
1042
+ 4242424362,
1043
+ 4242424363,
1044
+ 4242424364,
1045
+ 4242424365,
1046
+ 4242424366,
1047
+ 4242424367,
1048
+ 4242424368,
1049
+ 4242424369,
1050
+ 4242424370,
1051
+ 4242424371,
1052
+ 4242424372,
1053
+ 4242424373,
1054
+ 4242424374,
1055
+ 4242424375,
1056
+ 4242424376,
1057
+ 4242424377,
1058
+ 4242424378,
1059
+ 4242424379,
1060
+ 4242424380,
1061
+ 4242424381,
1062
+ 4242424382,
1063
+ 4242424383,
1064
+ 4242424384,
1065
+ 4242424385,
1066
+ 4242424386,
1067
+ 4242424387,
1068
+ 4242424388,
1069
+ 4242424389,
1070
+ 4242424390,
1071
+ 4242424391,
1072
+ 4242424392,
1073
+ 4242424393,
1074
+ 4242424394,
1075
+ 4242424395,
1076
+ 4242424396,
1077
+ 4242424397,
1078
+ 4242424398,
1079
+ 4242424399,
1080
+ 4242424400,
1081
+ 4242424401,
1082
+ 4242424402,
1083
+ 4242424403,
1084
+ 4242424404,
1085
+ 4242424405,
1086
+ 4242424406,
1087
+ 4242424407,
1088
+ 4242424408,
1089
+ 4242424409,
1090
+ 4242424410,
1091
+ 4242424411,
1092
+ 4242424412,
1093
+ 4242424413,
1094
+ 4242424414,
1095
+ 4242424415,
1096
+ 4242424416,
1097
+ 4242424417,
1098
+ 4242424418,
1099
+ 4242424419,
1100
+ 4242424420,
1101
+ 4242424421,
1102
+ 4242424422,
1103
+ 4242424423,
1104
+ 4242424424,
1105
+ 4242424425,
1106
+ 4242424426,
1107
+ 4242424427,
1108
+ 4242424428,
1109
+ 4242424429,
1110
+ 4242424430,
1111
+ 4242424431,
1112
+ 4242424432,
1113
+ 4242424433,
1114
+ 4242424434,
1115
+ 4242424435,
1116
+ 4242424436,
1117
+ 4242424437,
1118
+ 4242424438,
1119
+ 4242424439,
1120
+ 4242424440,
1121
+ 4242424441
1122
+ ],
1123
+ "latency_seed": 271828,
1124
+ "profile_revision": "66414463f2a609316da63935941a79abf0a73ce9",
1125
+ "deterministic": true,
1126
+ "worker_capacity": 1,
1127
+ "parallel_envs": 10,
1128
+ "max_transitions": 60,
1129
+ "evaluation_steps": 12000,
1130
+ "non_noop_steps": 11346,
1131
+ "hold_last_chunk_action": true,
1132
+ "corrected_eval_code_revision": "61e5210d",
1133
+ "corrected_evaluation": "/home/ubuntu/codex/mikasa-h1-latency-20260922/outputs/latency_rl/mikasa/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/run/evals/final-hold-last-20260923",
1134
+ "invalidated_evaluation": "/home/ubuntu/codex/mikasa-h1-latency-20260922/outputs/latency_rl/mikasa/mikasa_qwenpi_v3_latency_3090_2xh200_20260922/run/evals/final",
1135
+ "successes": 90,
1136
+ "mean_return": 13.552606409922996,
1137
+ "std_return": 13.757398853339975,
1138
+ "mean_latency_ms": 148.73959141142237
1139
+ },
1140
+ "publication_run_id": "mikasa_qwenpi_v3_latency_3090_2xh200_20260922_evalfix_20260923"
1141
+ }
latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_qwenpi_v3_latency_3090_2xh200_20260922_evalfix_20260923/task_contract.json ADDED
@@ -0,0 +1,131 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format": "latency_bench_starvla_h1_v1",
