Publish global128 ant openvla profile checkpoint and evaluations

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/README.md

@@ -1,29 +1,5 @@
-# ant / qwenoft
+# ant openvla profile
 
-Training condition: `latency-aware`. Run: `ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k`.
-
-Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/profile_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
-
-- Checkpoint: `checkpoints/model.pt`
-- Selection: only published VLA checkpoint
-- Checkpoint SHA256: `1c7acdbcd7a2ee8735643cea078ef523947775166f6bc220bce7de71a9db90a3`
-- 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.
-
-[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
-
-## Download
-
-```python
-from huggingface_hub import snapshot_download
-prefix = "latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k"
-snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
-                  allow_patterns=[prefix + "/**"])
-```
-
-Use the verified import commit listed in the repository's import report.
+Global batch128, seed42, 5000 optimizer updates. Gradient checkpointing False.
+Evaluation: simulated IID, 100 episodes, seeds42-141, latency seed0, parallel32, 10 FPS, cap1000, per-environment capacity1.
+See config.full.yaml, training.complete.json, results.json and evaluation evidence.

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bf40dd74ef8f8337b61074d11440ca3168021b52277766972d84a08b9a6e474
+size 9785070315

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/collection_protocol.json

@@ -0,0 +1,14 @@
+{
+  "teacher_source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/historical/latency-aware/ant/small-policy/sample-factory-qwenoft-rtx3090-v1",
+  "teacher_seed": 2222,
+  "gate": 2500,
+  "max_episodes": 100,
+  "train_episodes": 90,
+  "validation_episodes": 10,
+  "split_seed": 0,
+  "env_fps": 10.0,
+  "obs_fps": 10.0,
+  "checkpoint": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla/teacher/checkpoint.pth",
+  "profile": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla/profile/profile.json",
+  "label_semantics": "teacher_issued_command"
+}

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.full.yaml

@@ -1,9 +1,9 @@
 framework:
   name: QwenOFT
   qwenvl:
-    base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+    base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
     attn_implementation: flash_attention_2
-    enable_gradient_checkpointing: true
+    enable_gradient_checkpointing: false
   action_model:
     action_model_type: MLP
     action_dim: 8
@@ -26,10 +26,10 @@ datasets:
   vla_data:
     dataset_py: lerobot_datasets
     include_state: true
-    data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted
-    data_mix: ant_rgb_state_profile_20260911T112232Z
-    eval_data_mix: ant_rgb_state_profile_20260911T112232Z__val
-    custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/_generated_mixtures/ant_rgb_state_profile_20260911T112232Z.json
+    data_root_dir: /
+    data_mix: train
+    eval_data_mix: validation
+    custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla/mixture.json
     action_type: discrete
     sequential_step_sampling: false
     eval_sequential_step_sampling: null
@@ -125,7 +125,7 @@ datasets:
       - 0.0
       obs_fps: 10.0
       registration_imports:
-      - latency_bench.envs.gymnasium_ant
+      - latency_bench.envs.tasks.ant
       state_space:
         labels:
         - torso_z
@@ -157,6 +157,7 @@ datasets:
         - back_right_ankle_angular_velocity
       task_name: ant_rgb_state
     active_action_dim: 8
+    robot_type: rl_games_gymnasium
 dataset:
   source_hf: ''
   config_name: null
@@ -217,7 +218,7 @@ trainer:
     enabled: true
     log_interval: 10
   gradient_clipping: 1.0
-  gradient_accumulation_steps: 1
+  gradient_accumulation_steps: 4
   distributed_backend: deepspeed
   is_resume: false
   pretrained_checkpoint: null
@@ -233,9 +234,9 @@ trainer:
     fused: true
   save_format: pt
 workspace_dir: WORKSPACE_DIR
-run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla
+run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla/training
 seed: 42
-wandb_entity: dongqianyu99-zhejiang-university
+wandb_entity: saberrr-zju
 wandb_project: latency-sensitive-bench
 auth:
   env_file: null
@@ -409,7 +410,7 @@ checkpoint:
   save_best_model: false
   save_final_model: true
   save_pt_file: true
-  save_training_state: false
+  save_training_state: true
   save_safetensors_file: false
   local:
     keep_last_n: 1
@@ -419,8 +420,16 @@ checkpoint:
     keep_last_n: 0
     sync_every_n_checkpoints: 1
     resume_policy: local_latest
-run_id: ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k
-output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k
-config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/h100/vla_train.yaml
+run_id: ant_openvla_profile_issued_iid_g128_s42_20261010
 is_debug: false
 version_id: '0.21'
+training_latency_condition: profile_latency
+wandb_name: ant_openvla_profile_issued_iid_g128_s42_20261010
+wandb_group: continuous-control-g128-iid-20261010
+wandb_tags:
+- ant
+- openvla
+- issued-action
+- iid
+config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla/train.yaml
+output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla/training/ant_openvla_profile_issued_iid_g128_s42_20261010

