Publish current-code walker2d Pi0.5 profile IID100 evidence
Browse files- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/checkpoint_identity.json +1 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/config.yaml +143 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/dataset_statistics.json +180 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/episode_metrics.jsonl +0 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/eval_config.yaml +166 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/latency_prompt_map.json +17 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/manifest.json +186 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/profile/DONE +0 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/profile/hardware.json +40 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/profile/latency_burst_model.json +1560 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/profile/latency_distribution.json +1027 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/profile/latency_profile.png +0 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/profile/profile.json +60 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/result.json +213 -0
- latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/source_identity.json +29 -0
latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/checkpoint_identity.json
ADDED
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{"repo": "MLL-Lab/LAGEN-models", "revision": "26c21bd342ec991e562dd39867e5405e510d3bf3", "path": "latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/checkpoints/model.pt", "blob_id": "282785df38b49ecd51bba1ac3c92626f546404f4", "size": 10922653853}
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latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/config.yaml
ADDED
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| 1 |
+
framework:
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| 2 |
+
name: QwenPI_v3
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| 3 |
+
qwenvl:
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| 4 |
+
base_vlm: Qwen/Qwen3-VL-4B-Instruct
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| 5 |
+
attn_implementation: flash_attention_2
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| 6 |
+
vl_hidden_dim: 2560
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| 7 |
+
num_vl_layers: 36
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| 8 |
+
enable_gradient_checkpointing: true
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| 9 |
+
action_model:
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| 10 |
+
action_model_type: LayerwiseFM
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| 11 |
+
action_dim: 6
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| 12 |
+
state_dim: 17
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| 13 |
+
state_encoding: continuous_projector
|
| 14 |
+
task_objective: null
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| 15 |
+
action_horizon: 1
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| 16 |
+
repeated_diffusion_steps: 2
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| 17 |
+
num_inference_timesteps: 4
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| 18 |
+
add_pos_embed: true
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| 19 |
+
max_seq_len: 1024
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| 20 |
+
num_target_vision_tokens: 32
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| 21 |
+
noise_beta_alpha: 1.5
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| 22 |
+
noise_beta_beta: 1.0
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| 23 |
+
noise_s: 0.999
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| 24 |
+
num_timestep_buckets: 1000
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| 25 |
+
diffusion_model_cfg:
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| 26 |
+
action_dit_hidden_dim: 1024
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| 27 |
+
dropout: 0.2
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| 28 |
+
final_dropout: true
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| 29 |
+
interleave_self_attention: true
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| 30 |
+
norm_type: ada_norm
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| 31 |
+
positional_embeddings: null
|
| 32 |
+
attention_head_dim: 64
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| 33 |
+
num_layers: 36
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| 34 |
+
input_embedding_dim: 1024
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| 35 |
+
cross_attention_dim: 1024
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| 36 |
+
output_dim: 1024
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| 37 |
+
num_attention_heads: 16
|
| 38 |
+
action_env_dim: 6
|
| 39 |
+
future_action_window_size: 0
|
| 40 |
+
past_action_window_size: 0
|
| 41 |
+
version_id: '0.21'
|
| 42 |
+
datasets:
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| 43 |
+
vla_data:
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| 44 |
+
include_state: true
|
| 45 |
+
obs_image_size:
|
| 46 |
+
- 224
|
| 47 |
+
- 224
|
| 48 |
+
image_mode: single
|
| 49 |
+
stitch_grid:
|
| 50 |
+
- 2
|
| 51 |
+
- 2
|
| 52 |
+
num_obs_frames: 1
|
| 53 |
+
gymnasium_task_contract: &id001
|
| 54 |
+
action_space:
|
| 55 |
+
dtype: float32
|
| 56 |
+
high:
|
| 57 |
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- 1.0
|
| 58 |
+
- 1.0
|
| 59 |
+
- 1.0
|
| 60 |
+
- 1.0
|
| 61 |
+
- 1.0
|
| 62 |
+
- 1.0
|
| 63 |
+
labels:
|
| 64 |
+
- right_thigh_torque
|
| 65 |
+
- right_leg_torque
|
| 66 |
+
- right_foot_torque
|
| 67 |
+
- left_thigh_torque
|
| 68 |
+
- left_leg_torque
|
| 69 |
+
- left_foot_torque
|
| 70 |
+
low:
|
| 71 |
+
- -1.0
|
| 72 |
+
- -1.0
|
| 73 |
+
- -1.0
|
| 74 |
+
- -1.0
|
| 75 |
+
- -1.0
|
| 76 |
+
- -1.0
|
| 77 |
+
type: box
|
| 78 |
+
base_prompt: Move the Walker2d robot forward while keeping its torso upright.
|
| 79 |
+
Predict six continuous torques in [-1, 1] ordered as right thigh, right leg,
|
| 80 |
+
right foot, left thigh, left leg, and left foot.
