Archive original walker2d pi05 profile bundle

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/README.md

@@ -0,0 +1,31 @@
+# walker2d / qwenpi_v3
+
+Training condition: `latency-aware`. Run: `walker2d_pi05_profile_h1_5fps_g128_20260922_m32`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/Pi05) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoints/model.pt`
+- Selection: only published VLA checkpoint
+- Checkpoint SHA256: `248d8959f1c4b4045b64fd0c4f7a8e086606eea5827f263b04ef703e26b4cd84`
+- 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/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:248d8959f1c4b4045b64fd0c4f7a8e086606eea5827f263b04ef703e26b4cd84
+size 10922653853

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/config.full.yaml

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+framework:
+  name: QwenPI_v3
+  qwenvl:
+    base_vlm: ${oc.env:PI05_BACKBONE_DIR}
+    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: 6
+    state_dim: 17
+    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: 6
+    future_action_window_size: 0
+    past_action_window_size: 0
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /
+    data_mix: train
+    eval_data_mix: validation
+    custom_mixtures_path: ${PI05_RUN_DIR}/profile_latency/vla/mixture.json
+    action_type: continuous
+    sequential_step_sampling: true
+    eval_sequential_step_sampling: null
+    num_workers: 4
+    eval_num_workers: 0
+    prefetch_factor: 2
+    persistent_workers: true
+    pin_memory: true
+    shuffle: true
+    action_balance:
+      enabled: false
+      strategy: balanced_epoch
+      action_key: action_id
+      target_flap_fraction: 0.3
+      noop_id: 0
+      flap_id: 1
+    latency_curriculum:
+      enabled: false
+      strategy: exclusive
+      latencies: null
+      phase_steps: null
+      phase_distributions: null
+      new_latency_passes: 1.0
+      replay_passes: 0.25
+      target_total_passes: 2.0
+      final_equalization: true
+      step_budget_mode: auto
+      eval_at_phase_end: false
+      save_at_phase_end: false
+      computed_plan: null
+    per_device_batch_size: 32
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size:
+    - 224
+    - 224
+    video_backend: pyav
+    lerobot_version: v2.0
+    gymnasium_task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - right_thigh_torque
+        - right_leg_torque
+        - right_foot_torque
+        - left_thigh_torque
+        - left_leg_torque
+        - left_foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      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.
+      env_fps: 5.0
+      env_id: LatencyBench/Walker2dContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Walker2d-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_walker2d
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - right_thigh_angle
+        - right_leg_angle
+        - right_foot_angle
+        - left_thigh_angle
+        - left_leg_angle
+        - left_foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - right_thigh_angular_velocity
+        - right_leg_angular_velocity
+        - right_foot_angular_velocity
+        - left_thigh_angular_velocity
+        - left_leg_angular_velocity
+        - left_foot_angular_velocity
+      task_name: walker2d
+    active_action_dim: 6
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: flappy_train
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: flappy_train
+  mixed_converted_name: flappy_mixed_latency_train
+  single_latency_filter: null
+  mixed_latency_filter: null
+  force_download: false
+  setup_force: false
+  skip_verification: false
+  target_latency_unit: observation_steps
+  verify_rows: 200
+  max_episodes: null
+  episodes_per_latency: null
+  latency_filter: null
+  debug_subset:
+    enabled: false
+    max_episodes: 5
+    suffix: debug
+base_model:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+initialization:
+  checkpoint_local_dir: null
+  checkpoint_hf_repo_id: null
+  checkpoint_filename: null
+trainer:
+  max_train_steps: 5000
+  num_warmup_steps: 100
+  save_interval: 500
+  eval_interval: 500
+  eval_num_batches: 200
+  per_latency_eval_num_batches: null
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  cc_f1_tolerance: 1
+  learning_rate:
+    base: 2.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  freeze_modules: ''
+  freeze_vit: false
+  freeze_tied_embedding: false
+  freeze_llm_layers: []
+  loss_scale:
+    vla: 1.0
+    vlm: 0.1
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 1
+  profile_timing:
+    enabled: false
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 2
+  distributed_backend: deepspeed
+  is_resume: false
+  pretrained_checkpoint: null
+  resume_step: 0
+  reload_modules: null
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+    fused: true
+  save_format: pt
+run_id: walker2d_pi05_profile_h1_5fps_g128_20260922_m32
+run_root_dir: ${PI05_RUN_DIR}/profile_latency/vla/training
+seed: 42
+is_debug: false
+version_id: '0.21'
+wandb_project: latency-sensitive-bench
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_name: walker2d_pi05_profile_h1_5fps_g128_20260922_m32
+wandb_group: pi05-seven-env
+wandb_tags:
+- walker2d
+- profile_latency
+- Pi05
+- h1
+training_latency_condition: profile_latency
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+checkpoint:
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: true
+  local:
+    keep_last_n: 1
+global_batch: 128
+config_yaml: ${PI05_RUN_DIR}/profile_latency/train-m32.yaml
+output_dir: ${PI05_RUN_DIR}/profile_latency/vla/training/walker2d_pi05_profile_h1_5fps_g128_20260922_m32

