Publish global128 hopper gr00t l0 checkpoint and evaluations

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/README.md

@@ -1,29 +1,5 @@
-# hopper / qwengr00t
+# hopper gr00t l0
 
-Training condition: `zero-latency`. Run: `hopper_l0_gr00t_h1_5fps_2h100_20260917`.
-
-Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/zero_latency/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
-
-- Checkpoint: `checkpoints/model.pt`
-- Selection: only published VLA checkpoint
-- Checkpoint SHA256: `5ec4a5fbdfb7fac819a51b523f3735c6702b90a2440a2957c5cc699941ffbf1e`
-- 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.
-
-[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
-
-## Download
-
-```python
-from huggingface_hub import snapshot_download
-prefix = "zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917"
-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 True.
+Evaluation: simulated IID, 100 episodes, seeds42-141, latency seed0, parallel32, 5 FPS, cap1000, per-environment capacity1.
+See config.full.yaml, training.complete.json, results.json and evaluation evidence.

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d15e9cccdf745e9516f01f8229450d23b6d7f601ff71600189bca7e5b9048cb
+size 9976837923

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml

@@ -1,7 +1,7 @@
 framework:
   name: QwenGR00T
   qwenvl:
-    base_vlm: ${oc.env:GR00T_BACKBONE_DIR}
+    base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
     attn_implementation: flash_attention_2
     vl_hidden_dim: 2048
     enable_gradient_checkpointing: true
@@ -13,7 +13,6 @@ framework:
     max_seq_len: 1024
     action_dim: 3
     state_dim: 11
-    task_objective: null
     action_horizon: 1
     repeated_diffusion_steps: 8
     noise_beta_alpha: 1.5
@@ -31,6 +30,7 @@ framework:
       num_layers: 16
       output_dim: 1024
       positional_embeddings: null
+    task_objective: null
     action_env_dim: 3
     future_action_window_size: 0
     past_action_window_size: 0
@@ -41,7 +41,7 @@ datasets:
     data_root_dir: /
     data_mix: train
     eval_data_mix: validation
-    custom_mixtures_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/vla/mixture.json
+    custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/mixture.json
     action_type: continuous
     sequential_step_sampling: true
     eval_sequential_step_sampling: null
@@ -72,7 +72,7 @@ datasets:
       eval_at_phase_end: false
       save_at_phase_end: false
       computed_plan: null
-    per_device_batch_size: 8
+    per_device_batch_size: 64
     load_all_data_for_training: true
     num_obs_frames: 1
     image_mode: single
@@ -138,6 +138,7 @@ datasets:
         - foot_angular_velocity
       task_name: hopper_rgb_state
     active_action_dim: 3
+    robot_type: rl_games_gymnasium
 dataset:
   source_hf: ''
   config_name: null
@@ -198,7 +199,7 @@ trainer:
     enabled: false
     log_interval: 10
   gradient_clipping: 1.0
-  gradient_accumulation_steps: 4
+  gradient_accumulation_steps: 1
   distributed_backend: deepspeed
   is_resume: false
   pretrained_checkpoint: null
@@ -213,20 +214,20 @@ trainer:
     weight_decay: 1.0e-08
     fused: true
   save_format: pt
-run_id: hopper_l0_gr00t_h1_5fps_2h100_20260917
-run_root_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/vla/training
+run_id: hopper_gr00t_l0_issued_iid_g128_s42_20261010
+run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/training
 seed: 42
 is_debug: false
 version_id: '0.21'
 wandb_project: latency-sensitive-bench
-wandb_entity: dongqianyu99-zhejiang-university
-wandb_name: hopper_l0_gr00t_h1_5fps_2h100_20260917
-wandb_group: gr00t-six-env-h1-5fps
+wandb_entity: saberrr-zju
+wandb_name: hopper_gr00t_l0_issued_iid_g128_s42_20261010
+wandb_group: continuous-control-issued-iid-20261010
 wandb_tags:
 - hopper
-- zero_latency
-- GR00T
-- h1
+- gr00t
+- issued-action
+- iid
 training_latency_condition: zero_latency
 backbone:
   repo_id: Qwen/Qwen3-VL-4B-Instruct
@@ -238,5 +239,5 @@ checkpoint:
   save_training_state: true
   local:
     keep_last_n: 1
-config_yaml: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/train.yaml
-output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/vla/training/hopper_l0_gr00t_h1_5fps_2h100_20260917
+config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/train.yaml
+output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/training/hopper_gr00t_l0_issued_iid_g128_s42_20261010

