diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/REAL_DONE b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/REAL_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/SIM_DONE b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/SIM_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/comparison.json b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/comparison.json new file mode 100644 index 0000000000000000000000000000000000000000..9914700b2f4bce7ab95dda6bb059a6619637314d --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/comparison.json @@ -0,0 +1,84 @@ +{ + "episodes_per_run": 2, + "methods": { + "fixed": { + 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diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/eval_template.yaml b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/eval_template.yaml new file mode 100644 index 0000000000000000000000000000000000000000..762ccf9f2071d02aa88e60efdd1fed8170a67bc5 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/eval_template.yaml @@ -0,0 +1,77 @@ +experiment: + name: flappy-qwengr00t-hist8-scratch-s42-v2-step5000-history01-profile-par32 + seed: 1000000 +backend: + run_mode: eval +executor: + mode: simulated + simulated_worker_capacity: 1 + simulated_inference_pool: true + inference_devices: + - cuda:0 + inference_batch_size: 32 +env: + name: flappy + gym_id: FlappyBird-v0 + env_fps: 10 + obs_fps: 10 + render_mode: rgb_array + observation_mode: image + use_lidar: false + normalize_obs: true + audio_on: false + frame_stack: 1 + obs_resize: + - 224 + - 224 + simulator: gpu + use_gpu_render: false + gpu_render_device: auto + gpu_render_profile: false + gpu_render_profile_interval: 200 + noop_action: noop + action_map: + noop: 0 + flap: 1 + oneshot_actions: + - flap + action_history_decisions: 8 +latency: + method: temporal + profile_worker_slot: 0 + seed: 271828 + add_latency_info: false +scheduler: + hold_policy: one_frame_then_noop + ordering_policy: latest_ready +policy: + type: starvla + checkpoint_path: checkpoints/model.pt + model_config_path: config.yaml + device: cuda:0 + unnorm_key: new_embodiment + prompt_mode: latency_neutral + actions: + - noop + - flap + state_source: transport +evaluation: + eval_episodes: 100 + eval_parallel_envs: 32 + latency_bench_env_backend: flappy_gpu_batched + eval_latency_values: null + eval_max_steps: 3600 + eval_deterministic: true + eval_raw_reward: true +logging: + save_step_records: true + save_action_records: true + save_latency_records: true + video: + enabled: false +provenance: + archived_eval: + path: latency-aware/flappy/vla/starvla-qwengr00t-h1/flappy-qwengr00t-hist8-scratch-s42-v2/evaluations/profile/eval_config.yaml + repo_id: latency-sensitive-bench/benchmark-models + repo_type: model + revision: 180da0effdaaaeacef218cf5fbaa4db41af67495 diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/hardware_public.json b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/hardware_public.json new file mode 100644 index 0000000000000000000000000000000000000000..744219fed892f0f2336f5a8d150c800fd70449c6 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/hardware_public.json @@ -0,0 +1,40 @@ +{ + "driver_version": "595.84", + "gpu_class": "1x-l40s", + "gpus": [ + { + "name": "NVIDIA L40S", + "slot": 0 + } + ], + "instance_id": "instance_6c834e505bd4a4ca", + "topology_links": [], + "torch": { + "backends": { + "cuda_cudnn_sdp_enabled": true, + "cuda_flash_sdp_enabled": true, + "cuda_math_sdp_enabled": true, + "cuda_matmul_allow_tf32": false, + "cuda_mem_efficient_sdp_enabled": true, + "cudnn_allow_tf32": true, + "cudnn_benchmark": false + }, + "cuda_available": true, + "cuda_device_count": 1, + "cuda_version": "12.8", + "current_device": 0, + "current_device_name": "NVIDIA L40S", + "device_properties": [ + { + "index": 0, + "major": 8, + "minor": 9, + "multi_processor_count": 142, + "name": "NVIDIA L40S", + "total_memory": 47667740672 + } + ], + "float32_matmul_precision": "highest", + "version": "2.11.0+cu128" + } +} diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/real/0/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/real/0/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..820c4697df35d32408e1a5c51ba1af473b957bf5 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/real/0/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 0, "episode_return": 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a/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/sim/iid/18/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/sim/iid/18/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0263cc1260fb446de3ce9b43c9305002dda9391a --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/sim/iid/18/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 500, "episode_return": 12.899999999999974, "episode_return_env": 12.899999999999974, "game_score": 