|
| 81 |
+
env_fps: 5.0
|
| 82 |
+
env_id: LatencyBench/Walker2dContinuous-v0
|
| 83 |
+
frame_stack: 1
|
| 84 |
+
make_kwargs:
|
| 85 |
+
base_env_id: Walker2d-v4
|
| 86 |
+
base_make_kwargs:
|
| 87 |
+
ctrl_cost_weight: 0.001
|
| 88 |
+
exclude_current_positions_from_observation: true
|
| 89 |
+
forward_reward_weight: 1.0
|
| 90 |
+
healthy_reward: 1.0
|
| 91 |
+
reset_noise_scale: 0.005
|
| 92 |
+
terminate_when_unhealthy: true
|
| 93 |
+
render_mode: rgb_array
|
| 94 |
+
noop_action:
|
| 95 |
+
- 0.0
|
| 96 |
+
- 0.0
|
| 97 |
+
- 0.0
|
| 98 |
+
- 0.0
|
| 99 |
+
- 0.0
|
| 100 |
+
- 0.0
|
| 101 |
+
obs_fps: 5.0
|
| 102 |
+
registration_imports:
|
| 103 |
+
- latency_bench.envs.tasks.walker2d
|
| 104 |
+
state_space:
|
| 105 |
+
labels:
|
| 106 |
+
- torso_height
|
| 107 |
+
- torso_angle
|
| 108 |
+
- right_thigh_angle
|
| 109 |
+
- right_leg_angle
|
| 110 |
+
- right_foot_angle
|
| 111 |
+
- left_thigh_angle
|
| 112 |
+
- left_leg_angle
|
| 113 |
+
- left_foot_angle
|
| 114 |
+
- torso_x_velocity
|
| 115 |
+
- torso_z_velocity
|
| 116 |
+
- torso_angular_velocity
|
| 117 |
+
- right_thigh_angular_velocity
|
| 118 |
+
- right_leg_angular_velocity
|
| 119 |
+
- right_foot_angular_velocity
|
| 120 |
+
- left_thigh_angular_velocity
|
| 121 |
+
- left_leg_angular_velocity
|
| 122 |
+
- left_foot_angular_velocity
|
| 123 |
+
task_name: walker2d
|
| 124 |
+
robot_type: rl_games_gymnasium_native
|
| 125 |
+
trainer:
|
| 126 |
+
pretrained_checkpoint: null
|
| 127 |
+
profile_timing:
|
| 128 |
+
enabled: false
|
| 129 |
+
log_interval: 10
|
| 130 |
+
backbone:
|
| 131 |
+
repo_id: Qwen/Qwen3-VL-4B-Instruct
|
| 132 |
+
revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
|
| 133 |
+
rl_games:
|
| 134 |
+
model_alias: pi05
|
| 135 |
+
task: gymnasium
|
| 136 |
+
action_carrier: native
|
| 137 |
+
gymnasium:
|
| 138 |
+
task_contract: *id001
|
| 139 |
+
env_eval:
|
| 140 |
+
image_size: 224
|
| 141 |
+
frameskip: 1
|
| 142 |
+
image_transform: raw_rgb
|
| 143 |
+
prompt_mode: raw
|
latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/dataset_statistics.json
ADDED
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@@ -0,0 +1,180 @@
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|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"action": {
|
| 4 |
+
"mean": [
|
| 5 |
+
0.4981546700000763,
|
| 6 |
+
0.4653775095939636,
|
| 7 |
+
-0.2947416603565216,
|
| 8 |
+
0.9996105432510376,
|
| 9 |
+
0.8025897741317749,
|
| 10 |
+
0.38950979709625244
|
| 11 |
+
],
|
| 12 |
+
"std": [
|
| 13 |
+
0.5788458585739136,
|
| 14 |
+
0.48928776383399963,
|
| 15 |
+
0.7716024518013,
|
| 16 |
+
0.01672535389661623,
|
| 17 |
+
0.4969850182533264,
|
| 18 |
+
0.6478453278541565
|
| 19 |