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.yaml

@@ -1,7 +1,7 @@
 framework:
   name: QwenGR00T
   qwenvl:
-    base_vlm: ${oc.env:GR00T_BACKBONE_DIR}
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
     attn_implementation: flash_attention_2
     vl_hidden_dim: 2048
     enable_gradient_checkpointing: true
@@ -98,6 +98,7 @@ datasets:
         - leg_angular_velocity
         - foot_angular_velocity
       task_name: hopper_rgb_state
+    robot_type: rl_games_gymnasium
 trainer:
   pretrained_checkpoint: null
   profile_timing:

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json

@@ -39,82 +39,82 @@
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+        0.1537088304758072
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     },
     "num_transitions": 88212,

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/{issued_action_iid_20261010 → g128_iid_20261010/iid}/config.yaml

@@ -98,7 +98,7 @@ datasets:
         - leg_angular_velocity
         - foot_angular_velocity
       task_name: hopper_rgb_state
-    robot_type: rl_games_gymnasium_native
+    robot_type: rl_games_gymnasium
 trainer:
   pretrained_checkpoint: null
   profile_timing:

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/{issued_action_iid_20261010 → g128_iid_20261010/iid}/dataset_statistics.json

@@ -22,7 +22,7 @@
         -1.0
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+        -0.9043600207567215,
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@@ -39,30 +39,30 @@
     },
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@@ -91,33 +91,33 @@
         -10.0
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       ]
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     "num_transitions": 88212,
     "num_trajectories": 90
   }
-}
+}

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/{issued_action_iid_20261010 → g128_iid_20261010/iid}/eval_config.yaml

@@ -75,7 +75,7 @@ executor:
 latency:
   method: iid
   sync_cuda: false
-  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/hopper/gr00t/profile/profile.json
+  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/profile/profile.json
   profile_worker_slot: 0
   seed: 0
 scheduler:
@@ -83,12 +83,12 @@ scheduler:
   ordering_policy: issue_order_fifo
 policy:
   type: starvla
-  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/hopper/gr00t/l0_bundle/checkpoints/model.pt
-  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/hopper/gr00t/l0_bundle/config.yaml
+  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_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_iid_20261010/hopper/gr00t/l0_bundle/manifest.json
-  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/hopper/gr00t/l0_bundle/latency_prompt_map.json
+  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/new_bundle/latency_prompt_map.json
   latency_prompt_key: 0
 training:
   train_for_env_steps: 10000000
@@ -152,7 +152,7 @@ evaluation:
   eval_latency_values: null
   episode_seed_offset: 0
 logging:
-  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/hopper/gr00t/evaluation/l0_parallel32
+  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/evaluation/iid_parallel32_ib8
   video:
     enabled: false
     num_bins: 1

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/{issued_action_iid_20261010/source_manifest.json → g128_iid_20261010/iid/manifest.json}

@@ -1,5 +1,5 @@
 {
-  "dataset_name": "hopper_h1_5fps_l0",
+  "dataset_name": "lerobot",
   "env_name": "hopper_rgb_state",
   "episodes": 90,
   "frames": 88212,
@@ -7,7 +7,7 @@
     "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
   ],
   "format": "lerobot_v2_image_parquet",
-  "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/raw_5fps",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/raw",
   "integration_name": "gymnasium",
   "task_name": "hopper_rgb_state",
   "action_layout": "gymnasium_continuous_v1",
@@ -72,8 +72,8 @@
     ]
   },
   "robot_type": "rl_games_gymnasium",
-  "latency_prompt_map_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/lerobot/hopper_h1_5fps_l0/latency_prompt_map.json",
-  "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/lerobot/_generated_mixtures/hopper_h1_5fps_l0.json",
+  "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/_generated_mixtures/lerobot.json",
   "gymnasium_task": {
     "action_space": {
       "dtype": "float32",
@@ -136,7 +136,7 @@
     },
     "task_name": "hopper_rgb_state"
   },
-  "validation_dataset_name": "hopper_h1_5fps_l0__val",
+  "validation_dataset_name": "lerobot__val",
   "validation_episodes": 10,
   "validation_frames": 9917
 }

