Publish global128 hopper openvla l0 checkpoint and evaluations

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md

@@ -1,30 +1,5 @@
-# hopper / qwenoft
+# hopper openvla l0
 
-Training condition: `zero-latency`. Run: `hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k`.
-
-Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/zero_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
-
-- Checkpoint: `checkpoints/model.pt`
-- Selection: only published VLA checkpoint
-- Checkpoint SHA256: `87e4cb2bf569982a181bb7a7642a64499012542ab2cbf1545cd1c654b0a3d7cd`
-- 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.
-
-Missing in this source model bundle: `manifest.json`, `latency_prompt_map.json`.
-These files were not substituted with files from another training condition.
-
-## Download
-
-```python
-from huggingface_hub import snapshot_download
-prefix = "zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k"
-snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
-                  allow_patterns=[prefix + "/**"])
-```
-
-Use the verified import commit listed in the repository's import report.
+Global batch128, seed42, 5000 optimizer updates. Gradient checkpointing False.
+Evaluation: simulated IID, 100 episodes, seeds42-141, latency seed0, parallel32, 10 FPS, cap1000, per-environment capacity1.
+See config.full.yaml, training.complete.json, results.json and evaluation evidence.

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a39163be75b5429f228c9c3f12854c0fd45be41fa8139134a4ab414d573e869e
+size 9785081249

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml

@@ -1,18 +1,18 @@
 framework:
   name: QwenOFT
   qwenvl:
-    base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+    base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
     attn_implementation: flash_attention_2
-    enable_gradient_checkpointing: true
+    enable_gradient_checkpointing: false
   action_model:
     action_model_type: MLP
     action_dim: 3
+    state_dim: 11
     action_hidden_dim: 2560
     future_action_window_size: 0
     past_action_window_size: 0
     loss_type: l1
     state_encoding: continuous_projector
-    state_dim: 11
     action_horizon: 1
     action_env_dim: 3
   kv_memory:
@@ -25,11 +25,11 @@ datasets:
   vla_data:
     dataset_py: lerobot_datasets
     include_state: true
-    data_root_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games
-    data_mix: hopper_rgb_state_l0_return_gt3000_100ep
-    eval_data_mix: hopper_rgb_state_l0_return_gt3000_100ep__val
-    custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/hopper_rgb_state_l0_return_gt3000_100ep.json
-    action_type: discrete
+    data_root_dir: /
+    data_mix: train
+    eval_data_mix: validation
+    custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/mixture.json
+    action_type: continuous
     sequential_step_sampling: false
     eval_sequential_step_sampling: null
     num_workers: 8
@@ -59,7 +59,7 @@ datasets:
       eval_at_phase_end: false
       save_at_phase_end: false
       computed_plan: null
-    per_device_batch_size: 16
+    per_device_batch_size: 32
     load_all_data_for_training: true
     num_obs_frames: 1
     image_mode: single
@@ -122,6 +122,7 @@ datasets:
         - foot_angular_velocity
       task_name: hopper_rgb_state
     active_action_dim: 3
+    robot_type: rl_games_gymnasium
 dataset:
   source_hf: ''
   config_name: null
@@ -182,7 +183,7 @@ trainer:
     enabled: true
     log_interval: 10
   gradient_clipping: 1.0
-  gradient_accumulation_steps: 1
+  gradient_accumulation_steps: 2
   distributed_backend: deepspeed
   is_resume: false
   pretrained_checkpoint: null
@@ -198,9 +199,9 @@ trainer:
     fused: true
   save_format: pt
 workspace_dir: /home/lzj/code/latency-sensitive-bench
-run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs
+run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/training
 seed: 42
-wandb_entity: dongqianyu99-zhejiang-university
+wandb_entity: saberrr-zju
 wandb_project: latency-sensitive-bench
 auth:
   env_file: null
@@ -339,7 +340,7 @@ checkpoint:
   save_best_model: false
   save_final_model: true
   save_pt_file: true
-  save_training_state: false
+  save_training_state: true
   save_safetensors_file: false
   local:
     keep_last_n: 1
@@ -349,8 +350,16 @@ checkpoint:
     keep_last_n: 0
     sync_every_n_checkpoints: 1
     resume_policy: local_latest
-run_id: hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k
-output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k
-config_yaml: null
+run_id: hopper_openvla_l0_issued_iid_g128_s42_20261010
 is_debug: false
 version_id: '0.21'
+training_latency_condition: zero_latency
+wandb_name: hopper_openvla_l0_issued_iid_g128_s42_20261010
+wandb_group: continuous-control-issued-iid-20261010
+wandb_tags:
+- hopper
+- openvla
+- issued-action
+- iid
+config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/train.yaml
+output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/training/hopper_openvla_l0_issued_iid_g128_s42_20261010

