Publish corrected issued-action ant pi05 profile model

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/README.md

@@ -1,31 +1,9 @@
-# ant / qwenpi_v3
+# ant Pi0.5 profile model
 
-Training condition: `latency-aware`. Run: `ant_pi05_profile_h1_5fps_g128_20260920`.
+Corrected source-observation teacher-issued action supervision.
 
-Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/profile_latency/Pi05) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+Step 5000, seed 42, global batch 128, gradient checkpointing enabled.
+Evaluation: 100 episodes, seeds 42–141, simulated IID, latency seed 0, 5 FPS, H1, cap 1000, parallel 32, simulated capacity 1.
 
-- Checkpoint: `checkpoints/model.pt`
-- Selection: only published VLA checkpoint
-- Checkpoint SHA256: `01ce038a96b6479d74680235df1edd6ce586ee040dd1cfa55bca9a9dfa60e70f`
-- 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.
-
-See [the original model notes](source/README.md) for experiment results and limitations.
-
-[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-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920"
-snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
-                  allow_patterns=[prefix + "/**"])
-```
-
-Use the verified import commit listed in the repository's import report.
+See comparison.json, training.complete.json and evaluations/issued_action_iid_20261010 for checkpoint and episode evidence.
+Inference state statistics use the source manifest raw-state extrema; original training statistics are retained.

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/REPORT.md

@@ -0,0 +1,15 @@
+# Ant Pi0.5 IID rerun
+
+Training and formal evaluation completed. Publication was not performed.
+
+Protocol: simulated IID, 100 episodes per checkpoint, seeds 42–141, latency seed 0, 5 FPS, H1, cap 1000.
+Parallel environments: 32; simulated capacity: 1 per environment.
+
+| Model | Mean return | Population SD | Mean length |
+| --- | ---: | ---: | ---: |
+| old | 1338.1513 | 765.0874 | 609.22 |
+| new | 3529.1357 | 1239.4870 | 869.34 |
+
+Mean paired gain: 2190.9844; improved seeds: 93/100.
+
+Changes include corrected labels, loader code, checkpointing, batch selection and recollected data. This is not a label-only causal comparison.

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/checkpoints/model.pt

@@ -1,3 +1,3 @@
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+oid sha256:fcc4d3c8638228cb0bc99df9fa2b3a0177d502b1f1ae44fede1f45fe7e9a719d
 size 10922682525

