diff --git a/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md b/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md index c816aaf257a2251889a55fc28f8bff3de4aab487..b63e6a29e834cf478324811c013f8d10a9a27642 100644 --- a/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/README.md +++ b/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="", - 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. diff --git a/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt b/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..7154feddf23c68cf20d8773199e2183d4172a34e --- /dev/null +++ b/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 diff --git a/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml b/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml index a66c0d632f0646e1594c321b649f75ab4e0002a4..0fb3150bdf04e7f841692fbb9f219852fe31d587 100644 --- a/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.full.yaml +++ b/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 diff --git a/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml b/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml index a66c0d632f0646e1594c321b649f75ab4e0002a4..1272a766a2ed872b974a12c31fd33c4916e604b0 100644 --- a/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/config.yaml +++ b/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 diff --git a/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json b/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json index bb92bf6761b388f4009b3ee0beb94cee8054651c..1438ba79ed6fd56dd8e43d7b5130595492fe6463 100644 --- a/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics.json +++ b/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, - -0.008348838426172733, - 0.45469287037849426, - 0.6798303723335266, - 0.269776850938797, - -0.1342218965291977, - 0.05999795347452164, - 0.3777448832988739, - -0.007698146626353264, - -0.002836690517142415, - 0.015370956622064114 + 1.3645542860031128, + -0.01030511874705553, + -0.40583422780036926, + -0.18573042750358582, + 0.23710231482982635, + 2.6243653297424316, + -0.025802208110690117, + -0.0004125009581912309, + -0.07698092609643936, + -0.028367187827825546, + 0.1537088304758072 ], "std": [ - 0.3633615970611572, - 0.37869560718536377, - 0.25348955392837524, - 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, + -1.9154568910598755, + -0.9631047248840332, + -0.1792079657316208, + -3.757478713989258, + -6.126420021057129, + -10.0, + -10.0, + -10.0 ], "q01": [ - -0.5281156021356582, - -0.9567392879724502, - -0.2079367846250534, - -0.12157819628715515, - -0.9323781633377075, - -0.7369779413938522, - -0.6852116698026657, - -0.10524752676486969, - -0.5511617350578308, - -1.0, - -1.0 + 0.9230922436714173, + -0.18677105158567428, + -0.9708261024951935, + -1.0109864580631256, + -0.8991881710290909, + 0.6725094616413116, + -2.6492803430557252, + -2.147989432811737, + -5.511617112159729, + -10.0, + -10.0 ], "q99": [ - 0.9306531548500061, - 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, + 0.05399664495140313, + 0.8424718528985977, + 4.02110352039337, + 2.8948803400993346, + 2.410175268650055, + 10.0, + 9.8124001789093, + 10.0 ] }, "num_transitions": 88212, diff --git a/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json b/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json deleted file mode 100644 index 3c867e844917ae2dbab65bb030f171c834348353..0000000000000000000000000000000000000000 --- a/zero-latency/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json +++ /dev/null @@ -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": [ - -0.9813680648803711, - -0.9943915605545044, - -0.240229070186615, - -0.7879800796508789, - -0.953981876373291, - -1.0, - -0.7385008335113525, - -0.6288865208625793, - -0.6290589570999146, - -1.0, - -1.0 - ], - "q01": [ - -0.527071304321289, - -0.9531343531608581, - -0.20607015371322632, - -0.10409546375274659, - -0.9325236558914185, - -0.7288819265365601, - -0.68619873046875, - -0.08794799327850342, - -0.5419587254524231, - -1.0, - -1.0 - ], - "q99": [ - 0.9375574779510498, - 0.7395017147064211, - 0.982518982887268, - 0.912756371498108, - 0.9081219291687013, - 0.23814808368682872, - 0.8914690685272217, - 0.922366099357605, - 1.0, - 0.9213636970520022, - 1.0 - ] - }, - "num_transitions": 9917, - "num_trajectories": 10 - } -} \ No newline at end of file diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..1272a766a2ed872b974a12c31fd33c4916e604b0 --- /dev/null +++ b/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 diff --git a/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 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0000000000000000000000000000000000000000..32dd1eca23fd5e77b392b93f0097699271714fde --- /dev/null +++ b/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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..6dd8521e44f1af0c0c6b08d7f41f5ccb1880dbb3 --- /dev/null +++ b/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 + } +} \ No newline at end of file diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..9cb677726c151b0092a5cb55761b7463eca29951 --- /dev/null +++ b/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. 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previous campaign resume_fix_tests.log" + } + ], + "frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010" +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..1272a766a2ed872b974a12c31fd33c4916e604b0 --- /dev/null +++ b/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 @@ -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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..1438ba79ed6fd56dd8e43d7b5130595492fe6463 --- /dev/null +++ b/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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0000000000000000000000000000000000000000..635f076962b6d34ebc0ccd55af6936f18773ad86 --- /dev/null +++ b/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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..6dd8521e44f1af0c0c6b08d7f41f5ccb1880dbb3 --- /dev/null +++ b/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 + } +} \ No newline at end of file diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..9cb677726c151b0092a5cb55761b7463eca29951 --- /dev/null +++ b/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 @@ +{ + "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. 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hopper_rgb_state_l0_return_gt3000_100ep - dataset_py: lerobot_datasets - eval_data_mix: hopper_rgb_state_l0_return_gt3000_100ep__val - latency_curriculum: - enabled: false - per_device_batch_size: 16 -framework: - action_model: - action_dim: 3 - action_env_dim: 3 - action_hidden_dim: 2560 - action_horizon: 1 - action_model_type: MLP - loss_type: l1 - state_dim: 11 - state_encoding: continuous_projector - kv_memory: - enabled: false - packed_train: false - rebased_sink: true - rollout_len: 8 - window: 4 - name: QwenOFT - qwenvl: - attn_implementation: flash_attention_2 - base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct - enable_gradient_checkpointing: true -output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k -rl_games: - env_eval: - enabled: false - task: gymnasium -run_id: hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k 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