+
],
|
| 20 |
+
"max": [
|
| 21 |
+
1.0,
|
| 22 |
+
1.0,
|
| 23 |
+
1.0,
|
| 24 |
+
1.0,
|
| 25 |
+
1.0,
|
| 26 |
+
1.0
|
| 27 |
+
],
|
| 28 |
+
"min": [
|
| 29 |
+
-1.0,
|
| 30 |
+
-1.0,
|
| 31 |
+
-1.0,
|
| 32 |
+
-1.0,
|
| 33 |
+
-1.0,
|
| 34 |
+
-1.0
|
| 35 |
+
],
|
| 36 |
+
"q01": [
|
| 37 |
+
-1.0,
|
| 38 |
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|
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|
latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/episode_metrics.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/eval_config.yaml
ADDED
|
@@ -0,0 +1,166 @@
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|
|
| 1 |
+
experiment:
|
| 2 |
+
name: walker2d_pi05_profile_profile_100ep
|
| 3 |
+
seed: 42
|
| 4 |
+
backend:
|
| 5 |
+
type: sample_factory
|
| 6 |
+
algo: APPO
|
| 7 |
+
device: cuda
|
| 8 |
+
train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/walker2d
|
| 9 |
+
restart_behavior: overwrite
|
| 10 |
+
run_mode: eval
|
| 11 |
+
executor:
|
| 12 |
+
mode: simulated
|
| 13 |
+
inference_devices:
|
| 14 |
+
- cuda:0
|
| 15 |
+
- cuda:1
|
| 16 |
+
inference_batch_size: 8
|
| 17 |
+
simulated_inference_pool: true
|
| 18 |
+
simulated_worker_capacity: 1
|
| 19 |
+
env:
|
| 20 |
+
name: gymnasium
|
| 21 |
+
task_name: walker2d
|
| 22 |
+
env_id: LatencyBench/Walker2dContinuous-v0
|
| 23 |
+
registration_imports:
|
| 24 |
+
- latency_bench.envs.tasks.walker2d
|
| 25 |
+
make_kwargs:
|
| 26 |
+
base_env_id: Walker2d-v4
|
| 27 |
+
base_make_kwargs:
|
| 28 |
+
ctrl_cost_weight: 0.001
|
| 29 |
+
exclude_current_positions_from_observation: true
|
| 30 |
+
forward_reward_weight: 1.0
|
| 31 |
+
healthy_reward: 1.0
|
| 32 |
+
reset_noise_scale: 0.005
|
| 33 |
+
terminate_when_unhealthy: true
|
| 34 |
+
render_mode: rgb_array
|
| 35 |
+
env_fps: 5
|
| 36 |
+
obs_fps: 5
|
| 37 |
+
frame_stack: 1
|
| 38 |
+
action_space:
|
| 39 |
+
dtype: float32
|
| 40 |
+
high:
|
| 41 |
+
- 1.0
|
| 42 |
+
- 1.0
|
| 43 |
+
- 1.0
|
| 44 |
+
- 1.0
|
| 45 |
+
- 1.0
|
| 46 |
+
- 1.0
|
| 47 |
+
labels:
|
| 48 |
+
- right_thigh_torque
|
| 49 |
+
- right_leg_torque
|
| 50 |
+
- right_foot_torque
|
| 51 |
+
- left_thigh_torque
|
| 52 |
+
- left_leg_torque
|
| 53 |
+
- left_foot_torque
|
| 54 |
+
low:
|
| 55 |
+
- -1.0
|
| 56 |
+
- -1.0
|
| 57 |
+
- -1.0
|
| 58 |
+
- -1.0
|
| 59 |
+
- -1.0
|
| 60 |
+
- -1.0
|
| 61 |
+
type: box
|
| 62 |
+
noop_action:
|
| 63 |
+
- 0.0
|
| 64 |
+
- 0.0
|
| 65 |
+
- 0.0
|
| 66 |
+
- 0.0
|
| 67 |
+
- 0.0
|
| 68 |
+
- 0.0
|
| 69 |
+
base_prompt: Move the Walker2d robot forward while keeping its torso upright. Predict
|
| 70 |
+
six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot,
|
| 71 |
+
left thigh, left leg, and left foot.