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.yaml

@@ -1,9 +1,9 @@
 framework:
   name: QwenOFT
   qwenvl:
-    base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
     attn_implementation: flash_attention_2
-    enable_gradient_checkpointing: true
+    enable_gradient_checkpointing: false
   action_model:
     action_model_type: MLP
     action_dim: 8
@@ -70,7 +70,7 @@ datasets:
     - 2
     obs_image_size: null
     video_backend: torchvision_av
-    gymnasium_task_contract:
+    gymnasium_task_contract: &id001
       action_space:
         dtype: float32
         high:
@@ -125,7 +125,7 @@ datasets:
       - 0.0
       obs_fps: 10.0
       registration_imports:
-      - latency_bench.envs.gymnasium_ant
+      - latency_bench.envs.tasks.ant
       state_space:
         labels:
         - torso_z
@@ -157,6 +157,7 @@ datasets:
         - back_right_ankle_angular_velocity
       task_name: ant_rgb_state
     active_action_dim: 8
+    robot_type: rl_games_gymnasium
 dataset:
   source_hf: ''
   config_name: null
@@ -310,92 +311,7 @@ rl_games:
       - 2
   task: gymnasium
   gymnasium:
-    task_contract:
-      action_space:
-        dtype: float32
-        high:
-        - 1.0
-        - 1.0
-        - 1.0
-        - 1.0
-        - 1.0
-        - 1.0
-        - 1.0
-        - 1.0
-        labels:
-        - back_right_hip_torque
-        - back_right_ankle_torque
-        - front_left_hip_torque
-        - front_left_ankle_torque
-        - front_right_hip_torque
-        - front_right_ankle_torque
-        - back_left_hip_torque
-        - back_left_ankle_torque
-        low:
-        - -1.0
-        - -1.0
-        - -1.0
-        - -1.0
-        - -1.0
-        - -1.0
-        - -1.0
-        - -1.0
-        type: box
-      base_prompt: Make the Ant move forward as fast as possible without falling.
-        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
-        right ankle, front left hip, front left ankle, front right hip, front right
-        ankle, back left hip, and back left ankle.
-      env_fps: 10.0
-      env_id: LatencyBench/AntContinuous-v0
-      frame_stack: 1
-      make_kwargs:
-        base_env_id: Ant-v4
-        base_make_kwargs:
-          exclude_current_positions_from_observation: true
-          use_contact_forces: false
-        render_mode: rgb_array
-      noop_action:
-      - 0.0
-      - 0.0
-      - 0.0
-      - 0.0
-      - 0.0
-      - 0.0
-      - 0.0
-      - 0.0
-      obs_fps: 10.0
-      registration_imports:
-      - latency_bench.envs.gymnasium_ant
-      state_space:
-        labels:
-        - torso_z
-        - torso_quaternion_w
-        - torso_quaternion_x
-        - torso_quaternion_y
-        - torso_quaternion_z
-        - front_left_hip_angle
-        - front_left_ankle_angle
-        - front_right_hip_angle
-        - front_right_ankle_angle
-        - back_left_hip_angle
-        - back_left_ankle_angle
-        - back_right_hip_angle
-        - back_right_ankle_angle
-        - torso_x_velocity
-        - torso_y_velocity
-        - torso_z_velocity
-        - torso_angular_velocity_x
-        - torso_angular_velocity_y
-        - torso_angular_velocity_z
-        - front_left_hip_angular_velocity
-        - front_left_ankle_angular_velocity
-        - front_right_hip_angular_velocity
-        - front_right_ankle_angular_velocity
-        - back_left_hip_angular_velocity
-        - back_left_ankle_angular_velocity
-        - back_right_hip_angular_velocity
-        - back_right_ankle_angular_velocity
-      task_name: ant_rgb_state
+    task_contract: *id001
     task_name: ant_rgb_state
   initialization_mode: scratch
   action_carrier: native
@@ -424,3 +340,6 @@ output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/2026091
 config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/h100/vla_train.yaml
 is_debug: false
 version_id: '0.21'
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics.json

