Publish global128 ant openvla l0 checkpoint and evaluations

zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/README.md

@@ -1,30 +1,5 @@
-# ant / qwenoft
+# ant openvla l0
 
-Training condition: `zero-latency`. Run: `ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k`.
-
-Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/zero_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
-
-- Checkpoint: `checkpoints/model.pt`
-- Selection: only published VLA checkpoint
-- Checkpoint SHA256: `feada37b7bdcebab8bf4f9dc3307cac39f6e65913b1c96e681fa438c7188fc7d`
-- 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/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_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/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a05d88facc13d7dff4b6be86f56366cbf4e503454c49aad2663c01a31de83522
+size 9785070315

zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.full.yaml

@@ -1,17 +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: 8
+    state_dim: 27
     action_hidden_dim: 2560
     future_action_window_size: 0
     past_action_window_size: 0
     loss_type: l1
-    state_dim: 27
+    state_encoding: discretized_text
     action_horizon: 1
     action_env_dim: 8
   kv_memory:
@@ -24,11 +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: ant_rgb_state_l0_return_gt3000_100ep
-    eval_data_mix: ant_rgb_state_l0_return_gt3000_100ep__val
-    custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/ant_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/ant/openvla_l0/mixture.json
+    action_type: continuous
     sequential_step_sampling: false
     eval_sequential_step_sampling: null
     num_workers: 8
@@ -155,6 +156,7 @@ datasets:
         - back_right_ankle_angular_velocity
       task_name: ant_rgb_state
     active_action_dim: 8
+    robot_type: rl_games_gymnasium
 dataset:
   source_hf: ''
   config_name: null
@@ -215,7 +217,7 @@ trainer:
     enabled: true
     log_interval: 10
   gradient_clipping: 1.0
-  gradient_accumulation_steps: 1
+  gradient_accumulation_steps: 4
   distributed_backend: deepspeed
   is_resume: false
   pretrained_checkpoint: null
@@ -231,9 +233,9 @@ trainer:
     fused: true
   save_format: pt
 workspace_dir: WORKSPACE_DIR
-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/ant/openvla_l0/training
 seed: 42
-wandb_entity: dongqianyu99-zhejiang-university
+wandb_entity: saberrr-zju
 wandb_project: latency-sensitive-bench
 auth:
   env_file: null
@@ -406,7 +408,7 @@ 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
@@ -416,8 +418,16 @@ checkpoint:
     keep_last_n: 0
     sync_every_n_checkpoints: 1
     resume_policy: local_latest
-run_id: ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k
-output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k
-config_yaml: null
+run_id: ant_openvla_l0_issued_iid_g128_s42_20261010
 is_debug: false
 version_id: '0.21'
+training_latency_condition: zero_latency
+wandb_name: ant_openvla_l0_issued_iid_g128_s42_20261010
+wandb_group: continuous-control-issued-iid-20261010
+wandb_tags:
+- ant
+- openvla
+- issued-action
+- iid
+config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla_l0/train.yaml
+output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla_l0/training/ant_openvla_l0_issued_iid_g128_s42_20261010

zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_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: 8
@@ -68,7 +68,7 @@ datasets:
     - 2
     obs_image_size: null
     video_backend: torchvision_av
-    gymnasium_task_contract:
+    gymnasium_task_contract: &id001
       action_space:
         dtype: float32
         high:
@@ -155,6 +155,7 @@ datasets:
         - back_right_ankle_angular_velocity
       task_name: ant_rgb_state
     active_action_dim: 8
+    robot_type: rl_games_gymnasium
 dataset:
   source_hf: ''
   config_name: null
@@ -307,92 +308,7 @@ rl_games:
       - 0
   task: gymnasium
   gymnasium:
-    task_contract:
-      action_space:
-        dtype: float32
-        high:
-        - 1.0
-        - 1.0
-        - 1.0
-        - 1.0
-        - 1.0
-        - 1.0
-        - 1.0
-        - 1.0
-        labels:
-        - back_right_hip_torque
-        - back_right_ankle_torque
-        - front_left_hip_torque
-        - front_left_ankle_torque
-        - front_right_hip_torque
-        - front_right_ankle_torque
-        - back_left_hip_torque
-        - back_left_ankle_torque
-        low:
-        - -1.0
-        - -1.0
-        - -1.0
-        - -1.0
-        - -1.0
-        - -1.0
-        - -1.0
-        - -1.0
-        type: box
-      base_prompt: Make the Ant move forward as fast as possible without falling.
-        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
-        right ankle, front left hip, front left ankle, front right hip, front right
-        ankle, back left hip, and back left ankle.
-      env_fps: 20.0
-      env_id: LatencyBench/AntContinuous-v0
-      frame_stack: 1
-      make_kwargs:
-        base_env_id: Ant-v4
-        base_make_kwargs:
-          exclude_current_positions_from_observation: true
-          use_contact_forces: false
-        render_mode: rgb_array
-      noop_action:
-      - 0.0
-      - 0.0
-      - 0.0
-      - 0.0
-      - 0.0
-      - 0.0
-      - 0.0
-      - 0.0
-      obs_fps: 20.0
-      registration_imports:
-      - latency_bench.envs.gymnasium_ant
-      state_space:
-        labels:
-        - torso_z
-        - torso_quaternion_w
-        - torso_quaternion_x
-        - torso_quaternion_y
-        - torso_quaternion_z
-        - front_left_hip_angle
-        - front_left_ankle_angle
-        - front_right_hip_angle
-        - front_right_ankle_angle
-        - back_left_hip_angle
-        - back_left_ankle_angle
-        - back_right_hip_angle
-        - back_right_ankle_angle
-        - torso_x_velocity
-        - torso_y_velocity
-        - torso_z_velocity
-        - torso_angular_velocity_x
-        - torso_angular_velocity_y
-        - torso_angular_velocity_z
-        - front_left_hip_angular_velocity
-        - front_left_ankle_angular_velocity
-        - front_right_hip_angular_velocity
-        - front_right_ankle_angular_velocity
-        - back_left_hip_angular_velocity
-        - back_left_ankle_angular_velocity
-        - back_right_hip_angular_velocity
-        - back_right_ankle_angular_velocity
-      task_name: ant_rgb_state
+    task_contract: *id001
     task_name: ant_rgb_state
   initialization_mode: scratch
   action_carrier: native
@@ -421,3 +337,6 @@ output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/ant_rgb_state_
 config_yaml: null
 is_debug: false
 version_id: '0.21'
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17

zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/dataset_statistics.json

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zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/dataset_statistics_eval.json

@@ -1,254 +0,0 @@
-{
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zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/config.yaml

@@ -0,0 +1,342 @@
+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: 8
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: l1
+    state_dim: 27
+    action_horizon: 1
+    action_env_dim: 8
+  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: ant_rgb_state_l0_return_gt3000_100ep
+    eval_data_mix: ant_rgb_state_l0_return_gt3000_100ep__val
+    custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/ant_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
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - back_right_hip_torque
+        - back_right_ankle_torque
+        - front_left_hip_torque
+        - front_left_ankle_torque
+        - front_right_hip_torque
+        - front_right_ankle_torque
+        - back_left_hip_torque
+        - back_left_ankle_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Make the Ant move forward as fast as possible without falling.
+        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
+        right ankle, front left hip, front left ankle, front right hip, front right
+        ankle, back left hip, and back left ankle.
+      env_fps: 20.0
+      env_id: LatencyBench/AntContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Ant-v4
+        base_make_kwargs:
+          exclude_current_positions_from_observation: true
+          use_contact_forces: false
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 20.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_ant
+      state_space:
+        labels:
+        - torso_z
+        - torso_quaternion_w
+        - torso_quaternion_x
+        - torso_quaternion_y
+        - torso_quaternion_z
+        - front_left_hip_angle
+        - front_left_ankle_angle
+        - front_right_hip_angle
+        - front_right_ankle_angle
+        - back_left_hip_angle
+        - back_left_ankle_angle
+        - back_right_hip_angle
+        - back_right_ankle_angle
+        - torso_x_velocity
+        - torso_y_velocity
+        - torso_z_velocity
+        - torso_angular_velocity_x
+        - torso_angular_velocity_y
+        - torso_angular_velocity_z
+        - front_left_hip_angular_velocity
+        - front_left_ankle_angular_velocity
+        - front_right_hip_angular_velocity
+        - front_right_ankle_angular_velocity
+        - back_left_hip_angular_velocity
+        - back_left_ankle_angular_velocity
+        - back_right_hip_angular_velocity
+        - back_right_ankle_angular_velocity
+      task_name: ant_rgb_state
+    active_action_dim: 8
+    robot_type: rl_games_gymnasium
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: ant_rgb_state_l0_return_gt3000_100ep
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: ant_rgb_state_l0_return_gt3000_100ep
+  mixed_converted_name: ant_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: StarVLA/Qwen3-VL-4B-Instruct-Action
+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: WORKSPACE_DIR
+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: ant_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: ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k
+output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k
+config_yaml: null
+is_debug: false
+version_id: '0.21'
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17

zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/dataset_statistics.json

@@ -0,0 +1,254 @@
+{
+  "new_embodiment": {
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+        0.7023885250091553,
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+}

zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/eval_config.yaml

@@ -0,0 +1,195 @@
+experiment:
+  name: ant_openvla_l0_iid_100ep
+  seed: 42
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/ant
+  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
+env:
+  name: gymnasium
+  task_name: ant
+  env_id: LatencyBench/AntContinuous-v0
+  registration_imports:
+  - latency_bench.envs.tasks.ant
+  make_kwargs:
+    base_env_id: Ant-v4
+    base_make_kwargs:
+      exclude_current_positions_from_observation: true
+      use_contact_forces: false
+    render_mode: rgb_array
+  env_fps: 10
+  obs_fps: 10
+  frame_stack: 1
+  state_space:
+    labels:
+    - torso_z
+    - torso_quaternion_w
+    - torso_quaternion_x
+    - torso_quaternion_y
+    - torso_quaternion_z
+    - front_left_hip_angle
+    - front_left_ankle_angle
+    - front_right_hip_angle
+    - front_right_ankle_angle
+    - back_left_hip_angle
+    - back_left_ankle_angle
+    - back_right_hip_angle
+    - back_right_ankle_angle
+    - torso_x_velocity
+    - torso_y_velocity
+    - torso_z_velocity
+    - torso_angular_velocity_x
+    - torso_angular_velocity_y
+    - torso_angular_velocity_z
+    - front_left_hip_angular_velocity
+    - front_left_ankle_angular_velocity
+    - front_right_hip_angular_velocity
+    - front_right_ankle_angular_velocity
+    - back_left_hip_angular_velocity
+    - back_left_ankle_angular_velocity
+    - back_right_hip_angular_velocity
+    - back_right_ankle_angular_velocity
+  action_space:
+    dtype: float32
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    labels:
+    - back_right_hip_torque
+    - back_right_ankle_torque
+    - front_left_hip_torque
+    - front_left_ankle_torque
+    - front_right_hip_torque
+    - front_right_ankle_torque
+    - back_left_hip_torque
+    - back_left_ankle_torque
+    low:
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    type: box
+  noop_action:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  base_prompt: Make the Ant move forward as fast as possible without falling. Predict
+    eight continuous torques in [-1, 1] ordered as back right hip, back right ankle,
+    front left hip, front left ankle, front right hip, front right ankle, back left
+    hip, and back left ankle.
+  obs_resize:
+  - 224
+  - 224
+latency:
+  method: iid
+  sync_cuda: false
+  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/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/ant/openvla_l0/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/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/ant/openvla_l0/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/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
+  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: true
+  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/ant/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/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "0": {
+    "prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 20 FPS and observations are emitted at 20 FPS. Choose the best next action.",
+    "latency_raw_frames": 0,
+    "latency_ms": 0.0
+  }
+}

zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/manifest.json

@@ -0,0 +1,232 @@
+{
+  "dataset_name": "lerobot",
+  "env_name": "ant_rgb_state",
+  "episodes": 90,
+  "frames": 88667,
+  "task_prompts": [
+    "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 20 FPS and observations are emitted at 20 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/ant/openvla_l0/raw",
+  "integration_name": "gymnasium",
+  "task_name": "ant_rgb_state",
+  "action_layout": "gymnasium_continuous_v1",
+  "action_labels": [
+    "back_right_hip_torque",
+    "back_right_ankle_torque",
+    "front_left_hip_torque",
+    "front_left_ankle_torque",
+    "front_right_hip_torque",
+    "front_right_ankle_torque",
+    "back_left_hip_torque",
+    "back_left_ankle_torque"
+  ],
+  "carrier_action_labels": [
+    "back_right_hip_torque",
+    "back_right_ankle_torque",
+    "front_left_hip_torque",
+    "front_left_ankle_torque",
+    "front_right_hip_torque",
+    "front_right_ankle_torque",
+    "back_left_hip_torque",
+    "back_left_ankle_torque"
+  ],
+  "action_dim": 8,
+  "active_action_dim": 8,
+  "action_carrier": "native",
+  "rows_unit": "decision_step",
+  "obs_fps": 20.0,
+  "obs_stride_raw_frames": 1,
+  "uses_state": true,
+  "state_dim": 27,
+  "state_labels": [
+    "torso_z",
+    "torso_quaternion_w",
+    "torso_quaternion_x",
+    "torso_quaternion_y",
+    "torso_quaternion_z",
+    "front_left_hip_angle",
+    "front_left_ankle_angle",
+    "front_right_hip_angle",
+    "front_right_ankle_angle",
+    "back_left_hip_angle",
+    "back_left_ankle_angle",
+    "back_right_hip_angle",
+    "back_right_ankle_angle",
+    "torso_x_velocity",
+    "torso_y_velocity",
+    "torso_z_velocity",
+    "torso_angular_velocity_x",
+    "torso_angular_velocity_y",
+    "torso_angular_velocity_z",
+    "front_left_hip_angular_velocity",
+    "front_left_ankle_angular_velocity",
+    "front_right_hip_angular_velocity",
+    "front_right_ankle_angular_velocity",
+    "back_left_hip_angular_velocity",
+    "back_left_ankle_angular_velocity",
+    "back_right_hip_angular_velocity",
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+  ],
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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/ant/openvla_l0/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla_l0/_generated_mixtures/lerobot.json",
+  "gymnasium_task": {
+    "action_space": {
+      "dtype": "float32",
+      "high": [
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
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+        "back_right_hip_torque",
+        "back_right_ankle_torque",
+        "front_left_hip_torque",
+        "front_left_ankle_torque",
+        "front_right_hip_torque",
+        "front_right_ankle_torque",
+        "back_left_hip_torque",
+        "back_left_ankle_torque"
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+    },
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+    "env_fps": 20.0,
+    "env_id": "LatencyBench/AntContinuous-v0",
+    "frame_stack": 1,
+    "make_kwargs": {
+      "base_env_id": "Ant-v4",
+      "base_make_kwargs": {
+        "exclude_current_positions_from_observation": true,
+        "use_contact_forces": false
+      },
+      "render_mode": "rgb_array"
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+  "validation_frames": 10000
+}

zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/result.json

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zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/evaluations/g128_iid_20261010/iid/source_identity.json