3
+ "task": "mikasa_intercept_grab_fast",
4
+ "robot_type": "latency_mikasa_h1",
5
+ "state_dim": 7,
6
+ "action_dim": 7,
7
+ "action_horizon": 1,
8
+ "fps": 20.0,
9
+ "state_key": "observation.state",
10
+ "action_key": "action",
11
+ "video_keys": [
12
+ "video.top",
13
+ "video.wrist"
14
+ ],
15
+ "auxiliary": {},
16
+ "normalization": {
17
+ "state": {
18
+ "mean": [
19
+ -0.14817781746387482,
20
+ -0.016091182827949524,
21
+ 0.10810766369104385,
22
+ -0.43997007608413696,
23
+ 0.5857720375061035,
24
+ 0.06411444395780563,
25
+ 0.0646793320775032
26
+ ],
27
+ "std": [
28
+ 0.08591964840888977,
29
+ 0.1754709929227829,
30
+ 0.10272235423326492,
31
+ 3.0040841102600098,
32
+ 0.4119439721107483,
33
+ 0.12868760526180267,
34
+ 0.01811102405190468
35
+ ],
36
+ "min": [
37
+ -0.3542146682739258,
38
+ -0.41725730895996094,
39
+ 0.012769285589456558,
40
+ -3.141481399536133,
41
+ -0.0871390551328659,
42
+ -0.4303751587867737,
43
+ 0.03159383684396744
44
+ ],
45
+ "max": [
46
+ 0.005265368148684502,
47
+ 0.32714223861694336,
48
+ 0.3523734211921692,
49
+ 3.1415467262268066,
50
+ 1.313940167427063,
51
+ 0.5567901730537415,
52
+ 0.07999999821186066
53
+ ],
54
+ "q01": [
55
+ -0.33661243319511414,
56
+ -0.34266963601112366,
57
+ 0.014652558602392673,
58
+ -3.1393043994903564,
59
+ -0.05069528520107269,
60
+ -0.2810786962509155,
61
+ 0.03292768448591232
62
+ ],
63
+ "q99": [
64
+ -0.01803133822977543,
65
+ 0.2867877185344696,
66
+ 0.3375680446624756,
67
+ 3.1414120197296143,
68
+ 1.2180181741714478,
69
+ 0.3755331337451935,
70
+ 0.07999999821186066
71
+ ]
72
+ },
73
+ "action": {
74
+ "mean": [
75
+ -0.10215120762586594,
76
+ 0.10132476687431335,
77
+ -0.2438453733921051,
78
+ 0.01111134048551321,
79
+ -0.8881415128707886,
80
+ -0.10646563768386841,
81
+ 0.47470536828041077
82
+ ],
83
+ "std": [
84
+ 0.16094739735126495,
85
+ 0.5702834725379944,
86
+ 0.22946466505527496,
87
+ 0.5226696729660034,
88
+ 0.2010585218667984,
89
+ 0.2854595482349396,
90
+ 0.6032779812812805
91
+ ],
92
+ "min": [
93
+ -0.6491771936416626,
94
+ -1.0,
95
+ -1.0,
96
+ -1.0,
97
+ -1.0,
98
+ -0.7751432657241821,
99
+ -0.6108982563018799
100
+ ],
101
+ "max": [
102
+ 0.38224369287490845,
103
+ 1.0,
104
+ 0.09058055281639099,
105
+ 1.0,
106
+ -0.06414948403835297,
107
+ 0.760503888130188,
108
+ 1.0
109
+ ],
110
+ "q01": [
111
+ -0.5124077796936035,
112
+ -1.0,
113
+ -1.0,
114
+ -1.0,
115
+ -1.0,
116
+ -0.6587873697280884,
117
+ -0.5026684999465942
118
+ ],
119
+ "q99": [
120
+ 0.23909083008766174,
121
+ 0.9713786244392395,
122
+ 0.005090017337352037,
123
+ 0.9494695663452148,
124
+ -0.3319934010505676,
125
+ 0.548750638961792,
126
+ 1.0
127
+ ]
128
+ }
129
+ },
130
+ "prompt": "Intercept the rolling ball and grasp it to stop it."
131
+ }