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml

@@ -1,9 +1,9 @@
 framework:
   name: QwenOFT
   qwenvl:
-    base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
     attn_implementation: flash_attention_2
-    enable_gradient_checkpointing: true
+    enable_gradient_checkpointing: false
   action_model:
     action_model_type: MLP
     action_dim: 3
@@ -69,7 +69,7 @@ datasets:
     - 2
     obs_image_size: null
     video_backend: torchvision_av
-    gymnasium_task_contract:
+    gymnasium_task_contract: &id001
       action_space:
         dtype: float32
         high:
@@ -122,6 +122,7 @@ datasets:
         - foot_angular_velocity
       task_name: hopper_rgb_state
     active_action_dim: 3
+    robot_type: rl_games_gymnasium
 dataset:
   source_hf: ''
   config_name: null
@@ -274,58 +275,7 @@ rl_games:
       - 0
   task: gymnasium
   gymnasium:
-    task_contract:
-      action_space:
-        dtype: float32
-        high:
-        - 1.0
-        - 1.0
-        - 1.0
-        labels:
-        - thigh_torque
-        - leg_torque
-        - foot_torque
-        low:
-        - -1.0
-        - -1.0
-        - -1.0
-        type: box
-      base_prompt: Move the Hopper robot forward while keeping its torso upright.
-        Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
-      env_fps: 125.0
-      env_id: LatencyBench/HopperRgbState-v0
-      frame_stack: 1
-      make_kwargs:
-        base_env_id: Hopper-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
-      obs_fps: 125.0
-      registration_imports:
-      - latency_bench.envs.gymnasium_hopper_rgb_state
-      state_space:
-        labels:
-        - torso_height
-        - torso_angle
-        - thigh_angle
-        - leg_angle
-        - foot_angle
-        - torso_x_velocity
-        - torso_z_velocity
-        - torso_angular_velocity
-        - thigh_angular_velocity
-        - leg_angular_velocity
-        - foot_angular_velocity
-      task_name: hopper_rgb_state
+    task_contract: *id001
     task_name: hopper_rgb_state
   initialization_mode: scratch
   action_carrier: native
@@ -354,3 +304,6 @@ output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/hopper_rgb_sta
 config_yaml: null
 is_debug: false
 version_id: '0.21'
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json

@@ -39,82 +39,82 @@
     },
     "state": {
       "mean": [
-        0.40871402621269226,
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-        0.015370956622064114
+        1.3645542860031128,
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+        -0.07698092609643936,
+        -0.028367187827825546,
+        0.1537088304758072
       ],
       "std": [
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-        0.30314165353775024,
-        0.6127533316612244,
-        0.21872857213020325,
-        0.4510791301727295,
-        0.21530857682228088,
-        0.3457658588886261,
-        0.4274502992630005,
-        0.6040666103363037
+        0.17122606933116913,
+        0.07046335190534592,
+        0.21613667905330658,
+        0.3121389150619507,
+        0.5791706442832947,
+        0.708288848400116,
+        1.5880056619644165,
+        0.9573500156402588,
+        3.4576501846313477,
+        4.274486541748047,
+        6.040563583374023
       ],
       "max": [
-        1.0,
-        1.0,
-        1.0,
-        1.0,
-        1.0,
-        1.0,
-        1.0,
-        1.0,
-        1.0,
-        1.0,
-        1.0
+        1.6431776285171509,
+        0.17731712758541107,
+        0.059119515120983124,
+        0.14385102689266205,
+        0.9273068308830261,
+        6.297187805175781,
+        3.283433198928833,
+        2.7663865089416504,
+        10.0,
+        10.0,
+        10.0
       ],
       "min": [
-        -1.0,
-        -1.0,
-        -1.0,
-        -1.0,
-        -1.0,
-        -1.0,
-        -1.0,
-        -1.0,
-        -1.0,
-        -1.0,
-        -1.0
+        0.7007287740707397,
+        -0.19482052326202393,
+        -1.6461776494979858,
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+        -0.1792079657316208,
+        -3.757478713989258,
+        -6.126420021057129,
+        -10.0,
+        -10.0,
+        -10.0
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       "q01": [
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-        -0.6852116698026657,
-        -0.10524752676486969,
-        -0.5511617350578308,
-        -1.0,
-        -1.0
+        0.9230922436714173,
+        -0.18677105158567428,
+        -0.9708261024951935,
+        -1.0109864580631256,
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+        -2.147989432811737,
+        -5.511617112159729,
+        -10.0,
+        -10.0
       ],
       "q99": [
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-        0.7862786006927489,
-        0.9816559219360351,
-        0.9127335548400879,
-        0.9102470433712005,
-        0.2971139311790463,
-        0.8896300184726715,
-        0.9198877382278442,
-        1.0,
-        0.981240049600601,
-        1.0
+        1.610499701499939,
+        0.13755025938153265,
+        0.04347839709371328,
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+        2.8948803400993346,
+        2.410175268650055,
+        10.0,
+        9.8124001789093,
+        10.0
       ]
     },
     "num_transitions": 88212,