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zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_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: 8
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: l1
+    state_dim: 27
+    action_horizon: 1
+    action_env_dim: 8
+  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: ant_rgb_state_l0_return_gt3000_100ep
+    eval_data_mix: ant_rgb_state_l0_return_gt3000_100ep__val
+    custom_mixtures_path: /mnt/data/latency-sensitive-bench/vla_datasets/rl_games/_generated_mixtures/ant_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:
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+      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:
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+        high:
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+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
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+        labels:
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+        - back_right_ankle_torque
+        - front_left_hip_torque
+        - front_left_ankle_torque
+        - front_right_hip_torque
+        - front_right_ankle_torque
+        - back_left_hip_torque
+        - back_left_ankle_torque
+        low:
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+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Make the Ant move forward as fast as possible without falling.
+        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
+        right ankle, front left hip, front left ankle, front right hip, front right
+        ankle, back left hip, and back left ankle.
+      env_fps: 20.0
+      env_id: LatencyBench/AntContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Ant-v4
+        base_make_kwargs:
+          exclude_current_positions_from_observation: true
+          use_contact_forces: false
+        render_mode: rgb_array
+      noop_action:
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+      - 0.0
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+      - 0.0
+      obs_fps: 20.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_ant
+      state_space:
+        labels:
+        - torso_z
+        - torso_quaternion_w
+        - torso_quaternion_x
+        - torso_quaternion_y
+        - torso_quaternion_z
+        - front_left_hip_angle
+        - front_left_ankle_angle
+        - front_right_hip_angle
+        - front_right_ankle_angle
+        - back_left_hip_angle
+        - back_left_ankle_angle
+        - back_right_hip_angle
+        - back_right_ankle_angle
+        - torso_x_velocity
+        - torso_y_velocity
+        - torso_z_velocity
+        - torso_angular_velocity_x
+        - torso_angular_velocity_y
+        - torso_angular_velocity_z
+        - front_left_hip_angular_velocity
+        - front_left_ankle_angular_velocity
+        - front_right_hip_angular_velocity
+        - front_right_ankle_angular_velocity
+        - back_left_hip_angular_velocity
+        - back_left_ankle_angular_velocity
+        - back_right_hip_angular_velocity
+        - back_right_ankle_angular_velocity
+      task_name: ant_rgb_state
+    active_action_dim: 8
+    robot_type: rl_games_gymnasium
+dataset:
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+  config_name: null
+  source_subdir: null
+  converted_name: ant_rgb_state_l0_return_gt3000_100ep
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: ant_rgb_state_l0_return_gt3000_100ep
+  mixed_converted_name: ant_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: StarVLA/Qwen3-VL-4B-Instruct-Action
+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:
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+  freeze_modules: ''
+  freeze_vit: false
+  freeze_tied_embedding: false
+  freeze_llm_layers: []
+  loss_scale:
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+  logging_frequency: 1
+  profile_timing:
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+  distributed_backend: deepspeed
+  is_resume: false
+  pretrained_checkpoint: null
+  resume_step: 0
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+  optimizer:
+    name: AdamW
+    betas:
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+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+    fused: true
+  save_format: pt
+workspace_dir: WORKSPACE_DIR
+run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs
+seed: 42
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_project: latency-sensitive-bench
+auth:
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+  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:
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+  gpus: null
+  num_processes: 1
+  dry_run: false
+conda:
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+  env_name: null
+rl_games:
+  model_alias: openvla
+  env_eval:
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+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw
+    ghost_trail:
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+      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:
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+    enabled: false
+    gymnasium:
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+    mid_train:
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+      interval_steps: 100
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+    post_train:
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+    eval_backend: latency_bench
+    distributed_mode: none
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+      mode: single
+      values:
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+  task: gymnasium
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+    task_name: ant_rgb_state
+  initialization_mode: scratch
+  action_carrier: native
+model: openvla
+env: gymnasium
+init: scratch
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+  save_final_model: true
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+  save_safetensors_file: false
+  local:
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+  sync:
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+    repo_id: null
+    keep_last_n: 0
+    sync_every_n_checkpoints: 1
+    resume_policy: local_latest
+run_id: ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k
+output_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k
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+version_id: '0.21'
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17

zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/evaluations/g128_iid_20261010/zero/dataset_statistics.json

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+    "num_transitions": 88667,
+    "num_trajectories": 90
+  }
+}

zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/evaluations/g128_iid_20261010/zero/eval_config.yaml

@@ -0,0 +1,192 @@
+experiment:
+  name: ant_openvla_l0_zero_100ep
+  seed: 42
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/ant
+  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
+env:
+  name: gymnasium
+  task_name: ant
+  env_id: LatencyBench/AntContinuous-v0
+  registration_imports:
+  - latency_bench.envs.tasks.ant
+  make_kwargs:
+    base_env_id: Ant-v4
+    base_make_kwargs:
+      exclude_current_positions_from_observation: true
+      use_contact_forces: false
+    render_mode: rgb_array
+  env_fps: 10
+  obs_fps: 10
+  frame_stack: 1
+  state_space:
+    labels:
+    - torso_z
+    - torso_quaternion_w
+    - torso_quaternion_x
+    - torso_quaternion_y
+    - torso_quaternion_z
+    - front_left_hip_angle
+    - front_left_ankle_angle
+    - front_right_hip_angle
+    - front_right_ankle_angle
+    - back_left_hip_angle
+    - back_left_ankle_angle
+    - back_right_hip_angle
+    - back_right_ankle_angle
+    - torso_x_velocity
+    - torso_y_velocity
+    - torso_z_velocity
+    - torso_angular_velocity_x
+    - torso_angular_velocity_y
+    - torso_angular_velocity_z
+    - front_left_hip_angular_velocity
+    - front_left_ankle_angular_velocity
+    - front_right_hip_angular_velocity
+    - front_right_ankle_angular_velocity
+    - back_left_hip_angular_velocity
+    - back_left_ankle_angular_velocity
+    - back_right_hip_angular_velocity
+    - back_right_ankle_angular_velocity
+  action_space:
+    dtype: float32
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    labels:
+    - back_right_hip_torque
+    - back_right_ankle_torque
+    - front_left_hip_torque
+    - front_left_ankle_torque
+    - front_right_hip_torque
+    - front_right_ankle_torque
+    - back_left_hip_torque
+    - back_left_ankle_torque
+    low:
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    - -1.0
+    type: box
+  noop_action:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  base_prompt: Make the Ant move forward as fast as possible without falling. Predict
+    eight continuous torques in [-1, 1] ordered as back right hip, back right ankle,
+    front left hip, front left ankle, front right hip, front right ankle, back left
+    hip, and back left ankle.
+  obs_resize:
+  - 224
+  - 224
+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/ant/openvla_l0/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/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/ant/openvla_l0/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/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
+  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: true
+  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/ant/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/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/evaluations/g128_iid_20261010/zero/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "0": {
+    "prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 20 FPS and observations are emitted at 20 FPS. Choose the best next action.",
+    "latency_raw_frames": 0,
+    "latency_ms": 0.0
+  }
+}

zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/evaluations/g128_iid_20261010/zero/manifest.json

@@ -0,0 +1,232 @@
+{
+  "dataset_name": "lerobot",
+  "env_name": "ant_rgb_state",
+  "episodes": 90,
+  "frames": 88667,
+  "task_prompts": [
+    "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 20 FPS and observations are emitted at 20 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/ant/openvla_l0/raw",
+  "integration_name": "gymnasium",
+  "task_name": "ant_rgb_state",
+  "action_layout": "gymnasium_continuous_v1",
+  "action_labels": [
+    "back_right_hip_torque",
+    "back_right_ankle_torque",
+    "front_left_hip_torque",
+    "front_left_ankle_torque",
+    "front_right_hip_torque",
+    "front_right_ankle_torque",
+    "back_left_hip_torque",
+    "back_left_ankle_torque"
+  ],
+  "carrier_action_labels": [
+    "back_right_hip_torque",
+    "back_right_ankle_torque",
+    "front_left_hip_torque",
+    "front_left_ankle_torque",
+    "front_right_hip_torque",
+    "front_right_ankle_torque",
+    "back_left_hip_torque",
+    "back_left_ankle_torque"
+  ],
+  "action_dim": 8,
+  "active_action_dim": 8,
+  "action_carrier": "native",
+  "rows_unit": "decision_step",
+  "obs_fps": 20.0,
+  "obs_stride_raw_frames": 1,
+  "uses_state": true,
+  "state_dim": 27,
+  "state_labels": [
+    "torso_z",
+    "torso_quaternion_w",
+    "torso_quaternion_x",
+    "torso_quaternion_y",
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+    "front_left_hip_angle",
+    "front_left_ankle_angle",
+    "front_right_hip_angle",
+    "front_right_ankle_angle",
+    "back_left_hip_angle",
+    "back_left_ankle_angle",
+    "back_right_hip_angle",
+    "back_right_ankle_angle",
+    "torso_x_velocity",
+    "torso_y_velocity",
+    "torso_z_velocity",
+    "torso_angular_velocity_x",
+    "torso_angular_velocity_y",
+    "torso_angular_velocity_z",
+    "front_left_hip_angular_velocity",
+    "front_left_ankle_angular_velocity",
+    "front_right_hip_angular_velocity",
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+    "back_left_hip_angular_velocity",
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+  "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla_l0/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla_l0/_generated_mixtures/lerobot.json",
+  "gymnasium_task": {
+    "action_space": {
+      "dtype": "float32",
+      "high": [
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
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+        "back_right_hip_torque",
+        "back_right_ankle_torque",
+        "front_left_hip_torque",
+        "front_left_ankle_torque",
+        "front_right_hip_torque",
+        "front_right_ankle_torque",
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+    "env_fps": 20.0,
+    "env_id": "LatencyBench/AntContinuous-v0",
+    "frame_stack": 1,
+    "make_kwargs": {
+      "base_env_id": "Ant-v4",
+      "base_make_kwargs": {
+        "exclude_current_positions_from_observation": true,
+        "use_contact_forces": false
+      },
+      "render_mode": "rgb_array"
+    },
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+      "latency_bench.envs.gymnasium_ant"
+    ],
+    "state_space": {
+      "labels": [
+        "torso_z",
+        "torso_quaternion_w",
+        "torso_quaternion_x",
+        "torso_quaternion_y",
+        "torso_quaternion_z",
+        "front_left_hip_angle",
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zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/profile/profile.json