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/config.yaml

@@ -0,0 +1,142 @@
+framework:
+  name: QwenPI_v3
+  qwenvl:
+    base_vlm: ${oc.env:PI05_BACKBONE_DIR}
+    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: 6
+    state_dim: 17
+    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: 6
+    future_action_window_size: 0
+    past_action_window_size: 0
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size:
+    - 224
+    - 224
+    image_mode: single
+    stitch_grid:
+    - 2
+    - 2
+    num_obs_frames: 1
+    gymnasium_task_contract: &id001
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - right_thigh_torque
+        - right_leg_torque
+        - right_foot_torque
+        - left_thigh_torque
+        - left_leg_torque
+        - left_foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      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.
+      env_fps: 5.0
+      env_id: LatencyBench/Walker2dContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Walker2d-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_walker2d
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - right_thigh_angle
+        - right_leg_angle
+        - right_foot_angle
+        - left_thigh_angle
+        - left_leg_angle
+        - left_foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - right_thigh_angular_velocity
+        - right_leg_angular_velocity
+        - right_foot_angular_velocity
+        - left_thigh_angular_velocity
+        - left_leg_angular_velocity
+        - left_foot_angular_velocity
+      task_name: walker2d
+trainer:
+  pretrained_checkpoint: null
+  profile_timing:
+    enabled: false
+    log_interval: 10
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+rl_games:
+  model_alias: pi05
+  task: gymnasium
+  action_carrier: native
+  gymnasium:
+    task_contract: *id001
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/dataset_statistics.json

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+{
+  "new_embodiment": {
+    "action": {
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+      ]
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+    "num_transitions": 88708,
+    "num_trajectories": 90
+  }
+}

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/latency_prompt_map.json

@@ -0,0 +1,17 @@
+{
+  "1": {
+    "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.",
+    "latency_raw_frames": 1,
+    "latency_ms": 200.0
+  },
+  "2": {
+    "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.",
+    "latency_raw_frames": 2,
+    "latency_ms": 400.0
+  },
+  "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 3 raw frames (600.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "latency_raw_frames": 3,
+    "latency_ms": 600.0
+  }
+}