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/result.json

@@ -0,0 +1,213 @@
+{
+  "episodes": 100,
+  "seeds": [
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+    43,
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+  ],
+  "mean_return": 8.578454876897672,
+  "population_std_return": 0.08766430534080587,
+  "mean_length": 9.0,
+  "returns": [
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+  ],
+  "primary_evidence": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/evaluation/iid_parallel32_ib8/episode_metrics.jsonl",
+  "eval_config": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/eval_iid_parallel32_ib8.yaml",
+  "inference_batch_size": 8
+}

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/{issued_action_iid_20261010 → g128_iid_20261010/iid}/source_identity.json

@@ -17,5 +17,13 @@
     "?? lagen/",
     "?? scripts/experiments/sim2real/campaign.py",
     "?? servers.md"
-  ]
+  ],
+  "runtime_patches": [
+    {
+      "path": "third_party/starVLA/starVLA/training/train_starvla.py",
+      "change": "Full DeepSpeed state-directory resume loads config/statistics from owning run directory without resolving a standalone model file.",
+      "validation": "6 existing resume/statistics tests passed; see previous campaign resume_fix_tests.log"
+    }
+  ],
+  "frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010"
 }

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/config.yaml

@@ -0,0 +1,120 @@
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 3
+    state_dim: 11
+    task_objective: null
+    action_horizon: 1
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    action_env_dim: 3
+    future_action_window_size: 0
+    past_action_window_size: 0
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size:
+    - 224
+    - 224
+    image_mode: single
+    stitch_grid:
+    - 2
+    - 2
+    num_obs_frames: 1
+    gymnasium_task_contract: &id001
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - thigh_torque
+        - leg_torque
+        - foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Hopper robot forward while keeping its torso upright.
+        Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+      env_fps: 5
+      env_id: LatencyBench/HopperRgbState-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Hopper-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5
+      registration_imports:
+      - latency_bench.envs.gymnasium_hopper_rgb_state
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - thigh_angle
+        - leg_angle
+        - foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - thigh_angular_velocity
+        - leg_angular_velocity
+        - foot_angular_velocity
+      task_name: hopper_rgb_state
+    robot_type: rl_games_gymnasium
+trainer:
+  pretrained_checkpoint: null
+  profile_timing:
+    enabled: false
+    log_interval: 10
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+rl_games:
+  model_alias: gr00t
+  task: gymnasium
+  action_carrier: native
+  gymnasium:
+    task_contract: *id001
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/{issued_action_iid_20261010/original_training_statistics.json → g128_iid_20261010/zero/dataset_statistics.json}

@@ -39,82 +39,82 @@
     },
     "state": {
       "mean": [
-        0.40871402621269226,
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+        0.1537088304758072
       ],
       "std": [
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     "num_transitions": 88212,

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/{vla/evaluation/l0_sim20.yaml → evaluations/g128_iid_20261010/zero/eval_config.yaml}

@@ -16,7 +16,7 @@ env:
   task_name: hopper
   env_id: LatencyBench/Hopper-v0
   registration_imports:
-  - latency_bench.envs.gymnasium_hopper
+  - latency_bench.envs.tasks.hopper
   make_kwargs:
     base_env_id: Hopper-v4
     base_make_kwargs:
@@ -55,7 +55,7 @@ env:
   - 224
   - 224
 experiment:
-  name: gr00t_hopper_zero
+  name: hopper_gr00t_l0_zero_100ep
   seed: 42
 backend:
   type: sample_factory
@@ -68,7 +68,8 @@ executor:
   mode: simulated
   inference_devices:
   - cuda:0
-  inference_batch_size: 1
+  - cuda:1
+  inference_batch_size: 8
   simulated_inference_pool: true
   simulated_worker_capacity: 1
 latency:
@@ -79,12 +80,12 @@ scheduler:
   ordering_policy: issue_order_fifo
 policy:
   type: starvla
-  checkpoint_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt
-  model_config_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/config.yaml
-  backbone_path: /mnt/local/lzj/latency-sensitive-bench/models/Qwen3-VL-4B-Instruct
+  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_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: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/manifest.json
-  latency_prompt_map_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/latency_prompt_map.json
+  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/new_bundle/latency_prompt_map.json
   latency_prompt_key: 0
 training:
   train_for_env_steps: 10000000
@@ -141,13 +142,14 @@ training:
   save_best_every_sec: 60
   save_best_after: 100000
 evaluation:
-  eval_episodes: 20
-  eval_parallel_envs: 1
+  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: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20
+  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/evaluation/zero_parallel32_ib8
   video:
     enabled: false
     num_bins: 1