@@ -0,0 +1,66 @@
+{
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+  "provenance": {
+    "base_config": "/workspace/tasks/20260911T023128Z-p-only4/ant/profile.yaml",
+    "checkpoint_kind": "best",
+    "model_artifact": {
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+      "model_config": "config.full.yaml",
+      "path_in_repo": "OpenVLA/zero-latency/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k",
+      "repo_id": "latency-sensitive-bench/extra-envs-checkpoints",
+      "source": "local"
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-checkpoint:
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-  save_best_model: false
-  save_final_model: true
-  save_pt_file: true
-  save_safetensors_file: false
-  save_training_state: false
-  sync:
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-    keep_last_n: 0
-    repo_id: null
-datasets:
-  vla_data:
-    data_mix: ant_rgb_state_l0_return_gt3000_100ep
-    dataset_py: lerobot_datasets
-    eval_data_mix: ant_rgb_state_l0_return_gt3000_100ep__val
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-    per_device_batch_size: 16
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-    action_env_dim: 8
-    action_hidden_dim: 2560
-    action_horizon: 1
-    action_model_type: MLP
-    loss_type: l1
-  kv_memory:
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-    packed_train: false
-    rebased_sink: true
-    rollout_len: 8
-    window: 4
-  name: QwenOFT
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-    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/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k
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-  task: gymnasium
-run_id: ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k
-run_root_dir: /mnt/checkpoints/latency-sensitive-bench/openvla_runs
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-wandb_entity: dongqianyu99-zhejiang-university
-wandb_project: latency-sensitive-bench

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+    "?? configs/experiments/sim2real/five_gpu.yaml",
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zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/task_contract.json

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-{
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-    "dtype": "float32",
-    "high": [
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-      1.0,
-      1.0,
-      1.0,
-      1.0,
-      1.0,
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-      "back_right_ankle_torque",
-      "front_left_hip_torque",
-      "front_left_ankle_torque",
-      "front_right_hip_torque",
-      "front_right_ankle_torque",
-      "back_left_hip_torque",
-      "back_left_ankle_torque"
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-  "env_fps": 20.0,
-  "env_id": "LatencyBench/AntContinuous-v0",
-  "frame_stack": 1,
-  "make_kwargs": {
-    "base_env_id": "Ant-v4",
-    "base_make_kwargs": {
-      "exclude_current_positions_from_observation": true,
-      "use_contact_forces": false
-    },
-    "render_mode": "rgb_array"
-  },
-  "noop_action": [
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0
-  ],
-  "obs_fps": 20.0,
-  "registration_imports": [
-    "latency_bench.envs.gymnasium_ant"
-  ],
-  "state_space": {
-    "labels": [
-      "torso_z",
-      "torso_quaternion_w",
-      "torso_quaternion_x",
-      "torso_quaternion_y",
-      "torso_quaternion_z",
-      "front_left_hip_angle",
-      "front_left_ankle_angle",
-      "front_right_hip_angle",
-      "front_right_ankle_angle",
-      "back_left_hip_angle",
-      "back_left_ankle_angle",
-      "back_right_hip_angle",
-      "back_right_ankle_angle",
-      "torso_x_velocity",
-      "torso_y_velocity",
-      "torso_z_velocity",
-      "torso_angular_velocity_x",
-      "torso_angular_velocity_y",
-      "torso_angular_velocity_z",
-      "front_left_hip_angular_velocity",
-      "front_left_ankle_angular_velocity",
-      "front_right_hip_angular_velocity",
-      "front_right_ankle_angular_velocity",
-      "back_left_hip_angular_velocity",
-      "back_left_ankle_angular_velocity",
-      "back_right_hip_angular_velocity",
-      "back_right_ankle_angular_velocity"
-    ]
-  },
-  "task_name": "ant_rgb_state"
-}

zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/training.complete.json

@@ -0,0 +1,22 @@
+{
+  "steps": 5000,
+  "seed": 42,
+  "global_batch": 128,
+  "gradient_checkpointing": false,
+  "gpus": "2,3",
+  "attempts": [
+    {
+      "micro_batch": 64,
+      "state": "OOM"
+    },
+    {
+      "micro_batch": 32,
+      "state": "OOM"
+    },
+    {
+      "micro_batch": 16,
+      "accumulation": 4,
+      "state": "COMPLETED"
+    }
+  ]
+}