|
| 72 |
+
state_space:
|
| 73 |
+
labels:
|
| 74 |
+
- torso_height
|
| 75 |
+
- torso_angle
|
| 76 |
+
- right_thigh_angle
|
| 77 |
+
- right_leg_angle
|
| 78 |
+
- right_foot_angle
|
| 79 |
+
- left_thigh_angle
|
| 80 |
+
- left_leg_angle
|
| 81 |
+
- left_foot_angle
|
| 82 |
+
- torso_x_velocity
|
| 83 |
+
- torso_z_velocity
|
| 84 |
+
- torso_angular_velocity
|
| 85 |
+
- right_thigh_angular_velocity
|
| 86 |
+
- right_leg_angular_velocity
|
| 87 |
+
- right_foot_angular_velocity
|
| 88 |
+
- left_thigh_angular_velocity
|
| 89 |
+
- left_leg_angular_velocity
|
| 90 |
+
- left_foot_angular_velocity
|
| 91 |
+
obs_resize:
|
| 92 |
+
- 224
|
| 93 |
+
- 224
|
| 94 |
+
latency:
|
| 95 |
+
method: iid
|
| 96 |
+
sync_cuda: false
|
| 97 |
+
profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/pi05/profile/profile.json
|
| 98 |
+
profile_worker_slot: 0
|
| 99 |
+
seed: 0
|
| 100 |
+
scheduler:
|
| 101 |
+
hold_policy: hold
|
| 102 |
+
ordering_policy: issue_order_fifo
|
| 103 |
+
policy:
|
| 104 |
+
type: starvla
|
| 105 |
+
checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/pi05/new_bundle/checkpoints/model.pt
|
| 106 |
+
model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/pi05/new_bundle/config.yaml
|
| 107 |
+
backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
|
| 108 |
+
device: cuda:0
|
| 109 |
+
task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/pi05/new_bundle/manifest.json
|
| 110 |
+
latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/pi05/new_bundle/latency_prompt_map.json
|
| 111 |
+
latency_prompt_key: 1
|
| 112 |
+
training:
|
| 113 |
+
train_for_env_steps: 10000000
|
| 114 |
+
num_workers: 8
|
| 115 |
+
num_envs_per_worker: 8
|
| 116 |
+
worker_num_splits: 2
|
| 117 |
+
num_policies: 1
|
| 118 |
+
batch_size: 1024
|
| 119 |
+
rollout: 64
|
| 120 |
+
recurrence: 1
|
| 121 |
+
num_epochs: 2
|
| 122 |
+
num_batches_per_epoch: 4
|
| 123 |
+
max_policy_lag: 300
|
| 124 |
+
learning_rate: 0.00295
|
| 125 |
+
gamma: 0.99
|
| 126 |
+
gae_lambda: 0.95
|
| 127 |
+
ppo_clip_ratio: 0.2
|
| 128 |
+
ppo_clip_value: 0.2
|
| 129 |
+
value_loss_coeff: 1.3
|
| 130 |
+
max_grad_norm: 3.5
|
| 131 |
+
exploration_loss_coeff: 0.0
|
| 132 |
+
async_rl: false
|
| 133 |
+
batched_sampling: false
|
| 134 |
+
use_rnn: false
|
| 135 |
+
encoder_mlp_layers:
|
| 136 |
+
- 64
|
| 137 |
+
- 64
|
| 138 |
+
normalize_input: true
|
| 139 |
+
normalize_returns: true
|
| 140 |
+
save_every_sec: 600
|
| 141 |
+
keep_checkpoints: 5
|
| 142 |
+
lr_schedule: linear_decay
|
| 143 |
+
kl_loss_coeff: 0.1
|
| 144 |
+
serial_mode: false
|
| 145 |
+
nonlinearity: tanh
|
| 146 |
+
adaptive_stddev: false
|
| 147 |
+
policy_initialization: torch_default
|
| 148 |
+
initial_stddev: 1.0
|
| 149 |
+
shuffle_minibatches: false
|
| 150 |
+
value_bootstrap: true
|
| 151 |
+
evaluation:
|
| 152 |
+
eval_episodes: 100
|
| 153 |
+
eval_parallel_envs: 32
|
| 154 |
+
eval_max_steps: 1000
|
| 155 |
+
eval_deterministic: true
|
| 156 |
+
eval_latency_values: null
|
| 157 |
+
episode_seed_offset: 0
|
| 158 |
+
logging:
|
| 159 |
+
output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/pi05/evaluation/profile_parallel32_ib8
|
| 160 |
+
video:
|
| 161 |
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enabled: false
|
| 162 |
+
num_bins: 1
|
| 163 |
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save_step_records: true
|
| 164 |
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save_action_records: true
|
| 165 |
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save_latency_records: true
|
| 166 |
+
realtime_pipeline_profile: false
|
latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/latency_prompt_map.json
ADDED
|
@@ -0,0 +1,17 @@
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| 1 |
+
{
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| 2 |
+
"1": {
|
| 3 |
+
"prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 1 raw frames (200.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
|
| 4 |
+
"latency_raw_frames": 1,
|
| 5 |
+
"latency_ms": 200.0
|
| 6 |
+
},
|
| 7 |
+
"2": {
|
| 8 |
+
"prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 2 raw frames (400.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
|
| 9 |
+
"latency_raw_frames": 2,
|
| 10 |
+
"latency_ms": 400.0
|
| 11 |
+
},
|
| 12 |
+
"3": {
|
| 13 |
+
"prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 3 raw frames (600.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
|
| 14 |
+
"latency_raw_frames": 3,
|
| 15 |
+
"latency_ms": 600.0
|
| 16 |
+
}
|
| 17 |
+
}
|
latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/manifest.json
ADDED
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@@ -0,0 +1,186 @@
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|
| 1 |
+
{
|
| 2 |
+
"dataset_name": "lerobot",
|
| 3 |
+
"env_name": "walker2d",
|
| 4 |
+
"episodes": 90,
|
| 5 |
+
"frames": 89169,
|
| 6 |
+
"task_prompts": [
|
| 7 |
+
"Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 1 raw frames (200.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
|
| 8 |
+
"Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 2 raw frames (400.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
|
| 9 |
+
"Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 3 raw frames (600.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