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latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics_eval.json

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latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/config.yaml

@@ -0,0 +1,345 @@
+framework:
+  name: QwenOFT
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    enable_gradient_checkpointing: false
+  action_model:
+    action_model_type: MLP
+    action_dim: 8
+    state_dim: 27
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: l1
+    state_encoding: discretized_text
+    task_objective: null
+    action_horizon: 1
+    action_env_dim: 8
+  kv_memory:
+    enabled: false
+    window: 4
+    rollout_len: 8
+    packed_train: false
+    rebased_sink: true
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted
+    data_mix: ant_rgb_state_profile_20260911T112232Z
+    eval_data_mix: ant_rgb_state_profile_20260911T112232Z__val
+    custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/_generated_mixtures/ant_rgb_state_profile_20260911T112232Z.json
+    action_type: discrete
+    sequential_step_sampling: false
+    eval_sequential_step_sampling: null
+    num_workers: 8
+    eval_num_workers: 8
+    prefetch_factor: 4
+    persistent_workers: true
+    pin_memory: true
+    shuffle: true
+    action_balance:
+      enabled: false
+      strategy: balanced_epoch
+      action_key: action_id
+      target_flap_fraction: 0.3
+      noop_id: 0
+      flap_id: 1
+    latency_curriculum:
+      enabled: false
+      strategy: exclusive
+      latencies: null
+      phase_steps: null
+      phase_distributions: null
+      new_latency_passes: 1.0
+      replay_passes: 0.25
+      target_total_passes: 2.0
+      final_equalization: true
+      step_budget_mode: auto
+      eval_at_phase_end: false
+      save_at_phase_end: false
+      computed_plan: null
+    per_device_batch_size: 16
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size: null
+    video_backend: torchvision_av
+    gymnasium_task_contract: &id001
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - back_right_hip_torque
+        - back_right_ankle_torque
+        - front_left_hip_torque
+        - front_left_ankle_torque
+        - front_right_hip_torque
+        - front_right_ankle_torque
+        - back_left_hip_torque
+        - back_left_ankle_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Make the Ant move forward as fast as possible without falling.
+        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
+        right ankle, front left hip, front left ankle, front right hip, front right
+        ankle, back left hip, and back left ankle.
+      env_fps: 10.0
+      env_id: LatencyBench/AntContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Ant-v4
+        base_make_kwargs:
+          exclude_current_positions_from_observation: true
+          use_contact_forces: false
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 10.0
+      registration_imports:
+      - latency_bench.envs.tasks.ant
+      state_space:
+        labels:
+        - torso_z
+        - torso_quaternion_w
+        - torso_quaternion_x
+        - torso_quaternion_y
+        - torso_quaternion_z
+        - front_left_hip_angle
+        - front_left_ankle_angle
+        - front_right_hip_angle
+        - front_right_ankle_angle
+        - back_left_hip_angle
+        - back_left_ankle_angle
+        - back_right_hip_angle
+        - back_right_ankle_angle
+        - torso_x_velocity
+        - torso_y_velocity
+        - torso_z_velocity
+        - torso_angular_velocity_x
+        - torso_angular_velocity_y
+        - torso_angular_velocity_z
+        - front_left_hip_angular_velocity
+        - front_left_ankle_angular_velocity
+        - front_right_hip_angular_velocity
+        - front_right_ankle_angular_velocity
+        - back_left_hip_angular_velocity
+        - back_left_ankle_angular_velocity
+        - back_right_hip_angular_velocity
+        - back_right_ankle_angular_velocity
+      task_name: ant_rgb_state
+    active_action_dim: 8
+    robot_type: rl_games_gymnasium
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: ant_rgb_state_profile_20260911T112232Z
