diff --git a/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/README.md b/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/README.md index d43e2dd617cdc2c529b2fd79cb28014fba5d37d5..34b6593c55d3a46b9c0c1b5f46fe5379631f8cc5 100644 --- a/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/README.md +++ b/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="", - 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/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/checkpoints/model.pt b/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..ffb7049c2724497692f2606f828c457ed4220acf --- /dev/null +++ b/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 diff --git a/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.full.yaml b/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.full.yaml index 896e594fe03cba20185b6d237e4ca540a5d9ac77..35f5865e5808e7f6a04a3bdb8fb5f9e8d25279f7 100644 --- a/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.full.yaml +++ b/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 diff --git a/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.yaml b/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.yaml index 896e594fe03cba20185b6d237e4ca540a5d9ac77..ef8013b05468d0ec18210540a58fccbc335d9fb6 100644 --- a/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/config.yaml +++ b/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 diff --git a/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/dataset_statistics.json b/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/dataset_statistics.json index 3074e19fd56d652e5a6b81314145ebefa9e65b45..568d92e3c360915eb782783b0cc10b3a857b21a3 100644 --- a/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/dataset_statistics.json +++ b/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/dataset_statistics.json @@ -74,178 +74,178 @@ }, "state": { "mean": [ - -0.07958624511957169, - 0.6841545104980469, - 0.16966119408607483, - -0.5256079435348511, - -0.08397570997476578, - 0.7958686947822571, - 0.3502548635005951, - -0.2245209515094757, - -0.018949545919895172, - -0.907891571521759, - -0.1315949410200119, - 0.22553229331970215, - 0.09540312737226486, - 0.44836318492889404, - 0.2470049411058426, - -0.023664185777306557, - 0.026426371186971664, - -0.1358683705329895, - 0.07364743947982788, - -0.530260443687439, - -0.0896705612540245, - -0.19775259494781494, - 0.2128465473651886, - -0.3405790328979492, - 0.493976354598999, - 0.07158602029085159, - -0.26652446389198303 + 0.5953439474105835, + 0.8847038745880127, + 0.08476750552654266, + 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b/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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..568d92e3c360915eb782783b0cc10b3a857b21a3 --- /dev/null +++ b/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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"policy_id": "starvla", "profile_ref": null, "run_name": "ant_openvla_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla_l0/profile/profile.json", "source_run_id": "20260911T033037730561Z", "submitted_observation_frames": 25, "workload_id": "ant"}, "num_actions": 25, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 90.65012759263888, "p99_latency_ms": 111.59678426492857, "return_raw": null, "survival_steps": 27} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..7c6e1bb53d9350efdf6e8c8e05c18d809d52996e --- /dev/null +++ b/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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..e28e4e2a95003faa6d0e8820b01b0c4794d0c231 --- /dev/null +++ b/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 + } +} \ No newline at end of file diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..51f2126c5461a22607b024a9057e688e82c98035 --- /dev/null +++ b/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", + "back_right_ankle_angular_velocity" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.2513357102870941, + -0.2551392912864685, + -0.4495558738708496, + -0.3950803279876709, + -0.9860153794288635, + -0.09783654659986496, + -0.09917011857032776, + -0.6142277121543884, + -1.2411584854125977, + -0.5460586547851562, + -0.9968047142028809, + -0.6842840313911438, + -0.09473074972629547, + -1.2371809482574463, + -4.737597465515137, + -3.242194652557373, + -6.5933308601379395, + -5.108468055725098, + -4.8114848136901855, + -2.429616689682007, + -12.177474975585938, + -11.042780876159668, + -10.003838539123535, + -3.6977765560150146, + -8.9439115524292, + -16.420881271362305, + -6.640158176422119 + ], + "max": [ + 0.9988346099853516, + 1.098469853401184, + 0.46408092975616455, + 0.9506500363349915, + 0.27009117603302, + 0.5934460759162903, + 1.313640832901001, + 0.6726003289222717, + 0.09998779743909836, + 0.5802838802337646, + 0.09576962888240814, + 0.6675700545310974, + 1.0646162033081055, + 8.128241539001465, + 3.185396432876587, + 3.4153003692626953, + 6.306693077087402, + 6.7251129150390625, + 4.034663677215576, + 7.938767910003662, + 14.703964233398438, + 16.424497604370117, + 6.501785755157471, + 7.488413333892822, + 3.0213799476623535, + 14.399764060974121, + 11.524134635925293 + ] + }, + "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, + 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", 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b/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 @@ -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: 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"env_fps": 10.0, "env_id": "LatencyBench/AntContinuous-v0", "episode_seed": 141, "frame_ms": 100.0, "gpu_class": null, "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "zero", "mode": "simulated", "model_id": null, "obs_fps": 10.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/ant/openvla_l0/evaluation/zero_parallel32_ib8", "policy_id": "starvla", "profile_ref": null, "run_name": "ant_openvla_l0_zero_100ep", "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 1000, "workload_id": null}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 1000} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..fe1e7233d5732f90aa111aa38e9f2478c4e46f63 --- /dev/null +++ b/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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..e28e4e2a95003faa6d0e8820b01b0c4794d0c231 --- /dev/null +++ b/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 + } +} \ No newline at end of file diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..51f2126c5461a22607b024a9057e688e82c98035 --- /dev/null +++ b/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", + "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" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.2513357102870941, + -0.2551392912864685, + -0.4495558738708496, + -0.3950803279876709, + -0.9860153794288635, + -0.09783654659986496, + -0.09917011857032776, + -0.6142277121543884, + -1.2411584854125977, + -0.5460586547851562, + -0.9968047142028809, + -0.6842840313911438, + -0.09473074972629547, + -1.2371809482574463, + -4.737597465515137, + -3.242194652557373, + -6.5933308601379395, + -5.108468055725098, + -4.8114848136901855, + -2.429616689682007, + -12.177474975585938, + -11.042780876159668, + -10.003838539123535, + -3.6977765560150146, + -8.9439115524292, + -16.420881271362305, + -6.640158176422119 + ], + "max": [ + 0.9988346099853516, + 1.098469853401184, + 0.46408092975616455, + 0.9506500363349915, + 0.27009117603302, + 0.5934460759162903, + 1.313640832901001, + 0.6726003289222717, + 0.09998779743909836, + 0.5802838802337646, + 0.09576962888240814, + 0.6675700545310974, + 1.0646162033081055, + 8.128241539001465, + 3.185396432876587, + 3.4153003692626953, + 6.306693077087402, + 6.7251129150390625, + 4.034663677215576, + 7.938767910003662, + 14.703964233398438, + 16.424497604370117, + 6.501785755157471, + 7.488413333892822, + 3.0213799476623535, + 14.399764060974121, + 11.524134635925293 + ] + }, + "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, + 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. 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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. 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Current action latency is 0 raw frames (0.00 ms). The environment runs at 20 FPS and observations are emitted at 20 FPS. 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b/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/task_contract.json deleted file mode 100644 index 65225d1ead571b01d39a80b3560de83e0392d299..0000000000000000000000000000000000000000 --- a/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/task_contract.json +++ /dev/null @@ -1,94 +0,0 @@ -{ - "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" -} diff --git a/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/training.complete.json b/zero-latency/ant/vla/starvla-qwenoft-h1/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k/training.complete.json new file mode 100644 index 0000000000000000000000000000000000000000..00985e31719ec95353a84a8807ea28bee3b55740 --- /dev/null +++ b/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" + } + ] +}