2.0, "mean_latency_ms": 72.88703626841911, "metadata": {"dropped_observation_count": 62, "env_fps": 19.013733970053448, "episode_in_run": 0, "episode_seed": 2000500, "frame_ms": 52.59356218904692, "gpu_class": "1x-l40s", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_6c834e505bd4a4ca", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 19.013733970053448, 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a/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/simulation_hardware_public.json b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/simulation_hardware_public.json new file mode 100644 index 0000000000000000000000000000000000000000..425f1497048dd3033e3ca62e96b5a3dfc7729cc7 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/simulation_hardware_public.json @@ -0,0 +1,11 @@ +{ + "host_gpu_names": [ + "NVIDIA RTX PRO 6000 Blackwell Server Edition", + "NVIDIA RTX PRO 6000 Blackwell Server Edition", + "NVIDIA RTX PRO 6000 Blackwell Server Edition", + "NVIDIA RTX PRO 6000 Blackwell Server Edition" + ], + "inference_device": "cuda:0", + "python_version": "3.10.20 (main, Jul 18 2026, 17:02:35) [Clang 22.1.3 ]", + "simulator_device": null +} diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/simulation_parallel.json b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/simulation_parallel.json new file mode 100644 index 0000000000000000000000000000000000000000..c45a5c9691eab17800fa521fa29940b1d9708458 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/simulation_parallel.json @@ -0,0 +1,8 @@ +{ + "action_noise": "episode_frame", + "episode_id": "20 * valid_run_id + episode_in_run", + "inference_batch_size": 25, + "parallel_runs": 25, + "retained_runs": [], + "temporal_replica_zero_seed": true +} diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/simulation_source.json b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/simulation_source.json new file mode 100644 index 0000000000000000000000000000000000000000..603df8967d1e2fe175f73334148804fc998c215e --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwengr00t/simulation_source.json @@ -0,0 +1,5 @@ +{ + "repo_id": "latency-sensitive-bench/profiles", + "revision": "b3160b0d6e5fbe0bc26098357ad4a7295faee374", + "source_ref": "sim2real/flappy/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20261001T021540077186Z" +} diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/REAL_DONE b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/REAL_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/SIM_DONE b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/SIM_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/comparison.json b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/comparison.json new file mode 100644 index 0000000000000000000000000000000000000000..1c4a93d7a8dae3d6f9278b627c54178aafe8384c --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/comparison.json @@ -0,0 +1,84 @@ +{ + "episodes_per_run": 2, + "methods": { + "fixed": { + "mean_absolute_paired_error": 275.9900000000183, + "paired_sim_minus_real": { + "ci95_high": 337.3162012845444, + "ci95_low": 214.66379871549228, + "mean": 275.9900000000183 + }, + "simulated": { + "ci95_high": 428.45375202386117, + "ci95_low": 360.3622479761809, + "mean": 394.40800000002105 + } + }, + "iid": { + "mean_absolute_paired_error": 179.38200000000748, + "paired_sim_minus_real": { + "ci95_high": 167.637576462949, + "ci95_low": 19.17442353705428, + "mean": 93.40600000000164 + }, + "simulated": { + "ci95_high": 250.5658408545186, + "ci95_low": 173.08215914549012, + "mean": 211.82400000000436 + } + }, + "normal": { + "mean_absolute_paired_error": 261.5760000000175, + "paired_sim_minus_real": { + "ci95_high": 322.3391357284088, + "ci95_low": 200.81286427162615, + "mean": 261.5760000000175 + }, + "simulated": { + "ci95_high": 417.43213920196575, + "ci95_low": 342.55586079807466, + "mean": 379.9940000000202 + } + }, + "temporal": { + "mean_absolute_paired_error": 200.74600000000842, + "paired_sim_minus_real": { + "ci95_high": 228.0984553623776, + "ci95_low": 62.31354463763684, + "mean": 145.2060000000072 + }, + "simulated": { + "ci95_high": 323.53547432287985, + "ci95_low": 203.71252567713998, + "mean": 263.6240000000099 + } + } + }, + "n_validation_runs": 25, + "real": { + "ci95_high": 171.91673361521904, + "ci95_low": 64.9192663847864, + "mean": 118.41800000000272 + }, + "return_field": "episode_return_env", + "statistical_unit": "run_mean", + "task_metrics": {}, + "timing": { + "fit": { + "admitted_count": 49411, + "capacity_drops": 1512, + "mean_frames": 0.7078833324062928, + "mean_latency_ms": 42.41256905171728, + "mean_raw_frames": 1.0351541154803585, + "target_frame_error": -0.05085841269354563 + }, + "valid": { + "admitted_count": 47233, + "capacity_drops": 1424, + "mean_frames": 0.7115980535275299, + "mean_latency_ms": 42.63513519906078, + "mean_raw_frames": 1.033599390256812, + "target_frame_error": -0.047143691572308466 + } + } +} diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/eval_template.yaml b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/eval_template.