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json

@@ -1,123 +0,0 @@
-{
-  "new_embodiment": {
-    "action": {
-      "mean": [
-        0.038164444267749786,
-        0.5853713154792786,
-        -0.14019179344177246
-      ],
-      "std": [
-        0.37648600339889526,
-        0.6837278008460999,
-        0.6710580587387085
-      ],
-      "max": [
-        1.0,
-        1.0,
-        1.0
-      ],
-      "min": [
-        -1.0,
-        -1.0,
-        -1.0
-      ],
-      "q01": [
-        -0.8856967091560364,
-        -1.0,
-        -1.0
-      ],
-      "q99": [
-        1.0,
-        1.0,
-        1.0
-      ],
-      "mask": [
-        true,
-        true,
-        true
-      ]
-    },
-    "state": {
-      "mean": [
-        0.4167287349700928,
-        -0.011946885846555233,
-        0.45969364047050476,
-        0.6854016780853271,
-        0.27180203795433044,
-        -0.13894067704677582,
-        0.060337137430906296,
-        0.37753522396087646,
-        -0.006504729390144348,
-        -0.0025828757788985968,
-        0.01615341380238533
-      ],
-      "std": [
-        0.3655839264392853,
-        0.3772760033607483,
-        0.2494690865278244,
-        0.2961997389793396,
-        0.6115167140960693,
-        0.21205303072929382,
-        0.45317184925079346,
-        0.2155265510082245,
-        0.3430417776107788,
-        0.42244163155555725,
-        0.6003957390785217
-      ],
-      "max": [
-        0.997422456741333,
-        0.9132802486419678,
-        0.996956467628479,
-        0.9437090158462524,
-        0.9562854766845703,
-        0.6047350168228149,
-        0.9966599941253662,
-        0.992188572883606,
-        1.0,
-        1.0,
-        1.0
-      ],
-      "min": [
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-        -0.9943915605545044,
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-      "q01": [
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-      "q99": [
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-        0.8914690685272217,
-        0.922366099357605,
-        1.0,
-        0.9213636970520022,
-        1.0
-      ]
-    },
-    "num_transitions": 9917,
-    "num_trajectories": 10
-  }
-}

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/config.yaml

@@ -0,0 +1,309 @@
+framework:
+  name: QwenOFT
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    enable_gradient_checkpointing: false
+  action_model:
+    action_model_type: MLP
+    action_dim: 3
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: l1
+    state_encoding: continuous_projector
+    state_dim: 11
+    action_horizon: 1
+    action_env_dim: 3
+  kv_memory:
+    enabled: false
+    window: 4
+    rollout_len: 8
+    packed_train: false
+    rebased_sink: true
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games
+    data_mix: hopper_rgb_state_l0_return_gt3000_100ep
+    eval_data_mix: hopper_rgb_state_l0_return_gt3000_100ep__val
+    custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/hopper_rgb_state_l0_return_gt3000_100ep.json
+    action_type: discrete
+    sequential_step_sampling: false
+    eval_sequential_step_sampling: null
+    num_workers: 8
+    eval_num_workers: 8
+    prefetch_factor: 4
+    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: 16
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size: null
+    video_backend: torchvision_av
+    gymnasium_task_contract: &id001
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - thigh_torque
+        - leg_torque
+        - foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Hopper robot forward while keeping its torso upright.
+        Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+      env_fps: 125.0
+      env_id: LatencyBench/HopperRgbState-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Hopper-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
+      obs_fps: 125.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_hopper_rgb_state
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - thigh_angle
+        - leg_angle
+        - foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - thigh_angular_velocity
+        - leg_angular_velocity
+        - foot_angular_velocity
+      task_name: hopper_rgb_state
+    active_action_dim: 3
+    robot_type: rl_games_gymnasium
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: hopper_rgb_state_l0_return_gt3000_100ep
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: hopper_rgb_state_l0_return_gt3000_100ep
+  mixed_converted_name: hopper_rgb_state_l0_return_gt3000_100ep
+  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: true
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  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
+workspace_dir: /home/lzj/code/latency-sensitive-bench
+run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs
+seed: 42
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_project: latency-sensitive-bench
+auth:
+  env_file: null
+  hf_token_env: HF_TOKEN
+  wandb_api_key_env: WANDB_API_KEY
+paths:
+  run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs
+  dataset_local_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games
+  dataset_cache_dir: null
+  base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+  accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml
+launch:
+  use_accelerate: true
+  gpus: null
+  num_processes: 1
+  dry_run: false
+conda:
+  enabled: true
+  env_name: null
+rl_games:
+  model_alias: openvla
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw
+    ghost_trail:
+      history_frames: 5
+      gamma: 1.3
+      min_alpha: 35
+      scroll_px_per_step: 4.0
+      ground_fraction: 0.22
+    seed: 42
+    fixed_episode_seeds: true
+    latency_seed_stride: 0
+    task_seed_stride: 0
+    task_description: ''
+    eval_parallel_envs: 5
+    action_chunk_execution:
+      enabled: false
+      chunk_size: null
+    enabled: false
+    gymnasium:
+      make_kwargs: {}
+    mid_train:
+      enabled: false
+      interval_steps: 100
+      latencies:
+      - 0
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    post_train:
+      enabled: false
+      latencies:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    eval_backend: latency_bench
+    distributed_mode: none
+    vectorized:
+      enabled: false
+      batch_size: 1
+    latency:
+      prompt_map_path: null
+      mode: single
+      values:
+      - 0
+  task: gymnasium
+  gymnasium:
+    task_contract: *id001
+    task_name: hopper_rgb_state
+  initialization_mode: scratch
+  action_carrier: native
+model: openvla
+env: gymnasium
+init: scratch
+mode: single
+checkpoint:
+  load: none
+  hf_repo_id: null
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: false
+  save_safetensors_file: false
+  local:
+    keep_last_n: 1
+  sync:
+    enabled: false
+    repo_id: null
+    keep_last_n: 0
+    sync_every_n_checkpoints: 1
+    resume_policy: local_latest
+run_id: hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k
+output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k
+config_yaml: null
+is_debug: false
+version_id: '0.21'
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/dataset_statistics.json