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: ant_rgb_state_profile_20260911T112232Z
+  mixed_converted_name: ant_rgb_state_profile_20260911T112232Z
+  single_latency_filter: null
+  mixed_latency_filter: null
+  force_download: false
+  setup_force: false
+  skip_verification: false
+  target_latency_unit: observation_steps
+  verify_rows: 200
+  max_episodes: null
+  episodes_per_latency: null
+  latency_filter: null
+  debug_subset:
+    enabled: false
+    max_episodes: 5
+    suffix: debug
+base_model:
+  repo_id: StarVLA/Qwen3-VL-4B-Instruct-Action
+initialization:
+  checkpoint_local_dir: null
+  checkpoint_hf_repo_id: null
+  checkpoint_filename: null
+trainer:
+  max_train_steps: 5000
+  num_warmup_steps: 100
+  save_interval: 500
+  eval_interval: 500
+  eval_num_batches: 200
+  per_latency_eval_num_batches: null
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  cc_f1_tolerance: 1
+  learning_rate:
+    base: 2.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  freeze_modules: ''
+  freeze_vit: false
+  freeze_tied_embedding: false
+  freeze_llm_layers: []
+  loss_scale:
+    vla: 1.0
+    vlm: 0.1
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 1
+  profile_timing:
+    enabled: true
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  distributed_backend: deepspeed
+  is_resume: false
+  pretrained_checkpoint: null
+  resume_step: 0
+  reload_modules: null
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+    fused: true
+  save_format: pt
+workspace_dir: WORKSPACE_DIR
+run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla
+seed: 42
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_project: latency-sensitive-bench
+auth:
+  env_file: null
+  hf_token_env: HF_TOKEN
+  wandb_api_key_env: WANDB_API_KEY
+paths:
+  run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla
+  dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted
+  dataset_cache_dir: null
+  base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+  accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml
+launch:
+  use_accelerate: true
+  gpus: null
+  num_processes: 1
+  dry_run: false
+conda:
+  enabled: true
+  env_name: null
+rl_games:
+  model_alias: openvla
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw
+    ghost_trail:
+      history_frames: 5
+      gamma: 1.3
+      min_alpha: 35
+      scroll_px_per_step: 4.0
+      ground_fraction: 0.22
+    seed: 42
+    fixed_episode_seeds: true
+    latency_seed_stride: 0
+    task_seed_stride: 0
+    task_description: ''
+    eval_parallel_envs: 5
+    action_chunk_execution:
+      enabled: false
+      chunk_size: null
+    enabled: false
+    gymnasium:
+      make_kwargs: {}
+    mid_train:
+      enabled: false
+      interval_steps: 100
+      latencies:
+      - 0
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    post_train:
+      enabled: false
+      latencies:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    eval_backend: latency_bench
+    distributed_mode: none
+    vectorized:
+      enabled: false
+      batch_size: 1
+    latency:
+      prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/ant_rgb_state_profile_20260911T112232Z/latency_prompt_map.json
+      mode: single
+      values:
+      - 1
+      - 2
+  task: gymnasium
+  gymnasium:
+    task_contract: *id001
+    task_name: ant_rgb_state
+  initialization_mode: scratch
+  action_carrier: native
+model: openvla
+env: gymnasium
+init: scratch
+mode: single
+checkpoint:
+  load: none
+  hf_repo_id: null
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: false
+  save_safetensors_file: false
+  local:
+    keep_last_n: 1
+  sync:
+    enabled: false
+    repo_id: null
+    keep_last_n: 0
+    sync_every_n_checkpoints: 1
+    resume_policy: local_latest
+run_id: ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k
+output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k
+config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/h100/vla_train.yaml
+is_debug: false
+version_id: '0.21'
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/dataset_statistics.json