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dfdbb035d18c43064045e664c15de596fc3e950a --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/eval_template.yaml @@ -0,0 +1,78 @@ +experiment: + name: flappy-qwenoft-hist8-scratch-s42-v2-step5000-history01-profile-par32 + seed: 1000000 +backend: + run_mode: eval +executor: + mode: simulated + simulated_worker_capacity: 1 + simulated_inference_pool: true + inference_devices: + - cuda:0 + - cuda:1 + inference_batch_size: 16 +env: + name: flappy + gym_id: FlappyBird-v0 + env_fps: 10 + obs_fps: 10 + render_mode: rgb_array + observation_mode: image + use_lidar: false + normalize_obs: true + audio_on: false + frame_stack: 1 + obs_resize: + - 224 + - 224 + simulator: gpu + use_gpu_render: false + gpu_render_device: auto + gpu_render_profile: false + gpu_render_profile_interval: 200 + noop_action: noop + action_map: + noop: 0 + flap: 1 + oneshot_actions: + - flap + action_history_decisions: 8 +latency: + method: temporal + profile_worker_slot: 0 + seed: 271828 + add_latency_info: false +scheduler: + hold_policy: one_frame_then_noop + ordering_policy: latest_ready +policy: + type: starvla + checkpoint_path: checkpoints/model.pt + model_config_path: config.yaml + device: cuda:0 + unnorm_key: new_embodiment + prompt_mode: latency_neutral + actions: + - noop + - flap + state_source: transport +evaluation: + eval_episodes: 100 + eval_parallel_envs: 32 + latency_bench_env_backend: flappy_gpu_batched + eval_latency_values: null + eval_max_steps: 3600 + eval_deterministic: true + eval_raw_reward: true +logging: + save_step_records: true + save_action_records: true + save_latency_records: true + video: + enabled: false +provenance: + archived_eval: + path: latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/evaluations/profile/eval_config.yaml + repo_id: latency-sensitive-bench/benchmark-models + repo_type: model + revision: 180da0effdaaaeacef218cf5fbaa4db41af67495 diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/hardware_public.json b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/hardware_public.json new file mode 100644 index 0000000000000000000000000000000000000000..744219fed892f0f2336f5a8d150c800fd70449c6 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/hardware_public.json @@ -0,0 +1,40 @@ +{ + "driver_version": "595.84", + "gpu_class": "1x-l40s", + "gpus": [ + { + "name": "NVIDIA L40S", + "slot": 0 + } + ], + "instance_id": "instance_6c834e505bd4a4ca", + "topology_links": [], + "torch": { + "backends": { + "cuda_cudnn_sdp_enabled": true, + "cuda_flash_sdp_enabled": true, + "cuda_math_sdp_enabled": true, + "cuda_matmul_allow_tf32": false, + 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0000000000000000000000000000000000000000..425f1497048dd3033e3ca62e96b5a3dfc7729cc7 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/simulation_hardware_public.json @@ -0,0 +1,11 @@ +{ + "host_gpu_names": [ + "NVIDIA RTX PRO 6000 Blackwell Server Edition", + "NVIDIA RTX PRO 6000 Blackwell Server Edition", + "NVIDIA RTX PRO 6000 Blackwell Server Edition", + "NVIDIA RTX PRO 6000 Blackwell Server Edition" + ], + "inference_device": "cuda:0", + "python_version": "3.10.20 (main, Jul 18 2026, 17:02:35) [Clang 22.1.3 ]", + "simulator_device": null +} diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/simulation_parallel.json b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/simulation_parallel.json new file mode 100644 index 0000000000000000000000000000000000000000..e04d4592099581e033f46f904647656004b8c1cc --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/simulation_parallel.json @@ -0,0 +1,8 @@ +{ + "action_noise": "deterministic", + "episode_id": "20 * valid_run_id + episode_in_run", + "inference_batch_size": 25, + "parallel_runs": 25, + "retained_runs": [], + "temporal_replica_zero_seed": true +} diff --git a/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/simulation_source.json b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/simulation_source.json new file mode 100644 index 0000000000000000000000000000000000000000..1f46e4d78ed23dfc169518547c89468c281aa3e1 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/flappy/qwenoft/simulation_source.json @@ -0,0 +1,5 @@ +{ + "repo_id": "latency-sensitive-bench/profiles", + "revision": "551aba32ea24283008b5ffbad0bd927aba011342", + "source_ref": "sim2real/flappy/qwenoft/1x-l40s/instance_6c834e505bd4a4ca/20260930T235829241221Z" +} diff --git a/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/REAL_DONE b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/REAL_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/SIM_DONE