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/manifest.json

@@ -0,0 +1,186 @@
+{
+  "dataset_name": "walker2d_h1_5fps_profile",
+  "env_name": "walker2d",
+  "episodes": 90,
+  "frames": 88708,
+  "task_prompts": [
+    "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.",
+    "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.",
+    "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."
+  ],
+  "format": "lerobot_v2_image_parquet",
+  "source": "${PI05_RUN_DIR}/profile_latency/data/raw_profile",
+  "integration_name": "gymnasium",
+  "task_name": "walker2d",
+  "action_layout": "gymnasium_continuous_v1",
+  "action_labels": [
+    "right_thigh_torque",
+    "right_leg_torque",
+    "right_foot_torque",
+    "left_thigh_torque",
+    "left_leg_torque",
+    "left_foot_torque"
+  ],
+  "carrier_action_labels": [
+    "right_thigh_torque",
+    "right_leg_torque",
+    "right_foot_torque",
+    "left_thigh_torque",
+    "left_leg_torque",
+    "left_foot_torque"
+  ],
+  "action_dim": 6,
+  "active_action_dim": 6,
+  "action_carrier": "native",
+  "rows_unit": "decision_step",
+  "obs_fps": 5.0,
+  "obs_stride_raw_frames": 1,
+  "uses_state": true,
+  "state_dim": 17,
+  "state_labels": [
+    "torso_height",
+    "torso_angle",
+    "right_thigh_angle",
+    "right_leg_angle",
+    "right_foot_angle",
+    "left_thigh_angle",
+    "left_leg_angle",
+    "left_foot_angle",
+    "torso_x_velocity",
+    "torso_z_velocity",
+    "torso_angular_velocity",
+    "right_thigh_angular_velocity",
+    "right_leg_angular_velocity",
+    "right_foot_angular_velocity",
+    "left_thigh_angular_velocity",
+    "left_leg_angular_velocity",
+    "left_foot_angular_velocity"
+  ],
+  "state_normalization": {
+    "type": "min_max",
+    "min": [
+      0.801384687423706,
+      -0.3846876919269562,
+      -1.3016910552978516,
+      -2.7476444244384766,
+      -1.5346914529800415,
+      -0.8290755152702332,
+      -2.1717329025268555,
+      -1.4086319208145142,
+      -0.415105402469635,
+      -4.531341552734375,
+      -10.0,
+      -10.0,
+      -10.0,
+      -10.0,
+      -10.0,
+      -10.0,
+      -10.0
+    ],
+    "max": [
+      1.7503005266189575,
+      0.9993473291397095,
+      0.15303508937358856,
+      0.31470051407814026,
+      1.3454551696777344,
+      0.16739727556705475,
+      0.3809681832790375,
+      1.2573986053466797,
+      9.562085151672363,
+      3.402139902114868,
+      10.0,
+      10.0,
+      10.0,
+      10.0,
+      10.0,
+      10.0,
+      10.0
+    ]
+  },
+  "robot_type": "rl_games_gymnasium",
+  "latency_prompt_map_path": "${PI05_RUN_DIR}/profile_latency/data/lerobot/walker2d_h1_5fps_profile/latency_prompt_map.json",
+  "custom_mixtures_path": "${PI05_RUN_DIR}/profile_latency/data/lerobot/_generated_mixtures/walker2d_h1_5fps_profile.json",
+  "gymnasium_task": {
+    "action_space": {
+      "dtype": "float32",
+      "high": [
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ],
+      "labels": [
+        "right_thigh_torque",
+        "right_leg_torque",
+        "right_foot_torque",
+        "left_thigh_torque",
+        "left_leg_torque",
+        "left_foot_torque"
+      ],
+      "low": [
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0
+      ],
+      "type": "box"
+    },
+    "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.",
+    "env_fps": 5.0,
+    "env_id": "LatencyBench/Walker2dContinuous-v0",
+    "frame_stack": 1,
+    "make_kwargs": {
+      "base_env_id": "Walker2d-v4",
+      "base_make_kwargs": {
+        "ctrl_cost_weight": 0.001,
+        "exclude_current_positions_from_observation": true,
+        "forward_reward_weight": 1.0,
+        "healthy_reward": 1.0,
+        "reset_noise_scale": 0.005,
+        "terminate_when_unhealthy": true
+      },
+      "render_mode": "rgb_array"
+    },
+    "noop_action": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "obs_fps": 5.0,
+    "registration_imports": [
+      "latency_bench.envs.gymnasium_walker2d"
+    ],
+    "state_space": {
+      "labels": [
+        "torso_height",
+        "torso_angle",
+        "right_thigh_angle",
+        "right_leg_angle",
+        "right_foot_angle",
+        "left_thigh_angle",
+        "left_leg_angle",
+        "left_foot_angle",
+        "torso_x_velocity",
+        "torso_z_velocity",
+        "torso_angular_velocity",
+        "right_thigh_angular_velocity",
+        "right_leg_angular_velocity",
+        "right_foot_angular_velocity",
+        "left_thigh_angular_velocity",
+        "left_leg_angular_velocity",
+        "left_foot_angular_velocity"
+      ]
+    },
+    "task_name": "walker2d"
+  },
+  "validation_dataset_name": "walker2d_h1_5fps_profile__val",
+  "validation_episodes": 10,
+  "validation_frames": 10000
+}