|
| 10 |
+
],
|
| 11 |
+
"format": "lerobot_v2_image_parquet",
|
| 12 |
+
"source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/raw",
|
| 13 |
+
"integration_name": "gymnasium",
|
| 14 |
+
"task_name": "walker2d",
|
| 15 |
+
"action_layout": "gymnasium_continuous_v1",
|
| 16 |
+
"action_labels": [
|
| 17 |
+
"right_thigh_torque",
|
| 18 |
+
"right_leg_torque",
|
| 19 |
+
"right_foot_torque",
|
| 20 |
+
"left_thigh_torque",
|
| 21 |
+
"left_leg_torque",
|
| 22 |
+
"left_foot_torque"
|
| 23 |
+
],
|
| 24 |
+
"carrier_action_labels": [
|
| 25 |
+
"right_thigh_torque",
|
| 26 |
+
"right_leg_torque",
|
| 27 |
+
"right_foot_torque",
|
| 28 |
+
"left_thigh_torque",
|
| 29 |
+
"left_leg_torque",
|
| 30 |
+
"left_foot_torque"
|
| 31 |
+
],
|
| 32 |
+
"action_dim": 6,
|
| 33 |
+
"active_action_dim": 6,
|
| 34 |
+
"action_carrier": "native",
|
| 35 |
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"rows_unit": "decision_step",
|
| 36 |
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"obs_fps": 5.0,
|
| 37 |
+
"obs_stride_raw_frames": 1,
|
| 38 |
+
"uses_state": true,
|
| 39 |
+
"state_dim": 17,
|
| 40 |
+
"state_labels": [
|
| 41 |
+
"torso_height",
|
| 42 |
+
"torso_angle",
|
| 43 |
+
"right_thigh_angle",
|
| 44 |
+
"right_leg_angle",
|
| 45 |
+
"right_foot_angle",
|
| 46 |
+
"left_thigh_angle",
|
| 47 |
+
"left_leg_angle",
|
| 48 |
+
"left_foot_angle",
|
| 49 |
+
"torso_x_velocity",
|
| 50 |
+
"torso_z_velocity",
|
| 51 |
+
"torso_angular_velocity",
|
| 52 |
+
"right_thigh_angular_velocity",
|
| 53 |
+
"right_leg_angular_velocity",
|
| 54 |
+
"right_foot_angular_velocity",
|
| 55 |
+
"left_thigh_angular_velocity",
|
| 56 |
+
"left_leg_angular_velocity",
|
| 57 |
+
"left_foot_angular_velocity"
|
| 58 |
+
],
|
| 59 |
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"state_normalization": {
|
| 60 |
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"type": "min_max",
|
| 61 |
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"min": [
|
| 62 |
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0.8091598153114319,
|
| 63 |
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-0.958375871181488,
|
| 64 |
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-1.471215009689331,
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| 65 |
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-2.750671863555908,
|
| 66 |
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-1.5357930660247803,
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| 67 |
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-1.3458030223846436,
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| 68 |
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-1.5723819732666016,
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| 69 |
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-1.5042258501052856,
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| 70 |
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-0.7429636120796204,
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| 71 |
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-5.120609760284424,
|
| 72 |
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-10.0,
|
| 73 |
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-10.0,
|
| 74 |
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-10.0,
|
| 75 |
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-10.0,
|
| 76 |
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-10.0,
|
| 77 |
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-10.0,
|
| 78 |
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-10.0
|
| 79 |
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],
|
| 80 |
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"max": [
|
| 81 |
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1.7504061460494995,
|
| 82 |
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0.9881704449653625,
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| 83 |
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0.16799136996269226,
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| 84 |
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0.33612364530563354,
|
| 85 |
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1.3760323524475098,
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| 86 |
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0.14901067316532135,
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| 87 |
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0.335942804813385,
|
| 88 |
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1.3045134544372559,
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| 89 |
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9.560564041137695,
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| 90 |
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3.40214204788208,
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| 91 |
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10.0,
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| 92 |
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10.0,
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| 93 |
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10.0,
|
| 94 |
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10.0,
|