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "0": {
+    "prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "latency_raw_frames": 0,
+    "latency_ms": 0.0
+  }
+}

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/{issued_action_iid_20261010 → g128_iid_20261010/zero}/manifest.json

@@ -1,5 +1,5 @@
 {
-  "dataset_name": "hopper_h1_5fps_l0",
+  "dataset_name": "lerobot",
   "env_name": "hopper_rgb_state",
   "episodes": 90,
   "frames": 88212,
@@ -7,7 +7,7 @@
     "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
   ],
   "format": "lerobot_v2_image_parquet",
-  "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/raw_5fps",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/raw",
   "integration_name": "gymnasium",
   "task_name": "hopper_rgb_state",
   "action_layout": "gymnasium_continuous_v1",
@@ -71,9 +71,9 @@
       10.0
     ]
   },
-  "robot_type": "rl_games_gymnasium_native",
-  "latency_prompt_map_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/lerobot/hopper_h1_5fps_l0/latency_prompt_map.json",
-  "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/lerobot/_generated_mixtures/hopper_h1_5fps_l0.json",
+  "robot_type": "rl_games_gymnasium",
+  "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/_generated_mixtures/lerobot.json",
   "gymnasium_task": {
     "action_space": {
       "dtype": "float32",
@@ -136,7 +136,7 @@
     },
     "task_name": "hopper_rgb_state"
   },
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+  "validation_dataset_name": "lerobot__val",
   "validation_episodes": 10,
   "validation_frames": 9917
-}
+}

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/result.json

@@ -0,0 +1,213 @@
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+  "eval_config": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/eval_zero_parallel32_ib8.yaml",
+  "inference_batch_size": 8
+}

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/source_identity.json

@@ -0,0 +1,29 @@
+{
+  "revision": "a7001d2227fa8b0cbcd58b7b0e32db3dba147810",
+  "source": "current worktree snapshot",
+  "dirty_paths": [
+    " M AGENTS.md",
+    " M configs/experiments/memory/small_model/flappy_capped.yaml",
+    " M configs/experiments/memory/small_model/flappy_extended.yaml",
+    " M configs/experiments/observation_stride/flappy_capped.yaml",
+    " M configs/experiments/observation_stride/flappy_extended.yaml",
+    " M configs/experiments/sim2real.yaml",
+    " M scripts/experiments/memory/small_model/run.sh",
+    " M scripts/experiments/observation_stride/run.sh",
+    " M scripts/experiments/sim2real/study.py",
+    " M tests/scripts/test_sim2real.py",
+    "?? configs/experiments/sim2real/five_gpu.yaml",
+    "?? docs/cleanup-refactor/",
+    "?? lagen/",
+    "?? scripts/experiments/sim2real/campaign.py",
+    "?? servers.md"
+  ],
+  "runtime_patches": [
+    {
+      "path": "third_party/starVLA/starVLA/training/train_starvla.py",
+      "change": "Full DeepSpeed state-directory resume loads config/statistics from owning run directory without resolving a standalone model file.",
+      "validation": "6 existing resume/statistics tests passed; see previous campaign resume_fix_tests.log"
+    }
+  ],
+  "frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010"
+}