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/comparison.json

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+}

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/config.full.yaml

@@ -1,17 +1,16 @@
 framework:
   name: QwenPI_v3
   qwenvl:
-    base_vlm: ${oc.env:PI05_BACKBONE_DIR}
+    base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
     attn_implementation: flash_attention_2
     vl_hidden_dim: 2560
     num_vl_layers: 36
-    enable_gradient_checkpointing: false
+    enable_gradient_checkpointing: true
   action_model:
     action_model_type: LayerwiseFM
     action_dim: 8
     state_dim: 27
     state_encoding: continuous_projector
-    task_objective: null
     action_horizon: 1
     repeated_diffusion_steps: 2
     num_inference_timesteps: 4
@@ -38,6 +37,7 @@ framework:
     action_env_dim: 8
     future_action_window_size: 0
     past_action_window_size: 0
+    task_objective: null
 datasets:
   vla_data:
     dataset_py: lerobot_datasets
@@ -45,7 +45,7 @@ datasets:
     data_root_dir: /
     data_mix: train
     eval_data_mix: validation
-    custom_mixtures_path: ${PI05_RUN_DIR}/profile_latency/vla/mixture.json
+    custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/mixture.json
     action_type: continuous
     sequential_step_sampling: true
     eval_sequential_step_sampling: null
@@ -76,7 +76,7 @@ datasets:
       eval_at_phase_end: false
       save_at_phase_end: false
       computed_plan: null
-    per_device_batch_size: 32
+    per_device_batch_size: 64
     load_all_data_for_training: true
     num_obs_frames: 1
     image_mode: single
@@ -144,7 +144,7 @@ datasets:
       - 0.0
       obs_fps: 5.0
       registration_imports:
-      - latency_bench.envs.gymnasium_ant
+      - latency_bench.envs.tasks.ant
       state_space:
         labels:
         - torso_z
@@ -236,7 +236,7 @@ trainer:
     enabled: false
     log_interval: 10
   gradient_clipping: 1.0
-  gradient_accumulation_steps: 2
+  gradient_accumulation_steps: 1
   distributed_backend: deepspeed
   is_resume: false
   pretrained_checkpoint: null
@@ -251,15 +251,15 @@ trainer:
     weight_decay: 1.0e-08
     fused: true
   save_format: pt
-run_id: ant_pi05_profile_h1_5fps_g128_20260920
-run_root_dir: ${PI05_RUN_DIR}/profile_latency/vla/training
+run_id: ant_pi05_issued_action_iid_s42_20261010
+run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/training
 seed: 42
 is_debug: false
 version_id: '0.21'
 wandb_project: latency-sensitive-bench
 wandb_entity: dongqianyu99-zhejiang-university
-wandb_name: ant_pi05_profile_h1_5fps_g128_20260920
-wandb_group: pi05-seven-env
+wandb_name: ant_pi05_issued_action_iid_s42_20261010
+wandb_group: pi05-issued-action-iid-20261010
 wandb_tags:
 - ant
 - profile_latency
@@ -276,5 +276,5 @@ checkpoint:
   save_training_state: true
   local:
     keep_last_n: 1
-config_yaml: ${PI05_RUN_DIR}/profile_latency/train.yaml
-output_dir: ${PI05_RUN_DIR}/profile_latency/vla/training/ant_pi05_profile_h1_5fps_g128_20260920
+config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/train.yaml
+output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/training/ant_pi05_issued_action_iid_s42_20261010

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/config.yaml

@@ -1,43 +1,20 @@
 framework:
   name: QwenPI_v3
   qwenvl:
-    base_vlm: ${oc.env:PI05_BACKBONE_DIR}
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    enable_gradient_checkpointing: true
     attn_implementation: flash_attention_2
-    vl_hidden_dim: 2560
-    num_vl_layers: 36
-    enable_gradient_checkpointing: false
   action_model:
-    action_model_type: LayerwiseFM
     action_dim: 8
+    action_env_dim: 8
     state_dim: 27
-    state_encoding: continuous_projector
-    task_objective: null
     action_horizon: 1
-    repeated_diffusion_steps: 2
-    num_inference_timesteps: 4
-    add_pos_embed: true
-    max_seq_len: 1024
-    num_target_vision_tokens: 32
-    noise_beta_alpha: 1.5
-    noise_beta_beta: 1.0
-    noise_s: 0.999
-    num_timestep_buckets: 1000
-    diffusion_model_cfg:
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-      dropout: 0.2
-      final_dropout: true
-      interleave_self_attention: true
-      norm_type: ada_norm
-      positional_embeddings: null
-      attention_head_dim: 64
-      num_layers: 36
-      input_embedding_dim: 1024
-      cross_attention_dim: 1024
-      output_dim: 1024
-      num_attention_heads: 16
-    action_env_dim: 8
     future_action_window_size: 0
     past_action_window_size: 0
+    task_objective: null
+    state_encoding: continuous_projector
+    num_inference_timesteps: 4
+    repeated_diffusion_steps: 2
 version_id: '0.21'
 datasets:
   vla_data:
@@ -105,7 +82,7 @@ datasets:
       - 0.0
       obs_fps: 5.0
       registration_imports:
-      - latency_bench.envs.gymnasium_ant
+      - latency_bench.envs.tasks.ant
       state_space:
         labels:
         - torso_z
@@ -136,6 +113,7 @@ datasets:
         - back_right_hip_angular_velocity
         - back_right_ankle_angular_velocity
       task_name: ant
+    robot_type: rl_games_gymnasium
 trainer:
   pretrained_checkpoint: null
   profile_timing:

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/dataset_statistics.json

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latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/evaluation/comparison.json