| 95 |
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10.0,
|
| 96 |
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10.0,
|
| 97 |
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10.0
|
| 98 |
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]
|
| 99 |
+
},
|
| 100 |
+
"robot_type": "rl_games_gymnasium_native",
|
| 101 |
+
"latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/lerobot/latency_prompt_map.json",
|
| 102 |
+
"custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_issued_action_iid_s42_20261010/walker2d/_generated_mixtures/lerobot.json",
|
| 103 |
+
"gymnasium_task": {
|
| 104 |
+
"action_space": {
|
| 105 |
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"dtype": "float32",
|
| 106 |
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"high": [
|
| 107 |
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1.0,
|
| 108 |
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1.0,
|
| 109 |
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1.0,
|
| 110 |
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1.0,
|
| 111 |
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1.0,
|
| 112 |
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1.0
|
| 113 |
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],
|
| 114 |
+
"labels": [
|
| 115 |
+
"right_thigh_torque",
|
| 116 |
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"right_leg_torque",
|
| 117 |
+
"right_foot_torque",
|
| 118 |
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"left_thigh_torque",
|
| 119 |
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"left_leg_torque",
|
| 120 |
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"left_foot_torque"
|
| 121 |
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],
|
| 122 |
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"low": [
|
| 123 |
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-1.0,
|
| 124 |
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-1.0,
|
| 125 |
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-1.0,
|
| 126 |
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-1.0,
|
| 127 |
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-1.0,
|
| 128 |
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-1.0
|
| 129 |
+
],
|
| 130 |
+
"type": "box"
|
| 131 |
+
},
|
| 132 |
+
"base_prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot.",
|
| 133 |
+
"env_fps": 5.0,
|
| 134 |
+
"env_id": "LatencyBench/Walker2dContinuous-v0",
|
| 135 |
+
"frame_stack": 1,
|
| 136 |
+
"make_kwargs": {
|
| 137 |
+
"base_env_id": "Walker2d-v4",
|
| 138 |
+
"base_make_kwargs": {
|
| 139 |
+
"ctrl_cost_weight": 0.001,
|
| 140 |
+
"exclude_current_positions_from_observation": true,
|
| 141 |
+
"forward_reward_weight": 1.0,
|
| 142 |
+
"healthy_reward": 1.0,
|
| 143 |
+
"reset_noise_scale": 0.005,
|
| 144 |
+
"terminate_when_unhealthy": true
|
| 145 |
+
},
|
| 146 |
+
"render_mode": "rgb_array"
|
| 147 |
+
},
|
| 148 |
+
"noop_action": [
|
| 149 |
+
0.0,
|
| 150 |
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0.0,
|
| 151 |
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0.0,
|
| 152 |
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0.0,
|
| 153 |
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0.0,
|
| 154 |
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0.0
|
| 155 |
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],
|
| 156 |
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"obs_fps": 5.0,
|
| 157 |
+
"registration_imports": [
|
| 158 |
+
"latency_bench.envs.tasks.walker2d"
|
| 159 |
+
],
|
| 160 |
+
"state_space": {
|
| 161 |
+
"labels": [
|
| 162 |
+
"torso_height",
|
| 163 |
+
"torso_angle",
|
| 164 |
+
"right_thigh_angle",
|
| 165 |
+
"right_leg_angle",
|
| 166 |
+
"right_foot_angle",
|
| 167 |
+
"left_thigh_angle",
|
| 168 |
+
"left_leg_angle",
|
| 169 |
+
"left_foot_angle",
|
| 170 |
+
"torso_x_velocity",
|
| 171 |
+
"torso_z_velocity",
|
| 172 |
+
"torso_angular_velocity",
|
| 173 |
+
"right_thigh_angular_velocity",
|
| 174 |
+
"right_leg_angular_velocity",
|
| 175 |
+
"right_foot_angular_velocity",
|
| 176 |
+
"left_thigh_angular_velocity",
|
| 177 |
+
"left_leg_angular_velocity",
|
| 178 |
+
"left_foot_angular_velocity"
|
| 179 |
+
]
|
| 180 |
+
},
|
| 181 |
+
"task_name": "walker2d"
|
| 182 |
+
},
|
| 183 |
+
"validation_dataset_name": "lerobot__val",
|
| 184 |
+
"validation_episodes": 10,
|
| 185 |
+
"validation_frames": 10000
|
| 186 |
+
}
|
latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/profile/DONE
ADDED
|
File without changes
|
latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/profile/hardware.json
ADDED
|
@@ -0,0 +1,40 @@
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|
| 1 |
+
{
|
| 2 |
+
"driver_version": "580.95.05",
|
| 3 |
+
"gpu_class": "1x-rtx3090",
|
| 4 |
+
"gpus": [
|
| 5 |
+
{
|
| 6 |
+
"name": "NVIDIA GeForce RTX 3090",
|
| 7 |
+
"slot": 0
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"instance_id": "instance_ccd612193617cb9f",
|
| 11 |
+
"topology_links": [],
|
| 12 |
+
"torch": {
|
| 13 |
+
"backends": {
|
| 14 |
+
"cuda_cudnn_sdp_enabled": true,
|
| 15 |
+
"cuda_flash_sdp_enabled": true,
|
| 16 |
+
"cuda_math_sdp_enabled": true,
|
| 17 |
+
"cuda_matmul_allow_tf32": false,
|
| 18 |
+
"cuda_mem_efficient_sdp_enabled": true,
|
| 19 |