b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/SIM_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/comparison.json b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/comparison.json new file mode 100644 index 0000000000000000000000000000000000000000..b182adef051d1445ed5b8963a736c203a8b77632 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/comparison.json @@ -0,0 +1,84 @@ +{ + "episodes_per_run": 2, + "methods": { + "fixed": { + "mean_absolute_paired_error": 190.26, + "paired_sim_minus_real": { + "ci95_high": 272.95840637051083, + "ci95_low": 49.64159362948918, + "mean": 161.3 + }, + "simulated": { + "ci95_high": 607.3149619060925, + "ci95_low": 327.0450380939074, + "mean": 467.18 + } + }, + "iid": { + "mean_absolute_paired_error": 138.88, + "paired_sim_minus_real": { + "ci95_high": -7.751097857714868, + "ci95_low": -194.96890214228512, + "mean": -101.36 + }, + "simulated": { + "ci95_high": 268.58262342289646, + "ci95_low": 140.45737657710356, + "mean": 204.52 + } + }, + "normal": { + "mean_absolute_paired_error": 173.34, + "paired_sim_minus_real": { + "ci95_high": 252.08026526849096, + "ci95_low": 36.67973473150903, + "mean": 144.38 + }, + "simulated": { + "ci95_high": 591.1303769197448, + "ci95_low": 309.38962308025515, + "mean": 450.26 + } + }, + "temporal": { + "mean_absolute_paired_error": 203.08, + "paired_sim_minus_real": { + "ci95_high": 192.63157566177335, + "ci95_low": -82.87157566177336, + "mean": 54.88 + }, + "simulated": { + "ci95_high": 487.5223455859842, + "ci95_low": 233.99765441401573, + "mean": 360.76 + } + } + }, + "n_validation_runs": 25, + "real": { + "ci95_high": 424.44786300499527, + "ci95_low": 187.31213699500475, + "mean": 305.88 + }, + "return_field": "episode_return_env", + "statistical_unit": "run_mean", + "task_metrics": {}, + "timing": { + "fit": { + "admitted_count": 22490, + "capacity_drops": 33, + "mean_frames": 0.6167601529123252, + "mean_latency_ms": 47.93999075219466, + "mean_raw_frames": 1.0023121387283238, + "target_frame_error": -0.05411892458230372 + }, + "valid": { + "admitted_count": 15202, + "capacity_drops": 92, + "mean_frames": 0.6108016765117835, + "mean_latency_ms": 47.47684587782119, + "mean_raw_frames": 1.0078936981976057, + "target_frame_error": -0.06007740098284542 + } + } +} diff --git a/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/eval_template.yaml b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/eval_template.yaml new file mode 100644 index 0000000000000000000000000000000000000000..46c3b0d7cc3a61406c1ced8fcd8c5da0fe8b3997 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/eval_template.yaml @@ -0,0 +1,96 @@ +experiment: + name: inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10 + seed: 42 +executor: + mode: realtime + inference_devices: + - cuda:0 +env: + name: gymnasium + task_name: inverted_pendulum + env_id: LatencyBench/InvertedPendulumDiscrete-v0 + registration_imports: + - latency_bench.envs.gymnasium_mujoco + make_kwargs: + base_env_id: InvertedPendulum-v4 + render_mode: rgb_array + force_values: + - -3.0 + - -1.5 + - 0.0 + - 1.5 + - 3.0 + base_make_kwargs: {} + env_fps: 10.0 + obs_fps: 10.0 + frame_stack: 1 + state_space: + labels: + - cart_position + - pole_angle + - cart_velocity + - pole_angular_velocity + noop_action: zero_force + action_map: + push_left_hard: 0 + push_left_soft: 1 + zero_force: 2 + push_right_soft: 3 + push_right_hard: 4 + action_order: + - push_left_hard + - push_left_soft + - zero_force + - push_right_soft + - push_right_hard + base_prompt: 'Keep the pole upright by applying horizontal cart forces. Choose exactly + one action from: push_left_hard, push_left_soft, zero_force, push_right_soft, + push_right_hard.' + obs_resize: + - 224 + - 224 +latency: + method: measured + device: cuda:0 + sync_cuda: true + model_id: qwenoft + gpu_class: 1x-rtx3090 + workload_id: inverted_pendulum + instance_id: instance_859cf1e47bca6046 +scheduler: + hold_policy: hold + ordering_policy: issue_order_fifo +policy: + type: starvla + actions: + - push_left_hard + - push_left_soft + - zero_force + - push_right_soft + - push_right_hard + checkpoint_path: checkpoints/model.pt + model_config_path: config.full.yaml + task_manifest_path: manifest.json + device: cuda:0 + latency_prompt_map_path: latency_prompt_map.json + latency_prompt_key: 1 + prompt_mode: raw +evaluation: + eval_episodes: 20 + eval_parallel_envs: 1 + eval_max_steps: 1000 + eval_latency_values: null +logging: + video: + enabled: false + num_bins: 1 + save_step_records: true + save_action_records: true + save_latency_records: true + realtime_pipeline_profile: true +provenance: + archived_eval: + path: inverted_pendulum/profile_latency/OpenVLA/20260911T010114Z-ip10/vla/evaluation/records/F.yaml + repo_id: latency-sensitive-bench/Standard-Pipeline + repo_type: dataset + revision: ff90f1b6c46a6eaae55bbf341762f03a2be6e013 diff --git