diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/README.md b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/README.md index 12491fe3f8927bf3a4c1e97707a1a2d7483efb10..4a13ef3617bd020ae1f1402044889136723a9b6a 100644 --- a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/README.md +++ b/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="", - 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. diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..26a9cf290a646c0931dadeca0cf975d015ecb2b6 --- /dev/null +++ b/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 diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml index e017b840e09447506759e455f724e6e4a016b315..3a271e7881024d2dfe51511ce398c4683cb35234 100644 --- a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.full.yaml +++ b/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 diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.yaml b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.yaml index aa1851995e18a68100449551929a9f8c71446914..70a403b07dcd5b3a02a60c059f41caa30adbe642 100644 --- a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/config.yaml +++ b/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: diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json index bb92bf6761b388f4009b3ee0beb94cee8054651c..1438ba79ed6fd56dd8e43d7b5130595492fe6463 100644 --- a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json @@ -39,82 +39,82 @@ }, "state": { "mean": [ - 0.40871402621269226, - -0.008348838426172733, - 0.45469287037849426, - 0.6798303723335266, - 0.269776850938797, - -0.1342218965291977, - 0.05999795347452164, - 0.3777448832988739, - -0.007698146626353264, - -0.002836690517142415, - 0.015370956622064114 + 1.3645542860031128, + -0.01030511874705553, + -0.40583422780036926, + -0.18573042750358582, + 0.23710231482982635, + 2.6243653297424316, + -0.025802208110690117, + -0.0004125009581912309, + -0.07698092609643936, + -0.028367187827825546, + 0.1537088304758072 ], "std": [ - 0.3633615970611572, - 0.37869560718536377, - 0.25348955392837524, - 0.30314165353775024, - 0.6127533316612244, - 0.21872857213020325, - 0.4510791301727295, - 0.21530857682228088, - 0.3457658588886261, - 0.4274502992630005, - 0.6040666103363037 + 0.17122606933116913, + 0.07046335190534592, + 0.21613667905330658, + 0.3121389150619507, + 0.5791706442832947, + 0.708288848400116, + 1.5880056619644165, + 0.9573500156402588, + 3.4576501846313477, + 4.274486541748047, + 6.040563583374023 ], "max": [ - 1.0, - 1.0, - 1.0, - 1.0, - 1.0, - 1.0, - 1.0, - 1.0, - 1.0, - 1.0, - 1.0 + 1.6431776285171509, + 0.17731712758541107, + 0.059119515120983124, + 0.14385102689266205, + 0.9273068308830261, + 6.297187805175781, + 3.283433198928833, + 2.7663865089416504, + 10.0, + 10.0, + 10.0 ], "min": [ - -1.0, - -1.0, - -1.0, - -1.0, - -1.0, - -1.0, - -1.0, - -1.0, - -1.0, - -1.0, - -1.0 + 0.7007287740707397, + -0.19482052326202393, + -1.6461776494979858, + -1.9154568910598755, + -0.9631047248840332, + -0.1792079657316208, + -3.757478713989258, + -6.126420021057129, + -10.0, + -10.0, + -10.0 ], "q01": [ - -0.5281156021356582, - -0.9567392879724502, - -0.2079367846250534, - -0.12157819628715515, - -0.9323781633377075, - -0.7369779413938522, - -0.6852116698026657, - -0.10524752676486969, - -0.5511617350578308, - -1.0, - -1.0 + 0.9230922436714173, + -0.18677105158567428, + -0.9708261024951935, + -1.0109864580631256, + -0.8991881710290909, + 0.6725094616413116, + -2.6492803430557252, + -2.147989432811737, + -5.511617112159729, + -10.0, + -10.0 ], "q99": [ - 0.9306531548500061, - 0.7862786006927489, - 0.9816559219360351, - 0.9127335548400879, - 0.9102470433712005, - 0.2971139311790463, - 0.8896300184726715, - 0.9198877382278442, - 1.0, - 0.981240049600601, - 1.0 + 1.610499701499939, + 0.13755025938153265, + 0.04347839709371328, + 0.05399664495140313, + 0.8424718528985977, + 4.02110352039337, + 2.8948803400993346, + 2.410175268650055, + 10.0, + 9.8124001789093, + 10.0 ] }, "num_transitions": 88212, diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/config.yaml b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/config.yaml similarity index 98% rename from zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/config.yaml rename to zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/config.yaml index bcb0142a24d9aa64bdf29548cf6f9fb3e9c24187..70a403b07dcd5b3a02a60c059f41caa30adbe642 100644 --- a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/config.yaml +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/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: diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/dataset_statistics.