diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/config.yaml b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bcb0142a24d9aa64bdf29548cf6f9fb3e9c24187 --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/config.yaml @@ -0,0 +1,120 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: Qwen/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: true + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 3 + state_dim: 11 + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 8 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + num_inference_timesteps: 4 + num_target_vision_tokens: 32 + diffusion_model_cfg: + cross_attention_dim: 2560 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + num_layers: 16 + output_dim: 1024 + positional_embeddings: null + action_env_dim: 3 + future_action_window_size: 0 + past_action_window_size: 0 +version_id: '0.21' +datasets: + vla_data: + include_state: true + obs_image_size: + - 224 + - 224 + image_mode: single + stitch_grid: + - 2 + - 2 + num_obs_frames: 1 + gymnasium_task_contract: &id001 + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + 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: 5 + 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: 5 + 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 + robot_type: rl_games_gymnasium_native +trainer: + pretrained_checkpoint: null + profile_timing: + enabled: false + log_interval: 10 +backbone: + repo_id: Qwen/Qwen3-VL-4B-Instruct + revision: ebb281ec70b05090aa6165b016eac8ec08e71b17 +rl_games: + model_alias: gr00t + task: gymnasium + action_carrier: native + gymnasium: + task_contract: *id001 + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/dataset_statistics.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..3af9b3024cbc47bdd129db5879cb8f1d47f87298 --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/dataset_statistics.json @@ -0,0 +1,123 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.03865884989500046, + 0.5777319669723511, + -0.13737158477306366 + ], + "std": [ + 0.37739884853363037, + 0.689887523651123, + 0.6762200593948364 + ], + "max": [ + 1.0, + 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"submitted_observation_frames": 9, "workload_id": "hopper"}, "num_actions": 9, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 119.09372545958793, "p99_latency_ms": 120.55882438117811, "return_raw": null, "survival_steps": 9} diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/eval_config.yaml b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b765ac8e2597a1a2f80ede697d5519ad58229e43 --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/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: 5 + obs_fps: 5 + 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_gr00t_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_iid_20261010/hopper/gr00t/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_iid_20261010/hopper/gr00t/l0_bundle/checkpoints/model.pt + model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/hopper/gr00t/l0_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_iid_20261010/hopper/gr00t/l0_bundle/manifest.json + latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/hopper/gr00t/l0_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_iid_20261010/hopper/gr00t/evaluation/l0_parallel32 + 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-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/l0_metadata_source.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/l0_metadata_source.json new file mode 100644 index 0000000000000000000000000000000000000000..b5286446c63fd00071aabefd40967a2280494dc0 --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/l0_metadata_source.json @@ -0,0 +1,43 @@ +[ + { + "task": "ant", + "file": "manifest.json", + "repo": "MLL-Lab/LAGEN-datasets", + "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc", + "path": "experiments/benchmark-training/archive/standard-pipeline/ant/zero_latency/OpenVLA/legacy/vla/provenance/dataset_contract/manifest.json" + }, + { + "task": "hopper", + "file": "manifest.json", + "repo": "MLL-Lab/LAGEN-datasets", + "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc", + "path": "experiments/benchmark-training/archive/standard-pipeline/hopper/evidence/legacy/zero_latency/OpenVLA/provenance/dataset_contract/manifest.json" + }, + { + "task": "hopper", + "file": "latency_prompt_map.json", + "repo": "MLL-Lab/LAGEN-datasets", + "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc", + "path": "experiments/benchmark-training/archive/standard-pipeline/hopper/evidence/legacy/zero_latency/OpenVLA/provenance/dataset_contract/latency_prompt_map.json" + }, + { + "task": "walker2d", + "file": "manifest.json", + "repo": "MLL-Lab/LAGEN-datasets", + "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc", + "path": "experiments/benchmark-training/archive/standard-pipeline/walker2d/evidence/legacy/zero_latency/source_contract/manifest.json" + }, + { + "task": "walker2d", + "file": "latency_prompt_map.json", + "repo": "MLL-Lab/LAGEN-datasets", + "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc", + "path": "experiments/benchmark-training/archive/standard-pipeline/walker2d/evidence/legacy/zero_latency/source_contract/latency_prompt_map.json" + }, + { + "task": "ant", + "file": "latency_prompt_map.json", + "source": "manifest.task_prompts[0]", + "latency_raw_frames": 0 + } +] diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/latency_prompt_map.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..f2b7129bb06cf782fa08ced52a646bb6c42dfaec --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/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 5 FPS and observations are emitted at 5 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-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/legacy_normalization_verification.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/legacy_normalization_verification.json new file mode 100644 index 0000000000000000000000000000000000000000..b13da1b6b17f8255c042deeb3dc4beab4a87aba9 --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/legacy_normalization_verification.json @@ -0,0 +1,74 @@ +[ + { + "task": "hopper", + "model": "openvla", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "hopper", + "model": "gr00t", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "hopper", + "model": "pi05", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "walker2d", + "model": "openvla", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "walker2d", + "model": "gr00t", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "walker2d", + "model": "pi05", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "ant", + "model": "openvla", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "ant", + "model": "gr00t", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "ant", + "model": "pi05", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "hopper", + "model": "pi05_profile", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "walker2d", + "model": "pi05_profile", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "ant", + "model": "pi05_profile", + "maximum_abs_difference": 0.0, + "states": 128 + } +] diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/manifest.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8fbb9edb1070c7b854bbfb75de07b4b80aea957f --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/manifest.json @@ -0,0 +1,142 @@ +{ + "dataset_name": "hopper_h1_5fps_l0", + "env_name": "hopper_rgb_state", + "episodes": 90, + "frames": 88212, + "task_prompts": [ + "Move the Hopper robot forward while keeping its torso upright. 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Choose the best next action." + ], + "format": "lerobot_v2_image_parquet", + "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/raw_5fps", + "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": 5, + "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, + 0.9273068308830261, + 6.297187805175781, + 3.283433198928833, + 2.7663865089416504, + 10.0, + 10.0, + 10.0 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/lerobot/hopper_h1_5fps_l0/latency_prompt_map.json", + "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/lerobot/_generated_mixtures/hopper_h1_5fps_l0.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": 5, + "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": 5, + "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": "hopper_h1_5fps_l0__val", + "validation_episodes": 10, + "validation_frames": 9917 +} \ No newline at end of file