a/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/hardware_public.json b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/hardware_public.json new file mode 100644 index 0000000000000000000000000000000000000000..744219fed892f0f2336f5a8d150c800fd70449c6 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/hardware_public.json @@ -0,0 +1,40 @@ +{ + "driver_version": "595.84", + "gpu_class": "1x-l40s", + "gpus": [ + { + "name": "NVIDIA L40S", + "slot": 0 + } + ], + "instance_id": "instance_6c834e505bd4a4ca", + "topology_links": [], + "torch": { + "backends": { + "cuda_cudnn_sdp_enabled": true, + "cuda_flash_sdp_enabled": true, + "cuda_math_sdp_enabled": true, + "cuda_matmul_allow_tf32": false, + "cuda_mem_efficient_sdp_enabled": true, + "cudnn_allow_tf32": true, + "cudnn_benchmark": false + }, + "cuda_available": true, + "cuda_device_count": 1, + "cuda_version": "12.8", + "current_device": 0, + "current_device_name": "NVIDIA L40S", + "device_properties": [ + { + "index": 0, + "major": 8, + "minor": 9, + "multi_processor_count": 142, + "name": "NVIDIA L40S", + "total_memory": 47667740672 + } + ], + "float32_matmul_precision": "highest", + "version": "2.11.0+cu128" + } +} diff --git a/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/real/0/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/real/0/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f23435b71ecee7cd146c58fcdc25079edb571a43 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/real/0/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 0, "episode_return": 121.0, "episode_return_env": 121.0, "game_score": null, "mean_latency_ms": 49.95472917507868, "metadata": {"action_prefix": {"mode": "none"}, "actual_env_fps": 11.453245100141137, "checkpoint_kind": "best", "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwenoft-h1/inverted_pendulum_rgb_state_ip10_20260911T010114Z_openvla_native_sft_2k/checkpoints/model.pt", "config_name": "inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10", "discarded_ready_result_count": 0, "dropped_observation_count": 0, "env_deadline_miss_count": 0, "env_fps": 12.865253898366477, "env_id": "LatencyBench/InvertedPendulumDiscrete-v0", "episode_seed": 2000000, "fifo_blocked_count": 0, "frame_ms": 77.72874191989104, "gpu_class": 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a/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/sim/fixed/15/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/sim/fixed/15/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77691e9135f7f357fade84425fef7271995c3144 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/sim/fixed/15/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 180, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 47.93999075219466, "metadata": {"dropped_observation_count": 0, "env_fps": 12.865253898366477, "episode_in_run": 0, "episode_seed": 2000180, "frame_ms": 77.72874191989104, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "fixed", "mode": "simulated", "model_id": null, "obs_fps": 12.865253898366477, "run_id": 9, 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a/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/sim/fixed/8/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/sim/fixed/8/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86296c27e5ea4e19564607115764995a92610605 --- /dev/null +++ b/experiments/sim2real-calibration/cases/l40s/inverted_pendulum/qwenoft/sim/fixed/8/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 480, "episode_return": 184.0, "episode_return_env": 184.0, "game_score": null, "mean_latency_ms": 47.93999075219466, "metadata": {"dropped_observation_count": 0, "env_fps": 12.865253898366477, "episode_in_run": 0, "episode_seed": 2000480, "frame_ms": 77.72874191989104, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "fixed", "mode": "simulated", "model_id": null, "obs_fps": 12.865253898366477, "run_id": 24, "simulated_worker_capacity": 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b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwenoft/sim/normal/6/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 420, "episode_return": 111.0, "episode_return_env": 111.0, "game_score": null, "mean_latency_ms": 90.7046105579239, "metadata": {"dropped_observation_count": 0, "env_fps": 7.502397883583707, "episode_in_run": 0, "episode_seed": 2000420, "frame_ms": 133.29071791675293, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "normal_distribution", "mode": "simulated", "model_id": null, "obs_fps": 7.502397883583707, "run_id": 21, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 111, "workload_id": null}, "num_actions": 111, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 94.02640754760941, "p99_latency_ms": 101.18893327160751, "return_raw": null, "survival_steps": 111} +{"episode_id": 421, "episode_return": 79.0, 