diff --git a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/README.md b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/README.md index 3c8d6547e4ff5da66baa03806330860c9b947422..0398a6385b7495132736aa044f3ad92a0050829a 100644 --- a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/README.md +++ b/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="", - 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. diff --git a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/checkpoints/model.pt b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..bc97da71112c59e90a8ed1f1785a76eea6fb9b06 --- /dev/null +++ b/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 diff --git a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/collection_protocol.json b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/collection_protocol.json new file mode 100644 index 0000000000000000000000000000000000000000..cbebbf118f8cc5417a96a572da52186ba95069f8 --- /dev/null +++ b/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" +} diff --git a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.full.yaml b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.full.yaml index 236993a849d47c16af0df0635bdb5c1a6177700d..06550a66eb9505861cb5512261ea7d8e13ceb9f2 100644 --- a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.full.yaml +++ b/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 diff --git a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.yaml b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.yaml index 236993a849d47c16af0df0635bdb5c1a6177700d..cd800cf5b9ba336c393163db3064aa809180ad4f 100644 --- a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.yaml +++ b/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 diff --git a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics.json b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics.json index 0b27db6827c4f368a6fff9f40cf9d4cabf5de1bc..80344732a73eefa26c43912df466bfad309cfb69 100644 --- a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics.json +++ 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b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cd800cf5b9ba336c393163db3064aa809180ad4f --- /dev/null +++ b/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: 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90.59366303792787, "p99_latency_ms": 111.67310702501885, "return_raw": null, "survival_steps": 1000} diff --git a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/eval_config.yaml b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7b531734b66548db43eaa468d03a428428719d6 --- /dev/null +++ b/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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..b151390bb04ff1ef006bae0b94e7864453b3ac01 --- /dev/null +++ b/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 + } +} \ No newline at end of file diff --git a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/manifest.json b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..77895cc89bcb31753f2b23156f4f68d8dfa9e4c6 --- /dev/null +++ b/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.", + "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." + ], + "format": "lerobot_v2_image_parquet", + "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/ant/openvla/raw", + "integration_name": "gymnasium", + "task_name": "ant_rgb_state", + "action_layout": "gymnasium_continuous_v1", + "action_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" + ], + "carrier_action_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" + ], + "action_dim": 8, + "active_action_dim": 8, + "action_carrier": "native", + "rows_unit": "decision_step", + "obs_fps": 10.0, + "obs_stride_raw_frames": 1, + "uses_state": true, + "state_dim": 27, + "state_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" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.2412567287683487, + -0.44571781158447266, + -0.47957098484039307, + -0.31887444853782654, + -0.847874641418457, + -0.6380091309547424, + -0.09917011857032776, + -0.6397665739059448, + -1.2698646783828735, + -0.6245643496513367, + -1.2966936826705933, + -0.6273992657661438, + -0.09470116347074509, + -1.9817148447036743, + -2.8269503116607666, + -2.5114223957061768, + -6.1573052406311035, + -5.6290693283081055, + -5.456002235412598, + -13.3322172164917, + -6.442843914031982, + -13.454183578491211, + -11.152595520019531, + -11.792752265930176, + -11.078145980834961, + -11.409802436828613, + -9.05523681640625 + ], + "max": [ + 0.987648606300354, + 1.098469853401184, + 0.28921106457710266, + 0.989949643611908, + 0.6633162498474121, + 0.6247723698616028, + 1.3297919034957886, + 0.6261260509490967, + 0.09998779743909836, + 0.6295120120048523, + 0.09576962888240814, + 0.6430038809776306, + 1.3282581567764282, + 4.4957780838012695, + 3.2620561122894287, + 2.468116044998169, + 4.410033702850342, + 7.686357021331787, + 5.3598856925964355, + 12.314204216003418, + 12.512803077697754, + 12.16235065460205, + 8.471234321594238, + 11.662495613098145, + 6.775548934936523, + 13.728979110717773, + 12.854585647583008 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/ant/openvla/lerobot/latency_prompt_map.json", + "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/ant/openvla/_generated_mixtures/lerobot.json", + "gymnasium_task": { + "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", + 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0000000000000000000000000000000000000000..f6be50aac65296bb6389a26f1408ab6dfbb9fcac --- /dev/null +++ b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/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" +} diff --git a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/manifest.json b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/manifest.json index 4fb48f1fff4ee8a498a912757ecafd926b01de4d..77895cc89bcb31753f2b23156f4f68d8dfa9e4c6 100644 --- a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/manifest.json +++ b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/manifest.json @@ -1,5 +1,5 @@ { - "dataset_name": "ant_rgb_state_profile_20260911T112232Z", + "dataset_name": "lerobot", "env_name": "ant_rgb_state", "episodes": 90, "frames": 90000, @@ -8,7 +8,7 @@ "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." ], "format": "lerobot_v2_image_parquet", - "source": "/mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/raw", + "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/ant/openvla/raw", "integration_name": "gymnasium", "task_name": "ant_rgb_state", "action_layout": "gymnasium_continuous_v1", @@ -72,67 +72,67 @@ "state_normalization": { "type": "min_max", "min": [ - 0.25096166133880615, - -0.6524118781089783, - -0.24330727756023407, - -0.38062331080436707, - -0.762863278388977, - -0.631309449672699, + 0.2412567287683487, + -0.44571781158447266, + -0.47957098484039307, + -0.31887444853782654, + -0.847874641418457, + -0.6380091309547424, -0.09917011857032776, - -0.6372938752174377, - -1.2403454780578613, - -0.6263839602470398, + -0.6397665739059448, + -1.2698646783828735, + -0.6245643496513367, -1.2966936826705933, - -0.6255945563316345, - -0.09462010115385056, - -1.612484097480774, - 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a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/provenance.json b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/provenance.json index 8b3377f034f2ba4235d0d5b4b1ed1a46a1aa9bb2..8f477b6f6f7ca9598c58e14f98fe8623739e6a85 100644 --- a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/provenance.json +++ b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/provenance.json @@ -1,34 +1,9 @@ { "task": "ant", - "model": "qwenoft", - "training_condition": "latency-aware", - "training_run_id": "ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k", - "source": { - "repo_id": "latency-sensitive-bench/Standard-Pipeline", - "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", - "path": "ant/profile_latency/OpenVLA", - "url": 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resume_fix_tests.log" + } + ], + "frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010" +} diff --git a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/task_contract.json b/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/task_contract.json deleted file mode 100644 index d798aa49d4cbe54f6cad3173b167b25e67bc8987..0000000000000000000000000000000000000000 --- a/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/task_contract.json +++ /dev/null @@ -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", - 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