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-    "post_evaluation_checkpoint_sha256_verified": true,
-    "post_evaluation_checkpoint_hash": {
-      "state": "COMPLETED_F_CHECKPOINT_STREAM_HASH_VERIFIED",
-      "path": "/dev/shm/lsb-ant-profile-f-20f7452d/ant/profile_latency/Pi05/checkpoints/model.pt",
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-      "gpu0_protection_check": "empty_before_hash",
-      "hash_started_utc": "2026-09-22T03:26:04.687079982Z",
-      "hash_finished_utc": "2026-09-22T03:26:10.917816690Z"
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-    "prompt_key": 1,
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-      "latency": "measured-only sync_cuda",
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-    "preclip_commands_requiring_native_clip": 5,
-    "preclip_range": [
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-    "state_note": "State is bound to the F manifest/config and prior loader verification; per-step state vectors were not logged.",
-    "capacity_drop_note": "Observation and action drop counts are taken from the actual F step/attempt/action joins and episode metadata.",
-    "baseline": {
-      "source": "B-recovered-audit.json",
-      "state": "B20_SPLIT_SESSION_DERIVED_AUDIT_PASSED",
-      "split_session": {
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-          0,
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-        ],
-        "container_restarted": true,
-        "diffusion_rng_stream_reset": true,
-        "continuous_session_equivalence": false
-      },
-      "rng_caveat": "The B recovery session reset the diffusion RNG stream; it is retained as recorded."
-    }
-  },
-  "paired": [
-    {
-      "seed": 42,
-      "B": 32.501595490013216,
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-    },
-    {
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-    {
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-  ],
-  "mean_gain": 1643.1092616465867,
-  "population_std_gain": 824.5230676778788,
-  "wins": 19,
-  "ties": 0,
-  "losses": 1,
-  "gain_percent": 1248.5403549120786,
-  "protocol": "Ant native state27/action8, seeds42-61, cap1000, env/obs5/5FPS, one worker, measured-only CUDA-synchronized latency, B prompt0 and F prompt1, hold/FIFO; no IID delay.",
-  "causal_scope": "Descriptive paired comparison under the two measured-latency runs; no equal-delay or architecture-ranking claim."
-}

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/evaluation/status.json

@@ -1,47 +0,0 @@
-{
-  "state": "PROFILE_MODEL_F20_DEPLOYMENT_AUDIT_VERIFIED",
-  "model_revision": "20f7452df3e281b6aea0f5a66a1602eb70297490",
-  "checkpoint_sha256": "01ce038a96b6479d74680235df1edd6ce586ee040dd1cfa55bca9a9dfa60e70f",
-  "training_steps": 5000,
-  "formal_source_state": "COMPLETED",
-  "profile_validation_history": {
-    "state": "CPU_STATE_DICT_AND_BUNDLE_HASH_VERIFIED",
-    "saved_model_gpu_forward": "NOT_RUN",
-    "closed_loop_evaluation": "NOT_RUN"
-  },
-  "F_deployed_inference_audit": "F20_FULL_STEP_ACTION_AUDIT_PASSED",
-  "F_independent_heldout_gpu_forward": "NOT_RUN",
-  "F": {
-    "F_publication_revision": "591db41843567bf4a1946ddfe66d2f51aaf8d7c6",
-    "F_model_revision": "20f7452df3e281b6aea0f5a66a1602eb70297490",
-    "F_checkpoint_sha256": "01ce038a96b6479d74680235df1edd6ce586ee040dd1cfa55bca9a9dfa60e70f",
-    "F_audit_state": "F20_FULL_STEP_ACTION_AUDIT_PASSED",
-    "F_verification_published_sha256": "bf9d8c4605b5a4406dea883b8bf498aa13c1d88d7c7cc83293374ccdd36c3777",
-    "F_comparison_published_sha256": "bbdce3420304948b37554a7c4f2b37097ee92ac49baa08bc08b4c1d2a9266150",
-    "F_config_published_sha256": "387c32ea04ca864934ad10e1b31e41490e526cae71b08cc84e0eb4057ae6313a",
-    "F_checkpoint_hash_published_sha256": "acccd0cfcd9c034dda2ba318ea86aa80b55fdca8691bef71e9f66d88f3817c3b",
-    "seeds": "42-61",
-    "episodes": 20,
-    "raw_step_cap": 1000,
-    "raw_steps": 15413,
-    "actions": 15393,
-    "invalid_actions": 0,
-    "dropped_actions": 0,
-    "mean_length": 770.65,
-    "F_mean_return": 1774.7116768334226,
-    "F_population_std": 824.6118449109582,
-    "action_latency_mean_ms": 142.5879202059613,
-    "action_latency_p95_ms": 148.24638906866312,
-    "paired_gain": 1643.1092616465867,
-    "paired_gain_percent": 1248.5403549120786,
-    "wins_ties_losses": [
-      19,
-      0,
-      1
-    ],
-    "baseline_caveat": "The B recovery session reset the diffusion RNG stream; it is retained as recorded.",
-    "causal_scope": "Descriptive paired comparison under the two measured-latency runs; no equal-delay or architecture-ranking claim."
-  },
-  "weights_changed": false,
-  "metadata_only_closeout": true
-}