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b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwenoft/sim/normal/7/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..768b031d97dcd06ed1537fec2846b5c9f6d6e041 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwenoft/sim/normal/7/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 260, "episode_return": 82.0, "episode_return_env": 82.0, "game_score": null, "mean_latency_ms": 90.61023053933316, "metadata": {"dropped_observation_count": 0, "env_fps": 7.502397883583707, "episode_in_run": 0, "episode_seed": 2000260, "frame_ms": 133.29071791675293, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "normal_distribution", "mode": "simulated", "model_id": null, "obs_fps": 7.502397883583707, "run_id": 13, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 82, "workload_id": null}, 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RTX PRO 6000 Blackwell Server Edition" + ], + "inference_device": "cuda:0", + "python_version": "3.10.20 (main, Jul 18 2026, 17:02:35) [Clang 22.1.3 ]", + "simulator_device": null +} diff --git a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwenoft/simulation_parallel.json b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwenoft/simulation_parallel.json new file mode 100644 index 0000000000000000000000000000000000000000..7568f739f20c18d774362cccb7d59d5998736d30 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwenoft/simulation_parallel.json @@ -0,0 +1,8 @@ +{ + "action_noise": "deterministic", + "episode_id": "20 * valid_run_id + episode_in_run", + "inference_batch_size": 25, + "parallel_runs": 25, + "retained_runs": [], + "temporal_replica_zero_seed": false +} diff --git a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwenoft/simulation_source.json b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwenoft/simulation_source.json new file mode 100644 index 0000000000000000000000000000000000000000..844575ecb06545c5f45c616f11a589dda4220f39 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwenoft/simulation_source.json @@ -0,0 +1,5 @@ +{ + "repo_id": "latency-sensitive-bench/profiles", + "revision": "69e5d87d1f09596828c3cee92125a657edcc74f0", + "source_ref": "sim2real/inverted_pendulum/qwenoft/1x-rtx4090/instance_708ab351cd016540/20260930T210943526802Z" +} diff --git a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/REAL_DONE b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/REAL_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/SIM_DONE b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/SIM_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/comparison.json b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/comparison.json new file mode 100644 index 0000000000000000000000000000000000000000..1224d778eb3a16b903abb475f04c2bf20f70bbb2 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/comparison.json @@ -0,0 +1,84 @@ +{ + "episodes_per_run": 2, + "methods": { + "fixed": { + "mean_absolute_paired_error": 0.0, + "paired_sim_minus_real": { + "ci95_high": 0.0, + "ci95_low": 0.0, + "mean": 0.0 + }, + "simulated": { + "ci95_high": 1000.0, + "ci95_low": 1000.0, + "mean": 1000.0 + } + }, + "iid": { + "mean_absolute_paired_error": 0.0, + "paired_sim_minus_real": { + "ci95_high": 0.0, + "ci95_low": 0.0, + "mean": 0.0 + }, + "simulated": { + "ci95_high": 1000.0, + "ci95_low": 1000.0, + "mean": 1000.0 + } + }, + "normal": { + "mean_absolute_paired_error": 0.0, + "paired_sim_minus_real": { + "ci95_high": 0.0, + "ci95_low": 0.0, + "mean": 0.0 + }, + "simulated": { + "ci95_high": 1000.0, + "ci95_low": 1000.0, + "mean": 1000.0 + } + }, + "temporal": { + "mean_absolute_paired_error": 17.86, + "paired_sim_minus_real": { + "ci95_high": 19.001228310676446, + "ci95_low": -54.721228310676445, + "mean": -17.86 + }, + "simulated": { + "ci95_high": 1019.0012283106764, + "ci95_low": 945.2787716893235, + "mean": 982.14 + } + } + }, + "n_validation_runs": 25, + "real": { + "ci95_high": 1000.0, + "ci95_low": 1000.0, + "mean": 1000.0 + }, + "return_field": "episode_return_env", + "statistical_unit": "run_mean", + "task_metrics": {}, + "timing": { + "fit": { + "admitted_count": 49999, + "capacity_drops": 1, + "mean_frames": 0.5405961927732026, + "mean_latency_ms": 79.65671036097119, + "mean_raw_frames": 1.000020000400008, + "target_frame_error": 0.00012548110238663757 + }, + "valid": { + "admitted_count": 50000, + "capacity_drops": 0, + "mean_frames": 0.5407057148941712, + "mean_latency_ms": 79.67284841740728, + "mean_raw_frames": 1, + "target_frame_error": 0.0002350032233552346 + } + } +} diff --git a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/eval_template.yaml b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/eval_template.