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/provenance.json

@@ -0,0 +1,34 @@
+{
+  "task": "walker2d",
+  "model": "qwenpi_v3",
+  "training_condition": "latency-aware",
+  "training_run_id": "walker2d_pi05_profile_h1_5fps_g128_20260922_m32",
+  "source": {
+    "repo_id": "latency-sensitive-bench/Standard-Pipeline",
+    "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
+    "path": "walker2d/profile_latency/Pi05",
+    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/Pi05"
+  },
+  "hf_repo_id": "latency-sensitive-bench/benchmark-models",
+  "hf_path": "latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32",
+  "checkpoint": {
+    "source_file": "walker2d/profile_latency/Pi05/checkpoints/model.pt",
+    "source_sha256": "248d8959f1c4b4045b64fd0c4f7a8e086606eea5827f263b04ef703e26b4cd84",
+    "source_bytes": 10922653853,
+    "file": "checkpoints/model.pt",
+    "selection_rule": "only published VLA checkpoint",
+    "method": "copy",
+    "sha256": "248d8959f1c4b4045b64fd0c4f7a8e086606eea5827f263b04ef703e26b4cd84",
+    "bytes": 10922653853
+  },
+  "config_source": "walker2d/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
+}

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/source/README.md

@@ -0,0 +1,5 @@
+# walker2d Pi0.5 profile-latency VLA
+
+Fresh QwenPI_v3,5000 updates,seed42,global128 (micro32 × accumulation2 (explicitly approved after original micro64 OOM) ×2 GPUs),GC off,ZeRO2,H1,RGB224,5/5FPS,native state/action and train-only state min-max once. Dataset retained the >3000 gate: 100 accepted episodes in 118 total attempts including the original probe.
+
+Set PI05_BACKBONE_DIR to Qwen3-VL-4B-Instruct revision ebb281ec70b05090aa6165b016eac8ec08e71b17. Use config.yaml/checkpoints/model.pt and latency_prompt_map.json. Weights are byte-identical to final training export. CPU tensor-finiteness/hash validation passed; actual realtime F evaluation is a separate stage. No optimizer, training state, W&B cache or credentials are included.

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/source/provenance.json

@@ -0,0 +1,96 @@
+{
+  "task": "walker2d",
+  "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": "walker2d_pi05_profile_h1_5fps_g128_20260922_m32",
+  "condition": "profile_latency",
+  "source": {
+    "task": "walker2d",
+    "teacher_verification_sha256": "20a4dde06a7ab677d8cb59116b3cb69d75204aa0fc463e8c48511a69288920e2",
+    "profile_sha256": "b5409f8578bec62e2c5232c3916b3ddd2e0e9494031259265540ba6aef882e5e",
+    "profile_publication_revision": "e1a9bdd566b96d5da4703f769d40eab656af491e",
+    "selected_checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_walker2d_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/best_000018928_9691136_reward_4148.139.pth",
+    "selected_checkpoint_sha256": "3d51959c7d65d8e9d1ec34cfc4a8dc7741abf9726439512bc7a0442fd265044e",
+    "selected_checkpoint_env_steps": 9691136,
+    "probe12_state_sha256": "266f2ec22ca31030bcc2e2161543314b579d178a1f45ff428b3278aa0bdead58",
+    "full_probe_state_sha256": "369efebe9c5abd237b02f5d368c4d1f21b0533fea1c3d9f59e501484d386f67f",
+    "data_attempts": 118,
+    "data_accepted": 100,
+    "data_rejected": 18,
+    "splits": {
+      "train": {
+        "rows": 88708,
+        "episodes": 90,
+        "return_min": 3049.0915127396584,
+        "return_max": 4926.397267758846,
+        "length_min": 707,
+        "length_max": 1000
+      },
+      "val": {
+        "rows": 10000,
+        "episodes": 10,
+        "return_min": 4344.816579580307,
+        "return_max": 4727.460265636444,
+        "length_min": 1000,
+        "length_max": 1000
+      }
+    },
+    "state_dim": 17,
+    "native_action_dim": 6,
+    "action_carrier": "native",
+    "state_normalization": {
+      "type": "min_max",
+      "min": [
+        0.801384687423706,
+        -0.3846876919269562,
+        -1.3016910552978516,
+        -2.7476444244384766,
+        -1.5346914529800415,
+        -0.8290755152702332,
+        -2.1717329025268555,
+        -1.4086319208145142,
+        -0.415105402469635,
+        -4.531341552734375,
+        -10.0,
+        -10.0,
+        -10.0,
+        -10.0,
+        -10.0,
+        -10.0,
+        -10.0
+      ],
+      "max": [
+        1.7503005266189575,
+        0.9993473291397095,
+        0.15303508937358856,
+        0.31470051407814026,
+        1.3454551696777344,
+        0.16739727556705475,
+        0.3809681832790375,
+        1.2573986053466797,
+        9.562085151672363,
+        3.402139902114868,
+        10.0,
+        10.0,
+        10.0,
+        10.0,
+        10.0,
+        10.0,
+        10.0
+      ]
+    },
+    "raw_metadata_sha256": "f01614b1df2395b2a4ae5f7bcaf7c215c42a029543ee7d31758ce49170fdbea2",
+    "raw_train_parquet_sha256": "755e77d3f27a1e73ae2e01b720288b8ea261cbaaffb537b93794f3f8b2bae595",
+    "raw_val_parquet_sha256": "eaff1190ab7ecb98aa95051e06e9e5efc8dcdcb2054e3464b73da2cc286e824e",
+    "converted_manifest_sha256": "e850ecfe50be72061722c0a57d95efb797f705e5c0aa1049c56f9d0bec54fbdb",
+    "latency_prompt_map_sha256": "ea71f353aa39bd39ca32d0fdda58cac6a0d0ae158f948241d8d494d261e1c3bc"
+  },
+  "training_config_sha256": "385d1a431384f36a79d4d6531ea26da7e4751a6924aac343ed685d268440f83a",
+  "dataset_manifest_sha256": "e850ecfe50be72061722c0a57d95efb797f705e5c0aa1049c56f9d0bec54fbdb"
+}