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/evaluations/issued_action_iid_20261010/eval_config.yaml

@@ -0,0 +1,194 @@
+experiment:
+  name: ant_pi05_new_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: 5
+  obs_fps: 5
+  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/pi05_ant_issued_action_iid_s42_20261010/original_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/pi05_ant_issued_action_iid_s42_20261010/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/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/pi05_ant_issued_action_iid_s42_20261010/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/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/pi05_ant_issued_action_iid_s42_20261010/evaluation/new_parallel32
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: true
+  save_action_records: true
+  save_latency_records: true

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/manifest.json

@@ -1,13 +1,13 @@
 {
-  "dataset_name": "ant_h1_5fps_profile",
+  "dataset_name": "lerobot",
   "env_name": "ant",
   "episodes": 90,
-  "frames": 89808,
+  "frames": 89896,
   "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 (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
   ],
   "format": "lerobot_v2_image_parquet",
-  "source": "${PI05_RUN_DIR}/profile_latency/data/raw_profile",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/raw",
   "integration_name": "gymnasium",
   "task_name": "ant",
   "action_layout": "gymnasium_continuous_v1",
@@ -71,67 +71,67 @@
   "state_normalization": {
     "type": "min_max",
     "min": [
-      0.45712053775787354,
-      0.42918211221694946,
-      -0.28085193037986755,
-      -0.4074253737926483,
-      -0.5388316512107849,
-      -0.615333616733551,
+      0.456584632396698,
+      0.45627862215042114,
+      -0.28645825386047363,
+      -0.38711103796958923,
+      -0.4575093686580658,
+      -0.6149909496307373,
       -0.09917011857032776,
-      -0.6332460641860962,
+      -0.6222652196884155,
       -1.2830065488815308,
-      -0.6662936806678772,
+      -0.6641862392425537,
       -1.334958553314209,
       -0.5831336379051208,
-      -0.09470116347074509,
-      -1.3858237266540527,
-      -3.0080575942993164,
-      -2.8010413646698,
-      -5.880337715148926,
+      -0.09473074972629547,
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-  "custom_mixtures_path": "${PI05_RUN_DIR}/profile_latency/data/lerobot/_generated_mixtures/ant_h1_5fps_profile.json",
+  "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/_generated_mixtures/lerobot.json",
   "gymnasium_task": {
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@@ -191,7 +191,7 @@
     ],
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     "registration_imports": [
-      "latency_bench.envs.gymnasium_ant"
+      "latency_bench.envs.tasks.ant"
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     "state_space": {
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@@ -226,7 +226,7 @@
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     "task_name": "ant"
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-  "validation_dataset_name": "ant_h1_5fps_profile__val",
+  "validation_dataset_name": "lerobot__val",
   "validation_episodes": 10,
-  "validation_frames": 9757
+  "validation_frames": 10000
 }

