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Publish current-code hopper Pi0.5 l0 IID100 evidence

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  1. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/checkpoint_identity.json +1 -0
  2. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/config.yaml +124 -0
  3. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/dataset_statistics.json +123 -0
  4. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/episode_metrics.jsonl +0 -0
  5. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/eval_config.yaml +162 -0
  6. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/latency_prompt_map.json +7 -0
  7. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/manifest.json +142 -0
  8. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/profile/DONE +0 -0
  9. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/profile/hardware.json +40 -0
  10. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/profile/latency_burst_model.json +1336 -0
  11. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/profile/latency_distribution.json +1027 -0
  12. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/profile/latency_profile.png +0 -0
  13. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/profile/profile.json +60 -0
  14. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/result.json +213 -0
  15. zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/source_identity.json +29 -0
zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/checkpoint_identity.json ADDED
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zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/config.yaml ADDED
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1
+ framework:
2
+ name: QwenPI_v3
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+ qwenvl:
4
+ base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
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+ attn_implementation: flash_attention_2
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+ vl_hidden_dim: 2560
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+ num_vl_layers: 36
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+ enable_gradient_checkpointing: false
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+ action_model:
10
+ action_model_type: LayerwiseFM
11
+ action_dim: 3
12
+ state_dim: 11
13
+ state_encoding: continuous_projector
14
+ task_objective: null
15
+ action_horizon: 1
16
+ repeated_diffusion_steps: 2
17
+ num_inference_timesteps: 4
18
+ add_pos_embed: true
19
+ max_seq_len: 1024
20
+ num_target_vision_tokens: 32
21
+ noise_beta_alpha: 1.5
22
+ noise_beta_beta: 1.0
23
+ noise_s: 0.999
24
+ num_timestep_buckets: 1000
25
+ diffusion_model_cfg:
26
+ action_dit_hidden_dim: 1024
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+ dropout: 0.2
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+ final_dropout: true
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+ interleave_self_attention: true
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+ norm_type: ada_norm
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+ positional_embeddings: null
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+ attention_head_dim: 64
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+ num_layers: 36
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+ input_embedding_dim: 1024
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+ cross_attention_dim: 1024
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+ output_dim: 1024
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+ num_attention_heads: 16
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+ action_env_dim: 3
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+ future_action_window_size: 0
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+ past_action_window_size: 0
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+ version_id: '0.21'
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+ datasets:
43
+ vla_data:
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+ include_state: true
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+ obs_image_size:
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+ - 224
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+ - 224
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+ image_mode: single
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+ stitch_grid:
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+ - 2
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+ - 2
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+ num_obs_frames: 1
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+ gymnasium_task_contract: &id001
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+ action_space:
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+ dtype: float32
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+ high:
57
+ - 1.0
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+ - 1.0
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+ - 1.0
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+ labels:
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+ - thigh_torque
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+ - leg_torque
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+ - foot_torque
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+ low:
65
+ - -1.0
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+ - -1.0
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+ - -1.0
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+ type: box
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+ base_prompt: Move the Hopper robot forward while keeping its torso upright.
70
+ Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
71
+ env_fps: 5
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+ env_id: LatencyBench/HopperRgbState-v0
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+ frame_stack: 1
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+ make_kwargs:
75
+ base_env_id: Hopper-v4
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+ base_make_kwargs:
77
+ ctrl_cost_weight: 0.001
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+ exclude_current_positions_from_observation: true
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+ forward_reward_weight: 1.0
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+ healthy_reward: 1.0
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+ reset_noise_scale: 0.005
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+ terminate_when_unhealthy: true
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+ render_mode: rgb_array
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+ noop_action:
85
+ - 0.0
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+ - 0.0
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+ - 0.0
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+ obs_fps: 5
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+ registration_imports:
90
+ - latency_bench.envs.gymnasium_hopper_rgb_state
91
+ state_space:
92
+ labels:
93
+ - torso_height
94
+ - torso_angle
95
+ - thigh_angle
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+ - leg_angle
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+ - foot_angle
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+ - torso_x_velocity
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+ - torso_z_velocity
100
+ - torso_angular_velocity
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+ - thigh_angular_velocity
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+ - leg_angular_velocity
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+ - foot_angular_velocity
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+ task_name: hopper_rgb_state
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+ robot_type: rl_games_gymnasium_native
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+ trainer:
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+ pretrained_checkpoint: null
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+ profile_timing:
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+ enabled: false
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+ log_interval: 10
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+ backbone:
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+ repo_id: Qwen/Qwen3-VL-4B-Instruct
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+ revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
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+ rl_games:
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+ model_alias: pi05
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+ task: gymnasium
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+ action_carrier: native
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+ gymnasium:
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+ task_contract: *id001
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+ env_eval:
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+ image_size: 224
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+ frameskip: 1
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+ image_transform: raw_rgb
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+ prompt_mode: raw
zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/dataset_statistics.json ADDED
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+ {
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+ "min": [
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+ -1.0,
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+ "q01": [
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+ -1.0,
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+ "q99": [
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+ 1.0,
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+ "mask": [