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/task_contract.json

@@ -0,0 +1,80 @@
+{
+  "action_space": {
+    "dtype": "float32",
+    "high": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "labels": [
+      "right_thigh_torque",
+      "right_leg_torque",
+      "right_foot_torque",
+      "left_thigh_torque",
+      "left_leg_torque",
+      "left_foot_torque"
+    ],
+    "low": [
+      -1.0,
+      -1.0,
+      -1.0,
+      -1.0,
+      -1.0,
+      -1.0
+    ],
+    "type": "box"
+  },
+  "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.",
+  "env_fps": 5.0,
+  "env_id": "LatencyBench/Walker2dContinuous-v0",
+  "frame_stack": 1,
+  "make_kwargs": {
+    "base_env_id": "Walker2d-v4",
+    "base_make_kwargs": {
+      "ctrl_cost_weight": 0.001,
+      "exclude_current_positions_from_observation": true,
+      "forward_reward_weight": 1.0,
+      "healthy_reward": 1.0,
+      "reset_noise_scale": 0.005,
+      "terminate_when_unhealthy": true
+    },
+    "render_mode": "rgb_array"
+  },
+  "noop_action": [
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+  ],
+  "obs_fps": 5.0,
+  "registration_imports": [
+    "latency_bench.envs.gymnasium_walker2d"
+  ],
+  "state_space": {
+    "labels": [
+      "torso_height",
+      "torso_angle",
+      "right_thigh_angle",
+      "right_leg_angle",
+      "right_foot_angle",
+      "left_thigh_angle",
+      "left_leg_angle",
+      "left_foot_angle",
+      "torso_x_velocity",
+      "torso_z_velocity",
+      "torso_angular_velocity",
+      "right_thigh_angular_velocity",
+      "right_leg_angular_velocity",
+      "right_foot_angular_velocity",
+      "left_thigh_angular_velocity",
+      "left_leg_angular_velocity",
+      "left_foot_angular_velocity"
+    ]
+  },
+  "task_name": "walker2d"
+}

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwenpi_v3-h1/walker2d_pi05_profile_h1_5fps_g128_20260922_m32/validation.json

@@ -0,0 +1,10 @@
+{
+  "state": "CPU_STATE_DICT_AND_BUNDLE_HASH_VERIFIED",
+  "checkpoint_sha256": "248d8959f1c4b4045b64fd0c4f7a8e086606eea5827f263b04ef703e26b4cd84",
+  "tensor_count": 1386,
+  "all_floating_tensors_finite": true,
+  "training_steps": 5000,
+  "global_batch": 128,
+  "gpu_forward": "NOT_RUN_AT_PUBLICATION",
+  "verified_at": "2026-09-22T01:32:01.661335+00:00"
+}