@@ -0,0 +1,254 @@
+{
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+    "num_transitions": 90000,
+    "num_trajectories": 90
+  }
+}

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/eval_config.yaml

@@ -0,0 +1,195 @@
+experiment:
+  name: ant_openvla_profile_iid_100ep
+  seed: 42
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/ant
+  restart_behavior: overwrite
+  run_mode: eval
+executor:
+  mode: simulated
+  inference_devices:
+  - cuda:0
+  - cuda:1
+  inference_batch_size: 8
+  simulated_inference_pool: true
+  simulated_worker_capacity: 1
+env:
+  name: gymnasium
+  task_name: ant
+  env_id: LatencyBench/AntContinuous-v0
+  registration_imports:
+  - latency_bench.envs.tasks.ant
+  make_kwargs:
+    base_env_id: Ant-v4
+    base_make_kwargs:
+      exclude_current_positions_from_observation: true
+      use_contact_forces: false
+    render_mode: rgb_array
+  env_fps: 10
+  obs_fps: 10
+  frame_stack: 1
+  state_space:
+    labels:
+    - torso_z
+    - torso_quaternion_w
+    - torso_quaternion_x
+    - torso_quaternion_y
+    - torso_quaternion_z
+    - front_left_hip_angle
+    - front_left_ankle_angle
+    - front_right_hip_angle
+    - front_right_ankle_angle
+    - back_left_hip_angle
+    - back_left_ankle_angle
+    - back_right_hip_angle
+    - back_right_ankle_angle
+    - torso_x_velocity
+    - torso_y_velocity
+    - torso_z_velocity
+    - torso_angular_velocity_x
+    - torso_angular_velocity_y
+    - torso_angular_velocity_z
+    - front_left_hip_angular_velocity
+    - front_left_ankle_angular_velocity
+    - front_right_hip_angular_velocity
+    - front_right_ankle_angular_velocity
+    - back_left_hip_angular_velocity
+    - back_left_ankle_angular_velocity
+    - back_right_hip_angular_velocity
+    - back_right_ankle_angular_velocity
+  action_space:
+    dtype: float32
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    labels:
+    - back_right_hip_torque
+    - back_right_ankle_torque
+    - front_left_hip_torque
+    - front_left_ankle_torque
+    - front_right_hip_torque
+    - front_right_ankle_torque
+    - back_left_hip_torque
+    - back_left_ankle_torque
+    low:
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    type: box
+  noop_action:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  base_prompt: Make the Ant move forward as fast as possible without falling. Predict
+    eight continuous torques in [-1, 1] ordered as back right hip, back right ankle,
+    front left hip, front left ankle, front right hip, front right ankle, back left
+    hip, and back left ankle.
+  obs_resize:
+  - 224
+  - 224
+latency:
+  method: iid
+  sync_cuda: false
+  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla/profile/profile.json
+  profile_worker_slot: 0
+  seed: 0
+scheduler:
+  hold_policy: hold
+  ordering_policy: issue_order_fifo
+policy:
+  type: starvla
+  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla/new_bundle/config.yaml
+  backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
+  device: cuda:0
+  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla/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
+  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: true
+  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/continuous_control_issued_g128_iid_20261010/ant/openvla/evaluation/iid_parallel32_ib8
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: true
+  save_action_records: true
+  save_latency_records: true
+  realtime_pipeline_profile: false

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/latency_prompt_map.json

@@ -0,0 +1,12 @@
+{
+  "1": {
+    "prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 1 raw frames (100.00 ms).  The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.",
+    "latency_raw_frames": 1,
+    "latency_ms": 100.0
+  },
+  "2": {
+    "prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 2 raw frames (200.00 ms).  The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.",
+    "latency_raw_frames": 2,
+    "latency_ms": 200.0
+  }
+}

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/manifest.json

@@ -0,0 +1,233 @@
+{
+  "dataset_name": "lerobot",
+  "env_name": "ant_rgb_state",
+  "episodes": 90,
+  "frames": 90000,
+  "task_prompts": [
+    "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 1 raw frames (100.00 ms).  The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.",
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latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/result.json

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latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/source_identity.json

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latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/manifest.json

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 }

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/provenance.json

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-    "task_code_archive_sha256": "b0a0ca72b5c6eb65c16e5d5d70f59cad540260a27cb3a71109910326b940e135",
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-    "note": "Task code extracted from pinned root plus tracked IID runtime fix; archive runtime git metadata is unavailable."
-  },
-  "gate_revision": {
-    "original_gate": {
-      "field": "episode_raw_return",
-      "operator": ">",
-      "threshold": 3000
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-    "authorized_gate": {
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-    "user_instruction": "\u8bf7\u4f7f\u75282500\u4f5c\u4e3aAnt\u6570\u636e\u95e8\u69db",
-    "accepted_episode_target": 100,
-    "change_scope": "Only rollout acceptance threshold; same selected teacher, clocks, reset seed, horizon, split, image/state/action contract and VLA training recipe.",
-    "historical_evidence": "Original E and 12-episode diagnostic remain unchanged."
-  },
-  "normalization_source": "new Ant converted dataset and actual VLA training dataset_statistics.json"
-}