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0d50ab50db3234e6b6b6398177e790a2b16bce5d --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/eval_template.yaml @@ -0,0 +1,92 @@ +experiment: + name: gr00t_inverted_pendulum_measured + seed: 42 +backend: + type: sample_factory + algo: APPO + device: cuda + restart_behavior: overwrite + run_mode: eval +executor: + mode: realtime + inference_devices: + - cuda:0 + inference_batch_size: 1 +env: + name: gymnasium + task_name: inverted_pendulum + env_id: LatencyBench/InvertedPendulumDiscrete-v0 + registration_imports: + - latency_bench.envs.gymnasium_mujoco + make_kwargs: + base_env_id: InvertedPendulum-v4 + base_make_kwargs: {} + force_values: + - -3.0 + - -1.5 + - 0.0 + - 1.5 + - 3.0 + render_mode: rgb_array + env_fps: 5 + obs_fps: 5 + frame_stack: 1 + state_space: + labels: + - cart_position + - pole_angle + - cart_velocity + - pole_angular_velocity + noop_action: zero_force + action_map: + push_left_hard: 0 + push_left_soft: 1 + zero_force: 2 + push_right_soft: 3 + push_right_hard: 4 + action_order: + - push_left_hard + - push_left_soft + - zero_force + - push_right_soft + - push_right_hard + base_prompt: 'Keep the pole upright by applying horizontal cart forces. Choose exactly + one action from: push_left_hard, push_left_soft, zero_force, push_right_soft, + push_right_hard.' + obs_resize: + - 224 + - 224 +latency: + method: measured + sync_cuda: true +scheduler: + hold_policy: hold + ordering_policy: issue_order_fifo +policy: + type: starvla + checkpoint_path: checkpoints/model.pt + model_config_path: config.yaml + device: cuda:0 + task_manifest_path: manifest.json + latency_prompt_map_path: latency_prompt_map.json + latency_prompt_key: 1 +evaluation: + eval_episodes: 20 + eval_parallel_envs: 1 + eval_max_steps: 1000 + eval_deterministic: true + eval_latency_values: null +logging: + video: + enabled: false + num_bins: 1 + save_step_records: true + save_action_records: true + save_latency_records: true + realtime_pipeline_profile: false +provenance: + archived_eval: + path: inverted_pendulum/profile_latency/GR00T/h1_5fps_20260917/vla/evaluation/F.yaml + repo_id: latency-sensitive-bench/Standard-Pipeline + repo_type: dataset + revision: ff90f1b6c46a6eaae55bbf341762f03a2be6e013 diff --git a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/hardware_public.json b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/hardware_public.json new file mode 100644 index 0000000000000000000000000000000000000000..a36a0da9a0465236d789819e8a505604da7fbe96 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/hardware_public.json @@ -0,0 +1,40 @@ +{ + "driver_version": "580.142", + "gpu_class": "1x-rtx5090", + "gpus": [ + { + "name": "NVIDIA GeForce RTX 5090", + "slot": 0 + } + ], + "instance_id": "instance_3529e4b0b33ca0f0", + "topology_links": [], + "torch": { + "backends": { + "cuda_cudnn_sdp_enabled": true, + "cuda_flash_sdp_enabled": true, + "cuda_math_sdp_enabled": true, + "cuda_matmul_allow_tf32": false, + "cuda_mem_efficient_sdp_enabled": true, + "cudnn_allow_tf32": true, + "cudnn_benchmark": false + }, + "cuda_available": true, + "cuda_device_count": 1, + "cuda_version": "12.8", + "current_device": 0, + "current_device_name": "NVIDIA GeForce RTX 5090", + "device_properties": [ + { + "index": 0, + "major": 12, + "minor": 0, + "multi_processor_count": 170, + "name": "NVIDIA GeForce RTX 5090", + "total_memory": 33668857856 + } + ], + "float32_matmul_precision": "highest", + "version": "2.11.0+cu128" + } +} diff --git a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/real/0/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/real/0/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76af79146d5b28a3a9ecdd326384381bf3701903 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/real/0/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 0, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 77.29780155647028, "metadata": 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a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/iid/13/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/iid/13/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c212add939157429aabe651f70587559c4e5cb5f --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/iid/13/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 80, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 79.7069279919269, "metadata": {"dropped_observation_count": 0, "env_fps": 6.786574418193329, "episode_in_run": 0, "episode_seed": 2000080, "frame_ms": 147.3497435347084, "gpu_class": "1x-rtx5090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_3529e4b0b33ca0f0", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 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a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/iid/16/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/iid/16/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f91919633ea10107ce23f52af1fac0c70f2e25df --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/iid/16/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 760, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 79.67732820166617, "metadata": {"dropped_observation_count": 1, "env_fps": 6.786574418193329, "episode_in_run": 0, "episode_seed": 2000760, "frame_ms": 147.3497435347084, "gpu_class": "1x-rtx5090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_3529e4b0b33ca0f0", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 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a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/iid/19/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/iid/19/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d01a43e2192b1f629aa6dacf71bb82b90c142586 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/iid/19/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 800, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 79.72349258440798, "metadata": {"dropped_observation_count": 0, "env_fps": 6.786574418193329, "episode_in_run": 0, "episode_seed": 2000800, "frame_ms": 147.3497435347084, "gpu_class": "1x-rtx5090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_3529e4b0b33ca0f0", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 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a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/iid/5/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/iid/5/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87c3e579b69fefa84b522e7e7a6d4b2ba2e2088a --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/iid/5/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 120, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 79.68235153187051, "metadata": {"dropped_observation_count": 0, "env_fps": 6.786574418193329, "episode_in_run": 0, "episode_seed": 2000120, "frame_ms": 147.3497435347084, "gpu_class": "1x-rtx5090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_3529e4b0b33ca0f0", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 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a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/normal/15/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/normal/15/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7178f27a93910077b1cda940662fe8e6acbad426 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/normal/15/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 180, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 79.62495659894712, "metadata": {"dropped_observation_count": 0, "env_fps": 6.786574418193329, "episode_in_run": 0, "episode_seed": 2000180, "frame_ms": 147.3497435347084, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "normal_distribution", "mode": "simulated", "model_id": null, "obs_fps": 6.786574418193329, 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a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/normal/8/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/normal/8/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c63f2b1d0db19b893f67281f5dae5fe9c0ec36d7 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/sim/normal/8/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 480, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 79.66312496367492, "metadata": {"dropped_observation_count": 0, "env_fps": 6.786574418193329, "episode_in_run": 0, "episode_seed": 2000480, "frame_ms": 147.3497435347084, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "normal_distribution", "mode": "simulated", "model_id": null, "obs_fps": 6.786574418193329, "run_id": 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Server Edition" + ], + "inference_device": "cuda:0", + "python_version": "3.10.20 (main, Jul 18 2026, 17:02:35) [Clang 22.1.3 ]", + "simulator_device": null +} diff --git a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/simulation_parallel.json b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/simulation_parallel.json new file mode 100644 index 0000000000000000000000000000000000000000..831f89850410b6ab53db5e29436a9d3b138f7a02 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/simulation_parallel.json @@ -0,0 +1,8 @@ +{ + "action_noise": "episode_frame", + "episode_id": "20 * valid_run_id + episode_in_run", + "inference_batch_size": 25, + "parallel_runs": 25, + "retained_runs": [], + "temporal_replica_zero_seed": false +} diff --git a/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/simulation_source.json b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/simulation_source.json new file mode 100644 index 0000000000000000000000000000000000000000..29c9481765065ac2bd8a2998a407925c6bcb4a98 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/inverted_pendulum/qwengr00t/simulation_source.json @@ -0,0 +1,5 @@ +{ + "repo_id": "latency-sensitive-bench/profiles", + "revision": "61762793ab7c1fd49d9c317dfaac4c6015461afc", + "source_ref": "sim2real/inverted_pendulum/qwengr00t/1x-rtx5090/instance_3529e4b0b33ca0f0/20260930T205956348353Z" +}