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/l0_metadata_source.json

@@ -1,43 +0,0 @@
-[
-  {
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-    "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc",
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-  },
-  {
-    "task": "hopper",
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-    "repo": "MLL-Lab/LAGEN-datasets",
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-  },
-  {
-    "task": "hopper",
-    "file": "latency_prompt_map.json",
-    "repo": "MLL-Lab/LAGEN-datasets",
-    "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc",
-    "path": "experiments/benchmark-training/archive/standard-pipeline/hopper/evidence/legacy/zero_latency/OpenVLA/provenance/dataset_contract/latency_prompt_map.json"
-  },
-  {
-    "task": "walker2d",
-    "file": "manifest.json",
-    "repo": "MLL-Lab/LAGEN-datasets",
-    "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc",
-    "path": "experiments/benchmark-training/archive/standard-pipeline/walker2d/evidence/legacy/zero_latency/source_contract/manifest.json"
-  },
-  {
-    "task": "walker2d",
-    "file": "latency_prompt_map.json",
-    "repo": "MLL-Lab/LAGEN-datasets",
-    "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc",
-    "path": "experiments/benchmark-training/archive/standard-pipeline/walker2d/evidence/legacy/zero_latency/source_contract/latency_prompt_map.json"
-  },
-  {
-    "task": "ant",
-    "file": "latency_prompt_map.json",
-    "source": "manifest.task_prompts[0]",
-    "latency_raw_frames": 0
-  }
-]

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/legacy_normalization_verification.json

@@ -1,74 +0,0 @@
-[
-  {
-    "task": "hopper",
-    "model": "openvla",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
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-    "model": "gr00t",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "hopper",
-    "model": "pi05",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "walker2d",
-    "model": "openvla",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "walker2d",
-    "model": "gr00t",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "walker2d",
-    "model": "pi05",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "ant",
-    "model": "openvla",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "ant",
-    "model": "gr00t",
-    "maximum_abs_difference": 0.0,
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-  },
-  {
-    "task": "ant",
-    "model": "pi05",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "hopper",
-    "model": "pi05_profile",
-    "maximum_abs_difference": 0.0,
-    "states": 128
-  },
-  {
-    "task": "walker2d",
-    "model": "pi05_profile",
-    "maximum_abs_difference": 0.0,
-    "states": 128
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-  {
-    "task": "ant",
-    "model": "pi05_profile",
-    "maximum_abs_difference": 0.0,
-    "states": 128
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-]

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/normalization_binding.json

@@ -1,7 +0,0 @@
-{
-  "source_robot_type": "rl_games_gymnasium",
-  "robot_type": "rl_games_gymnasium_native",
-  "weights": "unchanged",
-  "state": "clipped source converter min/max",
-  "action": "identity q99 bounds [-1,1]"
-}

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/result.json

@@ -1,216 +0,0 @@
-{
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-  "checkpoint": {
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-  }
-}

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/l0_data_source.json

@@ -0,0 +1,8 @@
+{
+  "repo": "MLL-Lab/LAGEN-datasets",
+  "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc",
+  "path": "experiments/benchmark-training/archive/standard-pipeline/hopper/zero_latency/GR00T/h1_5fps_20260917/demonstrations/raw",
+  "source_obs_fps": 5,
+  "label_semantics": "zero latency: issued and applied actions coincide",
+  "original_contract": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/historical/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/manifest.json"
+}

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/manifest.json

@@ -1,5 +1,5 @@
 {
-  "dataset_name": "hopper_h1_5fps_l0",
+  "dataset_name": "lerobot",
   "env_name": "hopper_rgb_state",
   "episodes": 90,
   "frames": 88212,
@@ -7,7 +7,7 @@
     "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 0 raw frames (0.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
   ],
   "format": "lerobot_v2_image_parquet",
-  "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/raw_5fps",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/raw",
   "integration_name": "gymnasium",
   "task_name": "hopper_rgb_state",
   "action_layout": "gymnasium_continuous_v1",
@@ -72,8 +72,8 @@
     ]
   },
   "robot_type": "rl_games_gymnasium",
-  "latency_prompt_map_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/lerobot/hopper_h1_5fps_l0/latency_prompt_map.json",
-  "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/lerobot/_generated_mixtures/hopper_h1_5fps_l0.json",
+  "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/lerobot/latency_prompt_map.json",
+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/_generated_mixtures/lerobot.json",
   "gymnasium_task": {
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-{
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-{
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+  "global_batch": 128,
+  "gradient_checkpointing": true,
+  "gpus": "0,1",
+  "attempts": [
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+      "accumulation": 1,
+      "state": "COMPLETED"
+    }
+  ]
+}