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/source_identity.json

@@ -0,0 +1,29 @@
+{
+  "revision": "a7001d2227fa8b0cbcd58b7b0e32db3dba147810",
+  "source": "current worktree snapshot",
+  "dirty_paths": [
+    " M AGENTS.md",
+    " M configs/experiments/memory/small_model/flappy_capped.yaml",
+    " M configs/experiments/memory/small_model/flappy_extended.yaml",
+    " M configs/experiments/observation_stride/flappy_capped.yaml",
+    " M configs/experiments/observation_stride/flappy_extended.yaml",
+    " M configs/experiments/sim2real.yaml",
+    " M scripts/experiments/memory/small_model/run.sh",
+    " M scripts/experiments/observation_stride/run.sh",
+    " M scripts/experiments/sim2real/study.py",
+    " M tests/scripts/test_sim2real.py",
+    "?? configs/experiments/sim2real/five_gpu.yaml",
+    "?? docs/cleanup-refactor/",
+    "?? lagen/",
+    "?? scripts/experiments/sim2real/campaign.py",
+    "?? servers.md"
+  ],
+  "runtime_patches": [
+    {
+      "path": "third_party/starVLA/starVLA/training/train_starvla.py",
+      "change": "Full DeepSpeed state-directory resume loads config/statistics from owning run directory without resolving a standalone model file.",
+      "validation": "6 existing resume/statistics tests passed; see previous campaign resume_fix_tests.log"
+    }
+  ],
+  "frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010"
+}

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/task_contract.json

@@ -1,94 +0,0 @@
-{
-  "action_space": {
-    "dtype": "float32",
-    "high": [
-      1.0,
-      1.0,
-      1.0,
-      1.0,
-      1.0,
-      1.0,
-      1.0,
-      1.0
-    ],
-    "labels": [
-      "back_right_hip_torque",
-      "back_right_ankle_torque",
-      "front_left_hip_torque",
-      "front_left_ankle_torque",
-      "front_right_hip_torque",
-      "front_right_ankle_torque",
-      "back_left_hip_torque",
-      "back_left_ankle_torque"
-    ],
-    "low": [
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0,
-      -1.0
-    ],
-    "type": "box"
-  },
-  "base_prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle.",
-  "env_fps": 10.0,
-  "env_id": "LatencyBench/AntContinuous-v0",
-  "frame_stack": 1,
-  "make_kwargs": {
-    "base_env_id": "Ant-v4",
-    "base_make_kwargs": {
-      "exclude_current_positions_from_observation": true,
-      "use_contact_forces": false
-    },
-    "render_mode": "rgb_array"
-  },
-  "noop_action": [
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0
-  ],
-  "obs_fps": 10.0,
-  "registration_imports": [
-    "latency_bench.envs.gymnasium_ant"
-  ],
-  "state_space": {
-    "labels": [
-      "torso_z",
-      "torso_quaternion_w",
-      "torso_quaternion_x",
-      "torso_quaternion_y",
-      "torso_quaternion_z",
-      "front_left_hip_angle",
-      "front_left_ankle_angle",
-      "front_right_hip_angle",
-      "front_right_ankle_angle",
-      "back_left_hip_angle",
-      "back_left_ankle_angle",
-      "back_right_hip_angle",
-      "back_right_ankle_angle",
-      "torso_x_velocity",
-      "torso_y_velocity",
-      "torso_z_velocity",
-      "torso_angular_velocity_x",
-      "torso_angular_velocity_y",
-      "torso_angular_velocity_z",
-      "front_left_hip_angular_velocity",
-      "front_left_ankle_angular_velocity",
-      "front_right_hip_angular_velocity",
-      "front_right_ankle_angular_velocity",
-      "back_left_hip_angular_velocity",
-      "back_left_ankle_angular_velocity",
-      "back_right_hip_angular_velocity",
-      "back_right_ankle_angular_velocity"
-    ]
-  },
-  "task_name": "ant_rgb_state"
-}

latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/training.complete.json

@@ -0,0 +1,22 @@
+{
+  "steps": 5000,
+  "seed": 42,
+  "global_batch": 128,
+  "gradient_checkpointing": false,
+  "gpus": "0,1",
+  "attempts": [
+    {
+      "micro_batch": 64,
+      "state": "OOM"
+    },
+    {
+      "micro_batch": 32,
+      "state": "OOM"
+    },
+    {
+      "micro_batch": 16,
+      "accumulation": 4,
+      "state": "COMPLETED"
+    }
+  ]
+}