+
"cudnn_allow_tf32": true,
|
| 20 |
+
"cudnn_benchmark": false
|
| 21 |
+
},
|
| 22 |
+
"cuda_available": true,
|
| 23 |
+
"cuda_device_count": 1,
|
| 24 |
+
"cuda_version": "12.8",
|
| 25 |
+
"current_device": 0,
|
| 26 |
+
"current_device_name": "NVIDIA GeForce RTX 3090",
|
| 27 |
+
"device_properties": [
|
| 28 |
+
{
|
| 29 |
+
"index": 0,
|
| 30 |
+
"major": 8,
|
| 31 |
+
"minor": 6,
|
| 32 |
+
"multi_processor_count": 82,
|
| 33 |
+
"name": "NVIDIA GeForce RTX 3090",
|
| 34 |
+
"total_memory": 25296044032
|
| 35 |
+
}
|
| 36 |
+
],
|
| 37 |
+
"float32_matmul_precision": "highest",
|
| 38 |
+
"version": "2.11.0+cu128"
|
| 39 |
+
}
|
| 40 |
+
}
|
latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/profile/latency_burst_model.json
ADDED
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@@ -0,0 +1,1560 @@
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|
| 1 |
+
{
|
| 2 |
+
"burst_dwell_distribution": {
|
| 3 |
+
"distribution_type": "inverse_cdf",
|
| 4 |
+
"latency_ms": [
|
| 5 |
+
1.0,
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
1.0,
|
| 16 |
+
1.0,
|
| 17 |
+
1.0,
|
| 18 |
+
1.0,
|
| 19 |
+
1.0,
|
| 20 |
+
1.0,
|
| 21 |
+
1.0,
|
| 22 |
+
1.0,
|
| 23 |
+
1.0,
|
| 24 |
+
1.0,
|
| 25 |
+
1.0,
|
| 26 |
+
1.0,
|
| 27 |
+
1.0,
|
| 28 |
+
1.0,
|
| 29 |
+
1.0,
|
| 30 |
+
1.0,
|
| 31 |
+
1.0,
|
| 32 |
+
1.0,
|
| 33 |
+
1.0,
|
| 34 |
+
1.0,
|
| 35 |
+
1.0,
|
| 36 |
+
1.0,
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0,
|
| 41 |
+
1.0,
|
| 42 |
+
1.0,
|
| 43 |
+
1.0,
|
| 44 |
+
1.0,
|
| 45 |
+
1.0,
|
| 46 |
+
1.0,
|
| 47 |
+
1.0,
|
| 48 |
+
1.0,
|
| 49 |
+
1.0,
|
| 50 |
+
1.0,
|
| 51 |
+
1.0,
|
| 52 |
+
1.0,
|
| 53 |
+
1.0,
|
| 54 |
+
1.0,
|
| 55 |
+
1.0,
|
| 56 |
+
1.0,
|
| 57 |
+
1.0,
|
| 58 |
+
1.0,
|
| 59 |
+
1.0,
|
| 60 |
+
1.0,
|
| 61 |
+
1.0,
|
| 62 |
+
1.0,
|
| 63 |
+
1.0,
|
| 64 |
+
1.0,
|
| 65 |
+
1.0,
|
| 66 |
+
1.0,
|
| 67 |
+
1.0,
|
| 68 |
+
1.0,
|
| 69 |
+
1.1099999999999994,
|
| 70 |
+
1.4800000000000004,
|
| 71 |
+
1.8500000000000014,
|
| 72 |
+
3.100000000000012,
|
| 73 |
+
4.949999999999999,
|
| 74 |
+
6.7999999999999865,
|
| 75 |
+
7.989999999999995,
|
| 76 |
+
9.099999999999998,
|
| 77 |
+
10.280000000000001,
|
| 78 |
+
11.760000000000005,
|
| 79 |
+
13.239999999999995,
|
| 80 |
+
14.0,
|
| 81 |
+
14.0,
|
| 82 |
+
14.0,
|
| 83 |
+
14.290000000000003,
|
| 84 |
+
14.66,
|
| 85 |
+
15.029999999999998,
|
| 86 |
+
15.399999999999999,
|
| 87 |
+
15.77,
|
| 88 |
+
16.14,
|
| 89 |
+
16.509999999999998,
|
| 90 |
+
16.88,
|
| 91 |
+
18.75,
|
| 92 |
+
21.340000000000007,
|
| 93 |
+
23.930000000000014,
|
| 94 |
+
25.439999999999998,
|
| 95 |
+
26.92,
|
| 96 |
+
28.1,
|
| 97 |
+
28.470000000000002,
|
| 98 |
+
28.84,
|
| 99 |
+
29.209999999999997,
|
| 100 |
+
29.58,
|
| 101 |
+
29.95,
|
| 102 |
+
32.56,
|
| 103 |
+
35.51999999999998,
|
| 104 |
+
38.30000000000001,
|
| 105 |
+
40.15,
|
| 106 |
+
42.00000000000002,
|
| 107 |
+
43.510000000000005,
|
| 108 |
+
44.62,
|
| 109 |
+
45.73000000000001,
|
| 110 |
+
48.52000000000001,
|
| 111 |
+
51.84999999999999,
|
| 112 |
+
55.13999999999997,
|
| 113 |
+
57.730000000000004,
|
| 114 |
+
60.319999999999986,
|
| 115 |
+
62.0,
|
| 116 |
+
62.0,
|
| 117 |
+
62.0,
|
| 118 |
+
62.0,
|
| 119 |
+
62.0,
|
| 120 |
+
62.0,
|
| 121 |
+
62.0,
|
| 122 |
+
62.0,
|
| 123 |
+
62.0,
|
| 124 |
+
62.0,
|
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},
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"worker_count": 1
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| 1560 |
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}
|
latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/profile/latency_distribution.json
ADDED
|
@@ -0,0 +1,1027 @@
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ADDED
|
latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/profile/profile.json
ADDED
|
@@ -0,0 +1,60 @@
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|
| 1 |
+
{
|
| 2 |
+
"burst_model_path": "latency_burst_model.json",
|
| 3 |
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"distribution_path": "latency_distribution.json",
|
| 4 |
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"env_fps": 5,
|
| 5 |
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"frame_ms": 200.0,
|
| 6 |
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"gpu_class": "1x-rtx3090",
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| 7 |
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"instance_id": "instance_ccd612193617cb9f",
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| 8 |
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"latency_kind": "observation_to_action_latency",
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| 9 |
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"latency_method": "temporal",
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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"0": {
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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}
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| 23 |
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},
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| 24 |
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"provenance": {
|
| 25 |