@@ -0,0 +1,123 @@
+{
+  "new_embodiment": {
+    "action": {
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+        0.03865884989500046,
+        0.5777319669723511,
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+        0.689887523651123,
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+        1.0
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+      "mask": [
+        true,
+        true,
+        true
+      ]
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+        0.1537088304758072
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+        1.5880056619644165,
+        0.9573500156402588,
+        3.4576501846313477,
+        4.274486541748047,
+        6.040563583374023
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+        1.6431776285171509,
+        0.17731712758541107,
+        0.059119515120983124,
+        0.14385102689266205,
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+        6.297187805175781,
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+        10.0,
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+        -3.757478713989258,
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+        -10.0,
+        -10.0,
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+        10.0,
+        9.8124001789093,
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+    "num_transitions": 88212,
+    "num_trajectories": 90
+  }
+}

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/eval_config.yaml

@@ -0,0 +1,162 @@
+env:
+  state_space:
+    labels:
+    - torso_height
+    - torso_angle
+    - thigh_angle
+    - leg_angle
+    - foot_angle
+    - torso_x_velocity
+    - torso_z_velocity
+    - torso_angular_velocity
+    - thigh_angular_velocity
+    - leg_angular_velocity
+    - foot_angular_velocity
+  name: gymnasium
+  task_name: hopper
+  env_id: LatencyBench/Hopper-v0
+  registration_imports:
+  - latency_bench.envs.tasks.hopper
+  make_kwargs:
+    base_env_id: Hopper-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
+  env_fps: 10
+  obs_fps: 10
+  frame_stack: 1
+  action_space:
+    dtype: float32
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    labels:
+    - thigh_torque
+    - leg_torque
+    - foot_torque
+    low:
+    - -1.0
+    - -1.0
+    - -1.0
+    type: box
+  noop_action:
+  - 0.0
+  - 0.0
+  - 0.0
+  base_prompt: Move the Hopper robot forward while keeping its torso upright. Predict
+    three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+  obs_resize:
+  - 224
+  - 224
+experiment:
+  name: hopper_openvla_l0_iid_100ep
+  seed: 42
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/hopper
+  restart_behavior: overwrite
+  run_mode: eval
+executor:
+  mode: simulated
+  inference_devices:
+  - cuda:0
+  - cuda:1
+  inference_batch_size: 8
+  simulated_inference_pool: true
+  simulated_worker_capacity: 1
+latency:
+  method: iid
+  sync_cuda: false
+  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/profile/profile.json
+  profile_worker_slot: 0
+  seed: 0
+scheduler:
+  hold_policy: hold
+  ordering_policy: issue_order_fifo
+policy:
+  type: starvla
+  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/new_bundle/config.yaml
+  backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
+  device: cuda:0
+  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/new_bundle/latency_prompt_map.json
+  latency_prompt_key: 0
+training:
+  train_for_env_steps: 10000000
+  num_workers: 8
+  num_envs_per_worker: 8
+  worker_num_splits: 2
+  num_policies: 1
+  batch_size: 1024
+  rollout: 64
+  recurrence: 1
+  num_epochs: 2
+  num_batches_per_epoch: 4
+  num_batches_to_accumulate: 2
+  policy_workers_per_policy: 1
+  max_policy_lag: 10000
+  learning_rate: 0.00295
+  lr_schedule: linear_decay
+  lr_schedule_kl_threshold: 0.008
+  gamma: 0.99
+  gae_lambda: 0.95
+  ppo_clip_ratio: 0.2
+  ppo_clip_value: 1.0
+  value_loss_coeff: 1.3
+  max_grad_norm: 3.5
+  exploration_loss: entropy
+  exploration_loss_coeff: 0.0
+  kl_loss_coeff: 0.1
+  reward_scale: 1.0
+  reward_clip: 1000.0
+  async_rl: false
+  serial_mode: false
+  batched_sampling: false
+  with_vtrace: false
+  use_rnn: false
+  env_framestack: 4
+  encoder_mlp_layers:
+  - 64
+  - 64
+  nonlinearity: tanh
+  adaptive_stddev: false
+  policy_initialization: torch_default
+  initial_stddev: 1.0
+  actor_critic_share_weights: true
+  shuffle_minibatches: false
+  value_bootstrap: false
+  normalize_input: true
+  normalize_returns: true
+  decorrelate_experience_max_seconds: 10
+  decorrelate_envs_on_one_worker: true
+  set_workers_cpu_affinity: true
+  force_envs_single_thread: true
+  save_every_sec: 600
+  keep_checkpoints: 3
+  save_best_every_sec: 60
+  save_best_after: 100000
+evaluation:
+  eval_episodes: 100
+  eval_parallel_envs: 32
+  eval_max_steps: 1000
+  eval_deterministic: true
+  eval_latency_values: null
+  episode_seed_offset: 0
+logging:
+  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/evaluation/iid_parallel32_ib8
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: true
+  save_action_records: true
+  save_latency_records: true
+  realtime_pipeline_profile: false