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/normalization_binding.json

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+{
+  "weights": "unchanged",
+  "original_statistics": "original_training_statistics.json",
+  "state_transform": "Raw-state min/max from the source manifest reproduces converter-normalized training inputs.",
+  "manifest": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/new_bundle/manifest.json"
+}

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/original_training_statistics.json

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latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/provenance.json

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-{
-  "task": "ant",
-  "model": "qwenpi_v3",
-  "training_condition": "latency-aware",
-  "training_run_id": "ant_pi05_profile_h1_5fps_g128_20260920",
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-    "path": "ant/profile_latency/Pi05",
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-  },
-  "hf_repo_id": "latency-sensitive-bench/benchmark-models",
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-    "source_modified": false,
-    "evaluation_performed": false,
-    "experiment_status": "preserved_in_source_evidence"
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latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/source/README.md

@@ -1,5 +0,0 @@
-# Ant Pi0.5 — profile latency closeout
-
-This profile-latency model is the fresh QwenPI_v3 Ant H1/5FPS training result, with native state27/action8 and the published checkpoint SHA `01ce038a96b6479d74680235df1edd6ce586ee040dd1cfa55bca9a9dfa60e70f`. The original package validation remains CPU tensor and bundle verification; that historical record continues to state that an independent saved-model GPU forward was not run.
-
-A separate F20 deployment audit exercised this fixed published bundle on seeds42–61 at measured 5/5FPS latency, cap1000, native state/action contracts. It audited 20 complete traces and is published at dataset revision `591db41843567bf4a1946ddfe66d2f51aaf8d7c6` with F mean `1774.711677` and B/F paired comparison in `evaluation/comparison.json`. The F audit has no equal-delay or architecture-ranking causal scope.

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/source/provenance.json

@@ -1,562 +0,0 @@
-{
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-    "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17"
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-  "global_batch": 128,
-  "training_run_id": "ant_pi05_profile_h1_5fps_g128_20260920",
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-      "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17"
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-      "run": "h1_5fps_g128_20260920",
-      "env_fps": 5,
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-      "raw_budget_caveat": "Actual counted envsteps are read from Final checkpoint, not W&B telemetry; target10M atstride1.",
-      "downstream": "After positive12attemptprobe,100accepted strict>3000 within120TOTALincludingprobe12,actualreplayQA,freshPi05global128/micro32/acc2/GCfalse/ZeRO2/5000updates,andRTX3090F20; otherwise scientificstop",
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-      "gpu_type": "H200",
-      "gpus": 2,
-      "reason": "Coordinator reallocated same2H200 recipe from occupied6/7 to idle4/5; scientifichyperparameters unchanged"
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-  "training_config_sha256": "8fcc1fdca9a567462f38a896ed3d0bf6c830b1bf4842236a07b2381d943962c2",
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latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/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": 5.0,
-  "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": 5.0,
-  "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"
-}

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/training.complete.json

@@ -0,0 +1,18 @@
+{
+  "attempts": [
+    {
+      "accumulation": 1,
+      "micro_batch": 64,
+      "state": "COMPLETED"
+    }
+  ],
+  "global_batch": 128,
+  "gpus": [
+    2,
+    3
+  ],
+  "gradient_checkpointing": true,
+  "seed": 42,
+  "steps": 5000,
+  "wandb_mode": "offline"
+}

latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/validation.json

@@ -1,11 +0,0 @@
-{
-  "state": "CPU_STATE_DICT_AND_BUNDLE_HASH_VERIFIED",
-  "checkpoint_sha256": "01ce038a96b6479d74680235df1edd6ce586ee040dd1cfa55bca9a9dfa60e70f",
-  "tensor_count": 1386,
-  "all_floating_tensors_finite": true,
-  "training_steps": 5000,
-  "global_batch": 128,
-  "saved_model_gpu_forward": "NOT_RUN",
-  "closed_loop_evaluation": "NOT_RUN",
-  "verified_at": "2026-09-21T15:24:41.867755+00:00"
-}