diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/README.md b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/README.md index 5452373868072e5aa67165728b1dbe7f1930b9f3..79ce7faec1d1e68d95858caf188a60a77d3466fc 100644 --- a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/README.md +++ b/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="", - 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. diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/REPORT.md b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/REPORT.md new file mode 100644 index 0000000000000000000000000000000000000000..646d87405dc91219f7de045bc99483385a4a5000 --- /dev/null +++ b/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. diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/checkpoints/model.pt b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/checkpoints/model.pt index 9f0d762e5446b5234ebff78b5d473530ab5f5691..14e97199d2d4ec7328ee98ee1c30899b4e848098 100644 --- a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/checkpoints/model.pt +++ b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/checkpoints/model.pt @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:01ce038a96b6479d74680235df1edd6ce586ee040dd1cfa55bca9a9dfa60e70f +oid sha256:fcc4d3c8638228cb0bc99df9fa2b3a0177d502b1f1ae44fede1f45fe7e9a719d size 10922682525 diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/comparison.json 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"source_identity": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/source_identity.json", + "task": "ant", + "training_changes": [ + "issued labels", + "current loader contract fixes", + "gradient checkpointing", + "micro batch selected by OOM" + ], + "wins": 93 +} diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/config.full.yaml b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/config.full.yaml index 8407e0c612bc75e902ce90ce31832ba566e8aba7..1394a806d7ce72ae2c286639e0abc299b34b4fca 100644 --- a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/config.full.yaml +++ b/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 diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/config.yaml b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/config.yaml index 795564c0c4b472dd886b42609d51caf9b70d0227..af8accc468716abdc9922936e760b2c7c83f16a8 100644 --- a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/config.yaml +++ b/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: - action_dit_hidden_dim: 1024 - 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 - 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"mean_latency_ms": 145.49118910429814, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/new_bundle/checkpoints/model.pt", "config_name": "ant_pi05_new_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 139, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "pi05", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/evaluation/new_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "ant_pi05_new_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": 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"mean_latency_ms": 145.55005876773288, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/new_bundle/checkpoints/model.pt", "config_name": "ant_pi05_new_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 141, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "pi05", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/evaluation/new_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "ant_pi05_new_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/pi05_ant_issued_action_iid_s42_20261010/original_profile/profile.json", "source_run_id": "20260920T165146117775Z", "submitted_observation_frames": 1000, "workload_id": "ant"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 150.33460749417776, "p99_latency_ms": 153.2511747829919, "return_raw": null, "survival_steps": 1000} diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/evaluations/issued_action_iid_20261010/eval_config.yaml b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/evaluations/issued_action_iid_20261010/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cca7a4388715358b44d92d753ce6a1745985d7c --- /dev/null +++ b/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 diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/manifest.json b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/manifest.json index bcc89e399620c7f28f361906d55a0a17fc896608..4ba347ca2e70a32193b85b42cdc2bd8b416b2225 100644 --- a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/manifest.json +++ b/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, + -1.352102279663086, + -2.3899786472320557, + -2.775261402130127, + -5.532166481018066, -6.067046165466309, - -4.152688026428223, - -11.533856391906738, - -11.273722648620605, - -10.24732494354248, + -4.4384355545043945, + -11.61980152130127, + -11.093682289123535, + -10.247325897216797, -11.152595520019531, - -14.95035457611084, + -14.994012832641602, -13.3801851272583, - -7.523056507110596, - -10.32906723022461 + -8.11187744140625, + -10.177621841430664 ], "max": [ - 0.9959571361541748, + 0.9952877759933472, 1.098469853401184, - 0.19786669313907623, - 0.22940033674240112, - 0.9005154967308044, - 0.664892852306366, - 1.2915066480636597, - 0.5571166276931763, + 0.19607192277908325, + 0.30892205238342285, + 0.8861922025680542, + 0.6659203767776489, + 1.290499210357666, + 0.5659524202346802, 0.09998779743909836, - 0.630243182182312, + 0.6334810853004456, 0.09576962888240814, - 0.5611315369606018, - 1.318502426147461, - 6.299008369445801, - 3.3342177867889404, - 3.019660234451294, + 0.567450225353241, + 1.3182730674743652, + 6.334936618804932, + 3.24285888671875, + 3.017533540725708, 5.154758930206299, - 6.224544525146484, - 5.348186016082764, - 15.20273494720459, + 6.045602798461914, + 4.909061908721924, + 15.138640403747559, 11.13831615447998, - 5.624480724334717, - 5.72410774230957, - 12.494281768798828, - 12.612875938415527, - 6.370715618133545, + 6.42868185043335, + 5.724107265472412, + 12.606086730957031, + 12.488277435302734, + 6.483487606048584, 11.95276927947998 ] }, "robot_type": "rl_games_gymnasium", - "latency_prompt_map_path": "${PI05_RUN_DIR}/profile_latency/data/lerobot/ant_h1_5fps_profile/latency_prompt_map.json", - "custom_mixtures_path": "${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": { "action_space": { "dtype": "float32", @@ -191,7 +191,7 @@ ], "obs_fps": 5.0, "registration_imports": [ - "latency_bench.envs.gymnasium_ant" + "latency_bench.envs.tasks.ant" ], "state_space": { "labels": [ @@ -226,7 +226,7 @@ }, "task_name": "ant" }, - "validation_dataset_name": "ant_h1_5fps_profile__val", + "validation_dataset_name": "lerobot__val", "validation_episodes": 10, - "validation_frames": 9757 + "validation_frames": 10000 } \ No newline at end of file diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/normalization_binding.json b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/normalization_binding.json new file mode 100644 index 0000000000000000000000000000000000000000..4767d74baa105b9013e808a056eb8ffabec272dc --- /dev/null +++ b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/normalization_binding.json @@ -0,0 +1,6 @@ +{ + "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" +} diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/original_training_statistics.json b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/original_training_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..cc35d7fc26d40c7b05c1ca2f6c973c733bcbf938 --- /dev/null +++ b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/original_training_statistics.json @@ -0,0 +1,254 @@ +{ + "new_embodiment": 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"latency-sensitive-bench/Standard-Pipeline", - "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04", - "path": "ant/profile_latency/Pi05", - "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/profile_latency/Pi05" - }, - "hf_repo_id": "latency-sensitive-bench/benchmark-models", - "hf_path": "latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920", - "checkpoint": { - "source_file": "ant/profile_latency/Pi05/checkpoints/model.pt", - "source_sha256": "01ce038a96b6479d74680235df1edd6ce586ee040dd1cfa55bca9a9dfa60e70f", - "source_bytes": 10922682525, - "file": "checkpoints/model.pt", - "selection_rule": "only published VLA checkpoint", - "method": "copy", - "sha256": "01ce038a96b6479d74680235df1edd6ce586ee040dd1cfa55bca9a9dfa60e70f", - "bytes": 10922682525 - }, - "config_source": "ant/profile_latency/Pi05/config.yaml", - "task_contract_file": "task_contract.json", - "missing_source_files": [], - "migration": { - "operation": "copy_selected_inference_bundle", - "source_modified": false, - "evaluation_performed": false, - "experiment_status": "preserved_in_source_evidence" - }, - "action_horizon": 1 -} diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/source/README.md b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/source/README.md deleted file mode 100644 index 16e3da784b3dd8524ec3094d4171373d693d6cf6..0000000000000000000000000000000000000000 --- a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/source/README.md +++ /dev/null @@ -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. diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/source/provenance.json b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/source/provenance.json deleted file mode 100644 index fda1c6e1b90f7eb7646b94c66ff9308d4b4b5b43..0000000000000000000000000000000000000000 --- a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/source/provenance.json +++ /dev/null @@ -1,562 +0,0 @@ -{ - "task": "ant", - "backbone": { - "repo_id": "Qwen/Qwen3-VL-4B-Instruct", - "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17" - }, - "checkpoint": "steps_5000_pytorch_model.pt", - "training_steps": 5000, - "seed": 42, - "global_batch": 128, - "training_run_id": "ant_pi05_profile_h1_5fps_g128_20260920", - "condition": "profile_latency", - "source": { - "task": "ant", - "backbone": { - "repo_id": "Qwen/Qwen3-VL-4B-Instruct", - "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17" - }, - "teacher": { - "state": "TEACHER_FULL_TRACE_AUDIT_PASSED", - "verified_at": "2026-09-21T06:03:32.767075+00:00", - "run": "h1_5fps_g128_20260920", - "env_fps": 5, - "obs_fps": 5, - "raw_frames_per_training_decision": 1, - "budget_counted_env_steps": 10000000, - "actual_env_steps": 10002432, - "seed": 2222, - "profile_sha256": "19534f5cce184dd4987b8234b7d712851caef92c2ea7ca0451d8d5aa90cd850c", - "source_profile_capture_fps": [ - 5, - 5 - ], - "profile_ms_rescaled": false, - "selection": { - "selected": "final", - "candidates": { - "final": { - "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/ant_pi05_profile_appo_h1_5fps_g128_20260920/checkpoint_p0/checkpoint_000019536_10002432.pth", - "sha256": "bd40c91b4d7cbcd74b60b240638b1587e3269e93ace6fe41166c25c60da4181f", - "episodes": 20, - "seeds": [ - 104771, - 104772, - 104773, - 104774, - 104775, - 104776, - 104777, - 104778, - 104779, - 104780, - 104781, - 104782, - 104783, - 104784, - 104785, - 104786, - 104787, - 104788, - 104789, - 104790 - ], - "returns": [ - 4387.684316148426, - 4506.74232190309, - 4479.172451874021, - 4389.610530796052, - 4527.969076051201, - 4532.91391579832, - 4480.349285462922, - 4648.747994777685, - 4536.536483122084, - 4485.51685443897, - 4460.708050489044, - 4419.17757232338, - 4393.322009171424, - 4492.807308077739, - 4510.353408400214, - 4407.056274506973, - 4576.498658344057, - 4466.795111615093, - 4342.463588897995, - 4449.385739559862 - ], - "mean": 4474.6905475879275, - "population_std": 71.05590293801662, - "strict_gt3000": 20 - }, - "training_best": { - "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/ant_pi05_profile_appo_h1_5fps_g128_20260920/checkpoint_p0/best_000019536_10002432_reward_3737.439.pth", - "sha256": "4ffd8b0969e7c68515561cef98f5364cf0535a4d1edd46d9d15fc4b645d4aa4d", - "episodes": 20, - "seeds": [ - 104771, - 104772, - 104773, - 104774, - 104775, - 104776, - 104777, - 104778, - 104779, - 104780, - 104781, - 104782, - 104783, - 104784, - 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"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" -} diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/training.complete.json b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/training.complete.json new file mode 100644 index 0000000000000000000000000000000000000000..b36d593b70423ab62e0bef033dd27ae5013e2df3 --- /dev/null +++ b/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" +} diff --git a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/validation.json b/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/validation.json deleted file mode 100644 index 273e59a890533c3ac11b328f5323a294d241d468..0000000000000000000000000000000000000000 --- a/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/validation.json +++ /dev/null @@ -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" -}