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "0": {
+    "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 125 FPS and observations are emitted at 125 FPS. Choose the best next action.",
+    "latency_raw_frames": 0,
+    "latency_ms": 0.0
+  }
+}

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/manifest.json

@@ -0,0 +1,142 @@
+{
+  "dataset_name": "lerobot",
+  "env_name": "hopper_rgb_state",
+  "episodes": 90,
+  "frames": 88212,
+  "task_prompts": [
+    "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 125 FPS and observations are emitted at 125 FPS. Choose the best next action."
+  ],
+  "format": "lerobot_v2_image_parquet",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/raw",
+  "integration_name": "gymnasium",
+  "task_name": "hopper_rgb_state",
+  "action_layout": "gymnasium_continuous_v1",
+  "action_labels": [
+    "thigh_torque",
+    "leg_torque",
+    "foot_torque"
+  ],
+  "carrier_action_labels": [
+    "thigh_torque",
+    "leg_torque",
+    "foot_torque"
+  ],
+  "action_dim": 3,
+  "active_action_dim": 3,
+  "action_carrier": "native",
+  "rows_unit": "decision_step",
+  "obs_fps": 125.0,
+  "obs_stride_raw_frames": 1,
+  "uses_state": true,
+  "state_dim": 11,
+  "state_labels": [
+    "torso_height",
+    "torso_angle",
+    "thigh_angle",
+    "leg_angle",
+    "foot_angle",
+    "torso_x_velocity",
+    "torso_z_velocity",
+    "torso_angular_velocity",
+    "thigh_angular_velocity",
+    "leg_angular_velocity",
+    "foot_angular_velocity"
+  ],
+  "state_normalization": {
+    "type": "min_max",
+    "min": [
+      0.7007287740707397,
+      -0.19482052326202393,
+      -1.6461776494979858,
+      -1.9154568910598755,
+      -0.9631047248840332,
+      -0.1792079657316208,
+      -3.757478713989258,
+      -6.126420021057129,
+      -10.0,
+      -10.0,
+      -10.0
+    ],
+    "max": [
+      1.6431776285171509,
+      0.17731712758541107,
+      0.059119515120983124,
+      0.14385102689266205,
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+      6.297187805175781,
+      3.283433198928833,
+      2.7663865089416504,
+      10.0,
+      10.0,
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+    ]
+  },
+  "robot_type": "rl_games_gymnasium",
+  "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/_generated_mixtures/lerobot.json",
+  "gymnasium_task": {
+    "action_space": {
+      "dtype": "float32",
+      "high": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "labels": [
+        "thigh_torque",
+        "leg_torque",
+        "foot_torque"
+      ],
+      "low": [
+        -1.0,
+        -1.0,
+        -1.0
+      ],
+      "type": "box"
+    },
+    "base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+    "env_fps": 125.0,
+    "env_id": "LatencyBench/HopperRgbState-v0",
+    "frame_stack": 1,
+    "make_kwargs": {
+      "base_env_id": "Hopper-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
+    ],
+    "obs_fps": 125.0,
+    "registration_imports": [
+      "latency_bench.envs.gymnasium_hopper_rgb_state"
+    ],
+    "state_space": {
+      "labels": [
+        "torso_height",
+        "torso_angle",
+        "thigh_angle",
+        "leg_angle",
+        "foot_angle",
+        "torso_x_velocity",
+        "torso_z_velocity",
+        "torso_angular_velocity",
+        "thigh_angular_velocity",
+        "leg_angular_velocity",
+        "foot_angular_velocity"
+      ]
+    },
+    "task_name": "hopper_rgb_state"
+  },
+  "validation_dataset_name": "lerobot__val",
+  "validation_episodes": 10,
+  "validation_frames": 9917
+}