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"base_config": "/workspace/lzj/latency-sensitive-bench/runs/walker2d/pi05_h1_5fps_g128_20260921/P.yaml",
|
| 26 |
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"checkpoint_kind": "latest",
|
| 27 |
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"checkpoint_path": "/workspace/lzj/latency-sensitive-bench/runs/walker2d/pi05_h1_5fps_g128_20260921/download/walker2d/zero_latency/Pi05/checkpoints/model.pt",
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| 28 |
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"session_ids": [
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| 29 |
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0,
|
| 30 |
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1,
|
| 31 |
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| 32 |
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3,
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| 33 |
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4
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| 34 |
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]
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| 35 |
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},
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| 36 |
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"sample_model_type": "hidden_regime",
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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},
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| 59 |
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"workload_id": "walker2d"
|
| 60 |
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}
|
latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/result.json
ADDED
|
@@ -0,0 +1,213 @@
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+
"primary_evidence": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/pi05/evaluation/profile_parallel32_ib8/episode_metrics.jsonl",
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| 211 |
+
"eval_config": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/pi05/eval_profile_parallel32_ib8.yaml",
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| 212 |
+
"inference_batch_size": 8
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| 213 |
+
}
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latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/evaluations/g128_current_code_iid_20261010/source_identity.json
ADDED
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{
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| 2 |
+
"revision": "a7001d2227fa8b0cbcd58b7b0e32db3dba147810",
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| 3 |
+
"source": "current worktree snapshot",
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| 4 |
+
"dirty_paths": [
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| 5 |
+
" M AGENTS.md",
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| 6 |
+
" M configs/experiments/memory/small_model/flappy_capped.yaml",
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| 7 |
+
" M configs/experiments/memory/small_model/flappy_extended.yaml",
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| 8 |
+
" M configs/experiments/observation_stride/flappy_capped.yaml",
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| 9 |
+
" M configs/experiments/observation_stride/flappy_extended.yaml",
|
| 10 |
+
" M configs/experiments/sim2real.yaml",
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| 11 |
+
" M scripts/experiments/memory/small_model/run.sh",
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| 12 |
+
" M scripts/experiments/observation_stride/run.sh",
|
| 13 |
+
" M scripts/experiments/sim2real/study.py",
|
| 14 |
+
" M tests/scripts/test_sim2real.py",
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| 15 |
+
"?? configs/experiments/sim2real/five_gpu.yaml",
|
| 16 |
+
"?? docs/cleanup-refactor/",
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| 17 |
+
"?? lagen/",
|
| 18 |
+
"?? scripts/experiments/sim2real/campaign.py",
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| 19 |
+
"?? servers.md"
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| 20 |
+
],
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| 21 |
+
"runtime_patches": [
|
| 22 |
+
{
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| 23 |
+
"path": "third_party/starVLA/starVLA/training/train_starvla.py",
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| 24 |
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"change": "Full DeepSpeed state-directory resume loads config/statistics from owning run directory without resolving a standalone model file.",
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| 25 |
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"validation": "6 existing resume/statistics tests passed; see previous campaign resume_fix_tests.log"
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| 26 |
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}
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],
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| 28 |
+
"frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010"
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| 29 |
+
}
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