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+ true,
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+ true,
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+ true
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+ ]
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+ },
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+ "num_transitions": 88212,
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+ "num_trajectories": 90
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+ }
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+ }
zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/episode_metrics.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/eval_config.yaml ADDED
@@ -0,0 +1,162 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ env:
2
+ state_space:
3
+ labels:
4
+ - torso_height
5
+ - torso_angle
6
+ - thigh_angle
7
+ - leg_angle
8
+ - foot_angle
9
+ - torso_x_velocity
10
+ - torso_z_velocity
11
+ - torso_angular_velocity
12
+ - thigh_angular_velocity
13
+ - leg_angular_velocity
14
+ - foot_angular_velocity
15
+ name: gymnasium
16
+ task_name: hopper
17
+ env_id: LatencyBench/Hopper-v0
18
+ registration_imports:
19
+ - latency_bench.envs.tasks.hopper
20
+ make_kwargs:
21
+ base_env_id: Hopper-v4
22
+ base_make_kwargs:
23
+ ctrl_cost_weight: 0.001
24
+ exclude_current_positions_from_observation: true
25
+ forward_reward_weight: 1.0
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+ healthy_reward: 1.0
27
+ reset_noise_scale: 0.005
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+ terminate_when_unhealthy: true
29
+ render_mode: rgb_array
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+ env_fps: 5
31
+ obs_fps: 5
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+ frame_stack: 1
33
+ action_space:
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+ dtype: float32
35
+ high:
36
+ - 1.0
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+ - 1.0
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+ - 1.0
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+ labels:
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+ - thigh_torque
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+ - leg_torque
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+ - foot_torque
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+ low:
44
+ - -1.0
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+ - -1.0
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+ - -1.0
47
+ type: box
48
+ noop_action:
49
+ - 0.0
50
+ - 0.0
51
+ - 0.0
52
+ base_prompt: Move the Hopper robot forward while keeping its torso upright. Predict
53
+ three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
54
+ obs_resize:
55
+ - 224
56
+ - 224
57
+ experiment:
58
+ name: hopper_pi05_profile_l0_100ep
59
+ seed: 42
60
+ backend:
61
+ type: sample_factory
62
+ algo: APPO
63
+ device: cuda
64
+ train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/hopper
65
+ restart_behavior: overwrite
66
+ run_mode: eval
67
+ executor:
68
+ mode: simulated
69
+ inference_devices:
70
+ - cuda:0
71
+ - cuda:1
72
+ inference_batch_size: 8
73
+ simulated_inference_pool: true
74
+ simulated_worker_capacity: 1
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+ latency:
76
+ method: iid
77
+ sync_cuda: false
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+ profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/profile/profile.json
79
+ profile_worker_slot: 0
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+ seed: 0
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+ scheduler:
82
+ hold_policy: hold
83
+ ordering_policy: issue_order_fifo
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+ policy:
85
+ type: starvla
86
+ checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/l0_bundle/checkpoints/model.pt
87
+ model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/l0_bundle/config.yaml
88
+ backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
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+ device: cuda:0
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+ task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/l0_bundle/manifest.json
91
+ latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/l0_bundle/latency_prompt_map.json
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+ latency_prompt_key: 0
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+ training:
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+ train_for_env_steps: 10000000
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+ num_workers: 8
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+ num_envs_per_worker: 8
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+ worker_num_splits: 2
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+ num_policies: 1
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+ batch_size: 1024
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+ rollout: 64
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+ recurrence: 1
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+ num_epochs: 2
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+ num_batches_per_epoch: 4
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+ num_batches_to_accumulate: 2
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+ policy_workers_per_policy: 1
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+ max_policy_lag: 10000
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+ learning_rate: 0.00295
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+ lr_schedule: linear_decay
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+ lr_schedule_kl_threshold: 0.008
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+ gamma: 0.99
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+ gae_lambda: 0.95
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+ ppo_clip_ratio: 0.2
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+ ppo_clip_value: 1.0
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+ value_loss_coeff: 1.3
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+ max_grad_norm: 3.5
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+ exploration_loss: entropy
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+ exploration_loss_coeff: 0.0
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+ kl_loss_coeff: 0.1
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+ reward_scale: 1.0
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+ reward_clip: 1000.0
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+ async_rl: false
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+ serial_mode: false
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+ batched_sampling: false
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+ with_vtrace: false
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+ use_rnn: false
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+ env_framestack: 4
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+ encoder_mlp_layers:
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+ - 64
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+ - 64
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+ nonlinearity: tanh
131
+ adaptive_stddev: false
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+ policy_initialization: torch_default
133
+ initial_stddev: 1.0
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+ actor_critic_share_weights: true
135
+ shuffle_minibatches: false
136
+ value_bootstrap: false
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+ normalize_input: true
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+ normalize_returns: true
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+ decorrelate_experience_max_seconds: 10
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+ decorrelate_envs_on_one_worker: true
141
+ set_workers_cpu_affinity: true
142
+ force_envs_single_thread: true
143
+ save_every_sec: 600
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+ keep_checkpoints: 3
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+ save_best_every_sec: 60
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+ save_best_after: 100000
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+ evaluation:
148
+ eval_episodes: 100
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+ eval_parallel_envs: 32
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+ eval_max_steps: 1000
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+ eval_deterministic: true
152
+ eval_latency_values: null
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+ episode_seed_offset: 0
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+ logging:
155
+ output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/evaluation/l0_parallel32_ib8
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+ video:
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+ enabled: false
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+ num_bins: 1
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+ save_step_records: true
160
+ save_action_records: true
161
+ save_latency_records: true
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+ realtime_pipeline_profile: false
zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/latency_prompt_map.json ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {
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+ "0": {
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+ "prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 0 raw frames (0.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
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+ "latency_raw_frames": 0,
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+ "latency_ms": 0.0
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+ }
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