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/result.json

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zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/iid/source_identity.json

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zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/config.yaml

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+framework:
+  name: QwenOFT
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    enable_gradient_checkpointing: false
+  action_model:
+    action_model_type: MLP
+    action_dim: 3
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: l1
+    state_encoding: continuous_projector
+    state_dim: 11
+    action_horizon: 1
+    action_env_dim: 3
+  kv_memory:
+    enabled: false
+    window: 4
+    rollout_len: 8
+    packed_train: false
+    rebased_sink: true
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games
+    data_mix: hopper_rgb_state_l0_return_gt3000_100ep
+    eval_data_mix: hopper_rgb_state_l0_return_gt3000_100ep__val
+    custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/hopper_rgb_state_l0_return_gt3000_100ep.json
+    action_type: discrete
+    sequential_step_sampling: false
+    eval_sequential_step_sampling: null
+    num_workers: 8
+    eval_num_workers: 8
+    prefetch_factor: 4
+    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: 16
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size: null
+    video_backend: torchvision_av
+    gymnasium_task_contract: &id001
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - thigh_torque
+        - leg_torque
+        - foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Hopper robot forward while keeping its torso upright.
+        Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+      env_fps: 125.0
+      env_id: LatencyBench/HopperRgbState-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Hopper-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
+      obs_fps: 125.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_hopper_rgb_state
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - thigh_angle
+        - leg_angle
+        - foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - thigh_angular_velocity
+        - leg_angular_velocity
+        - foot_angular_velocity
+      task_name: hopper_rgb_state
+    active_action_dim: 3
+    robot_type: rl_games_gymnasium
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: hopper_rgb_state_l0_return_gt3000_100ep
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: hopper_rgb_state_l0_return_gt3000_100ep
+  mixed_converted_name: hopper_rgb_state_l0_return_gt3000_100ep
+  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:
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+    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:
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+    vlm: 0.1
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 1
+  profile_timing:
+    enabled: true
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  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
+workspace_dir: /home/lzj/code/latency-sensitive-bench
+run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs
+seed: 42
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_project: latency-sensitive-bench
+auth:
+  env_file: null
+  hf_token_env: HF_TOKEN
+  wandb_api_key_env: WANDB_API_KEY
+paths:
+  run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs
+  dataset_local_dir: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games
+  dataset_cache_dir: null
+  base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+  accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml
+launch:
+  use_accelerate: true
+  gpus: null
+  num_processes: 1
+  dry_run: false
+conda:
+  enabled: true
+  env_name: null
+rl_games:
+  model_alias: openvla
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw
+    ghost_trail:
+      history_frames: 5
+      gamma: 1.3
+      min_alpha: 35
+      scroll_px_per_step: 4.0
+      ground_fraction: 0.22
+    seed: 42
+    fixed_episode_seeds: true
+    latency_seed_stride: 0
+    task_seed_stride: 0
+    task_description: ''
+    eval_parallel_envs: 5
+    action_chunk_execution:
+      enabled: false
+      chunk_size: null
+    enabled: false
+    gymnasium:
+      make_kwargs: {}
+    mid_train:
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+      interval_steps: 100
+      latencies:
+      - 0
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    post_train:
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+      latencies:
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+      - 1
+      - 2
+      - 3
+      - 4
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    eval_backend: latency_bench
+    distributed_mode: none
+    vectorized:
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+      batch_size: 1
+    latency:
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+      mode: single
+      values:
+      - 0
+  task: gymnasium
+  gymnasium:
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+    task_name: hopper_rgb_state
+  initialization_mode: scratch
+  action_carrier: native
+model: openvla
+env: gymnasium
+init: scratch
+mode: single
+checkpoint:
+  load: none
+  hf_repo_id: null
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: false
+  save_safetensors_file: false
+  local:
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+  sync:
+    enabled: false
+    repo_id: null
+    keep_last_n: 0
+    sync_every_n_checkpoints: 1
+    resume_policy: local_latest
+run_id: hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k
+output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k
+config_yaml: null
+is_debug: false
+version_id: '0.21'
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/dataset_statistics.json