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-{
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-  "completed_at": "2026-09-17T13:59:03.908633+00:00",
-  "checkpoint": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/vla/training/hopper_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/steps_5000_pytorch_model.pt",
-  "checkpoint_sha256": "5ec4a5fbdfb7fac819a51b523f3735c6702b90a2440a2957c5cc699941ffbf1e",
-  "bundle": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle"
-}

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/l0_sim20_audit.json

@@ -1,105 +0,0 @@
-{
-  "verified_at": "2026-09-17T14:13:17.029371+00:00",
-  "episodes": 20,
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-  "std_return_population": 479.65390591614806,
-  "mean_length": 261.75,
-  "raw_steps": 5235,
-  "actions": 5235,
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-  "env_fps": 5,
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-  "latency_ms": 0,
-  "dropped_observations": 0,
-  "dropped_actions": 0,
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-    1.1177167892456055
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-  "action_clipping_evidence": "HopperEnv.step clips to env.action_space bounds before env.step; GymnasiumEnvAdapter.step overwrites applied_action with preclip action.value, so postclip physical actions are not directly logged",
-  "action_clipping_source_sha256": "616473b67fa33c759bed07e28d4736613b6f4600674da966d754dd18c27669f7",
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-    "config.yaml": "f40ecb9bb5f1450edd45f2bd473b3e6fc9ac65f91154629d3f80ea58673cb4c0",
-    "dataset_statistics.json": "bb23771f87f039a7fa41a682933aac9099f45c4c26b103fe03a51cb84b82c2c6",
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-  "checkpoint_steps": 5000,
-  "reload_evidence": "existing successful L0sim20 executed this final bundle; no repeated evaluation",
-  "acceptance": "L0evaluationcomplete; downstream3090P/Bandprofilepipelinepending"
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zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/loader_check.json

@@ -1,22 +0,0 @@
-{
-  "loader_action_shape": [
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-    3
-  ],
-  "loader_state_shape": [
-    1,
-    11
-  ],
-  "native_action_roundtrip": true,
-  "state_minmax_once": true,
-  "image_pixels_identical": true,
-  "robot_type": "rl_games_gymnasium",
-  "sample_action": [
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-      1.0,
-      1.0
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-  ],
-  "native_decoder": "box identity slice; unnorm_key unused"
-}

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/validation/preparation.json

@@ -1,46 +0,0 @@
-{
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-  "revision": "571cb5801720488ed6458b9cfe3f4c595b069cea",
-  "prefix": "hopper/zero_latency/shared/source_100ep_v1/demonstrations/raw",
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-    "sample_factory": "4b11d8754ffc989cdd15a340cfc9be0277377d5b",
-    "starvla": "1d0d7b139d1725cab268cb9dae2007ef4c5d05d2"
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-  "image_size": [
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-  "action_dim": 3,
-  "action_horizon": 1,
-  "fps": 5,
-  "all_source_returns_gt3000": true,
-  "all_nonprompt_columns_unchanged": true,
-  "normalization": "train-only min_max; same transform in validation",
-  "train_config": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/train.yaml",
-  "dataset": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/data/lerobot/hopper_h1_5fps_l0"
-}

zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20/episode_metrics.jsonl

@@ -1,20 +0,0 @@
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-{"episode_id": 2, "episode_return": 913.858877998007, "episode_return_env": 913.858877998007, "game_score": null, "mean_latency_ms": 0.0, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/bundle/checkpoints/model.pt", "config_name": "gr00t_hopper_zero", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Hopper-v0", "episode_seed": 44, "frame_ms": 200.0, "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": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/zero_latency/l0_sim20", "policy_id": "starvla", "profile_ref": null, "run_name": "gr00t_hopper_zero", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 258, "workload_id": null}, "num_actions": 258, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 258}
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zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20/queue_eval_results.jsonl

@@ -1 +0,0 @@
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