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+}

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/eval_config.yaml

@@ -0,0 +1,159 @@
+env:
+  state_space:
+    labels:
+    - torso_height
+    - torso_angle
+    - thigh_angle
+    - leg_angle
+    - foot_angle
+    - torso_x_velocity
+    - torso_z_velocity
+    - torso_angular_velocity
+    - thigh_angular_velocity
+    - leg_angular_velocity
+    - foot_angular_velocity
+  name: gymnasium
+  task_name: hopper
+  env_id: LatencyBench/Hopper-v0
+  registration_imports:
+  - latency_bench.envs.tasks.hopper
+  make_kwargs:
+    base_env_id: Hopper-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
+  env_fps: 10
+  obs_fps: 10
+  frame_stack: 1
+  action_space:
+    dtype: float32
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    labels:
+    - thigh_torque
+    - leg_torque
+    - foot_torque
+    low:
+    - -1.0
+    - -1.0
+    - -1.0
+    type: box
+  noop_action:
+  - 0.0
+  - 0.0
+  - 0.0
+  base_prompt: Move the Hopper robot forward while keeping its torso upright. Predict
+    three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+  obs_resize:
+  - 224
+  - 224
+experiment:
+  name: hopper_openvla_l0_zero_100ep
+  seed: 42
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/hopper
+  restart_behavior: overwrite
+  run_mode: eval
+executor:
+  mode: simulated
+  inference_devices:
+  - cuda:0
+  - cuda:1
+  inference_batch_size: 8
+  simulated_inference_pool: true
+  simulated_worker_capacity: 1
+latency:
+  method: zero
+  sync_cuda: false
+scheduler:
+  hold_policy: hold
+  ordering_policy: issue_order_fifo
+policy:
+  type: starvla
+  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/new_bundle/config.yaml
+  backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
+  device: cuda:0
+  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/new_bundle/latency_prompt_map.json
+  latency_prompt_key: 0
+training:
+  train_for_env_steps: 10000000
+  num_workers: 8
+  num_envs_per_worker: 8
+  worker_num_splits: 2
+  num_policies: 1
+  batch_size: 1024
+  rollout: 64
+  recurrence: 1
+  num_epochs: 2
+  num_batches_per_epoch: 4
+  num_batches_to_accumulate: 2
+  policy_workers_per_policy: 1
+  max_policy_lag: 10000
+  learning_rate: 0.00295
+  lr_schedule: linear_decay
+  lr_schedule_kl_threshold: 0.008
+  gamma: 0.99
+  gae_lambda: 0.95
+  ppo_clip_ratio: 0.2
+  ppo_clip_value: 1.0
+  value_loss_coeff: 1.3
+  max_grad_norm: 3.5
+  exploration_loss: entropy
+  exploration_loss_coeff: 0.0
+  kl_loss_coeff: 0.1
+  reward_scale: 1.0
+  reward_clip: 1000.0
+  async_rl: false
+  serial_mode: false
+  batched_sampling: false
+  with_vtrace: false
+  use_rnn: false
+  env_framestack: 4
+  encoder_mlp_layers:
+  - 64
+  - 64
+  nonlinearity: tanh
+  adaptive_stddev: false
+  policy_initialization: torch_default
+  initial_stddev: 1.0
+  actor_critic_share_weights: true
+  shuffle_minibatches: false
+  value_bootstrap: false
+  normalize_input: true
+  normalize_returns: true
+  decorrelate_experience_max_seconds: 10
+  decorrelate_envs_on_one_worker: true
+  set_workers_cpu_affinity: true
+  force_envs_single_thread: true
+  save_every_sec: 600
+  keep_checkpoints: 3
+  save_best_every_sec: 60
+  save_best_after: 100000
+evaluation:
+  eval_episodes: 100
+  eval_parallel_envs: 32
+  eval_max_steps: 1000
+  eval_deterministic: true
+  eval_latency_values: null
+  episode_seed_offset: 0
+logging:
+  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/evaluation/zero_parallel32_ib8
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: true
+  save_action_records: true
+  save_latency_records: true
+  realtime_pipeline_profile: false

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "0": {
+    "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 125 FPS and observations are emitted at 125 FPS. Choose the best next action.",
+    "latency_raw_frames": 0,
+    "latency_ms": 0.0
+  }
+}

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/manifest.json

@@ -0,0 +1,142 @@
+{
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+  ],
+  "format": "lerobot_v2_image_parquet",
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+  "integration_name": "gymnasium",
+  "task_name": "hopper_rgb_state",
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+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/_generated_mixtures/lerobot.json",
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+    "frame_stack": 1,
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+      0.0,
+      0.0
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+    "registration_imports": [
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+        "torso_angular_velocity",
+        "thigh_angular_velocity",
+        "leg_angular_velocity",
+        "foot_angular_velocity"
+      ]
+    },
+    "task_name": "hopper_rgb_state"
+  },
+  "validation_dataset_name": "lerobot__val",
+  "validation_episodes": 10,
+  "validation_frames": 9917
+}

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/result.json

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+}

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/evaluations/g128_iid_20261010/zero/source_identity.json

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+{
+  "revision": "a7001d2227fa8b0cbcd58b7b0e32db3dba147810",
+  "source": "current worktree snapshot",
+  "dirty_paths": [
+    " M AGENTS.md",
+    " M configs/experiments/memory/small_model/flappy_capped.yaml",
+    " M configs/experiments/memory/small_model/flappy_extended.yaml",
+    " M configs/experiments/observation_stride/flappy_capped.yaml",
+    " M configs/experiments/observation_stride/flappy_extended.yaml",
+    " M configs/experiments/sim2real.yaml",
+    " M scripts/experiments/memory/small_model/run.sh",
+    " M scripts/experiments/observation_stride/run.sh",
+    " M scripts/experiments/sim2real/study.py",
+    " M tests/scripts/test_sim2real.py",
+    "?? configs/experiments/sim2real/five_gpu.yaml",
+    "?? docs/cleanup-refactor/",
+    "?? lagen/",
+    "?? scripts/experiments/sim2real/campaign.py",
+    "?? servers.md"
+  ],
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+      "validation": "6 existing resume/statistics tests passed; see previous campaign resume_fix_tests.log"
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+  "frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010"
+}

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/l0_data_source.json

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+{
+  "repo": "MLL-Lab/LAGEN-datasets",
+  "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc",
+  "path": "experiments/benchmark-training/archive/standard-pipeline/hopper/zero_latency/shared/source_100ep_v1/demonstrations/raw",
+  "source_obs_fps": 125.0,
+  "label_semantics": "zero latency: issued and applied actions coincide",
+  "original_contract": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/historical/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/manifest.json"
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zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "0": {
+    "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 125 FPS and observations are emitted at 125 FPS. Choose the best next action.",
+    "latency_raw_frames": 0,
+    "latency_ms": 0.0
+  }
+}

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/manifest.json

@@ -0,0 +1,142 @@
+{
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+  ],
+  "format": "lerobot_v2_image_parquet",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/openvla_l0/raw",
+  "integration_name": "gymnasium",
+  "task_name": "hopper_rgb_state",
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+    "torso_x_velocity",
+    "torso_z_velocity",
+    "torso_angular_velocity",
+    "thigh_angular_velocity",
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+    " M configs/experiments/memory/small_model/flappy_extended.yaml",
+    " M configs/experiments/observation_stride/flappy_capped.yaml",
+    " M configs/experiments/observation_stride/flappy_extended.yaml",
+    " M configs/experiments/sim2real.yaml",
+    " M scripts/experiments/memory/small_model/run.sh",
+    " M scripts/experiments/observation_stride/run.sh",
+    " M scripts/experiments/sim2real/study.py",
+    " M tests/scripts/test_sim2real.py",
+    "?? configs/experiments/sim2real/five_gpu.yaml",
+    "?? docs/cleanup-refactor/",
+    "?? lagen/",
+    "?? scripts/experiments/sim2real/campaign.py",
+    "?? servers.md"
+  ],
+  "runtime_patches": [
+    {
+      "path": "third_party/starVLA/starVLA/training/train_starvla.py",
+      "change": "Full DeepSpeed state-directory resume loads config/statistics from owning run directory without resolving a standalone model file.",
+      "validation": "6 existing resume/statistics tests passed; see previous campaign resume_fix_tests.log"
+    }
+  ],
+  "frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010"
+}

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/task_contract.json

@@ -1,62 +0,0 @@
-{
-  "action_space": {
-    "dtype": "float32",
-    "high": [
-      1.0,
-      1.0,
-      1.0
-    ],
-    "labels": [
-      "thigh_torque",
-      "leg_torque",
-      "foot_torque"
-    ],
-    "low": [
-      -1.0,
-      -1.0,
-      -1.0
-    ],
-    "type": "box"
-  },
-  "base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
-  "env_fps": 125.0,
-  "env_id": "LatencyBench/HopperRgbState-v0",
-  "frame_stack": 1,
-  "make_kwargs": {
-    "base_env_id": "Hopper-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
-  ],
-  "obs_fps": 125.0,
-  "registration_imports": [
-    "latency_bench.envs.gymnasium_hopper_rgb_state"
-  ],
-  "state_space": {
-    "labels": [
-      "torso_height",
-      "torso_angle",
-      "thigh_angle",
-      "leg_angle",
-      "foot_angle",
-      "torso_x_velocity",
-      "torso_z_velocity",
-      "torso_angular_velocity",
-      "thigh_angular_velocity",
-      "leg_angular_velocity",
-      "foot_angular_velocity"
-    ]
-  },
-  "task_name": "hopper_rgb_state"
-}

zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/training.complete.json

@@ -0,0 +1,18 @@
+{
+  "steps": 5000,
+  "seed": 42,
+  "global_batch": 128,
+  "gradient_checkpointing": false,
+  "gpus": "2,3",
+  "attempts": [
+    {
+      "micro_batch": 64,
+      "state": "OOM"
+    },
+    {
+      "micro_batch": 32,
+      "accumulation": 2,
+      "state": "COMPLETED"
+    }
+  ]
+}