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/dataset_statistics.json similarity index 54% rename from zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/dataset_statistics.json rename to zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/dataset_statistics.json index 3af9b3024cbc47bdd129db5879cb8f1d47f87298..1438ba79ed6fd56dd8e43d7b5130595492fe6463 100644 --- a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/dataset_statistics.json +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/dataset_statistics.json @@ -22,7 +22,7 @@ -1.0 ], "q01": [ - -1.0, + -0.9043600207567215, -1.0, -1.0 ], @@ -39,30 +39,30 @@ }, "state": { "mean": [ - 1.3645492341941114, - -0.010305156397916786, - -0.40583583587404803, - -0.1858128977780802, - 0.2370956912460711, - 2.624352858199647, - -0.025802604845480026, - -0.00041067362081292913, - -0.07698146626353264, - -0.02836690517142415, - 0.15370956622064114 + 1.3645542860031128, + -0.01030511874705553, + -0.40583422780036926, + -0.18573042750358582, + 0.23710231482982635, + 2.6243653297424316, + -0.025802208110690117, + -0.0004125009581912309, + -0.07698092609643936, + -0.028367187827825546, + 0.1537088304758072 ], "std": [ - 0.17122486045005303, - 0.07046344682210215, - 0.21613750878729276, - 0.31213100369575697, - 0.579177989503572, - 0.7082863997603315, - 1.5880042106509507, - 0.9573487589649616, - 3.457658588886261, - 4.274502992630005, - 6.040666103363037 + 0.17122606933116913, + 0.07046335190534592, + 0.21613667905330658, + 0.3121389150619507, + 0.5791706442832947, + 0.708288848400116, + 1.5880056619644165, + 0.9573500156402588, + 3.4576501846313477, + 4.274486541748047, + 6.040563583374023 ], "max": [ 1.6431776285171509, @@ -91,33 +91,33 @@ -10.0 ], "q01": [ - 0.7007287740707397, - -0.19482052326202393, - -1.6461776494979858, - -1.9154568910598755, - -0.9631047248840332, - -0.1792079657316208, - -3.757478713989258, - -6.126420021057129, - -10.0, + 0.9230922436714173, + -0.18677105158567428, + -0.9708261024951935, + -1.0109864580631256, + -0.8991881710290909, + 0.6725094616413116, + -2.6492803430557252, + -2.147989432811737, + -5.511617112159729, -10.0, -10.0 ], "q99": [ - 1.6431776285171509, - 0.17731712758541107, - 0.059119515120983124, - 0.14385102689266205, - 0.9273068308830261, - 6.297187805175781, - 3.283433198928833, - 2.7663865089416504, - 10.0, + 1.610499701499939, + 0.13755025938153265, + 0.04347839709371328, + 0.05399664495140313, + 0.8424718528985977, + 4.02110352039337, + 2.8948803400993346, + 2.410175268650055, 10.0, + 9.8124001789093, 10.0 ] }, "num_transitions": 88212, "num_trajectories": 90 } -} +} \ No newline at end of file diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/episode_metrics.jsonl b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c4e9b8ea6efd1bd009905f18114b84f2ff1c05b --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/episode_metrics.jsonl @@ -0,0 +1,100 @@ 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null, "survival_steps": 9} diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/eval_config.yaml b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/eval_config.yaml similarity index 87% rename from zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/eval_config.yaml rename to zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/eval_config.yaml index b765ac8e2597a1a2f80ede697d5519ad58229e43..88c5e527c46a0a3db1d66a87851a09603f013124 100644 --- a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/eval_config.yaml +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/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 diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/latency_prompt_map.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/latency_prompt_map.json similarity index 100% rename from zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/latency_prompt_map.json rename to zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/latency_prompt_map.json diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/source_manifest.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/manifest.json similarity index 86% rename from zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/source_manifest.json rename to zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/manifest.json index 5577ffab211644cf2e06426bc0a731c1b7f4f26a..f74ab646ac028f15116a8dad454b0887445a7db8 100644 --- a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/source_manifest.json +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/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 } \ No newline at end of file diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/result.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/result.json new file mode 100644 index 0000000000000000000000000000000000000000..912e639b304977a2deb88c019ef9081104ea3e3c --- /dev/null +++ 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zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/iid/source_identity.json index c0e158e6b25321833422ba92f5635774e81f5fae..f6be50aac65296bb6389a26f1408ab6dfbb9fcac 100644 --- a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/source_identity.json +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/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" } diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/config.yaml b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..70a403b07dcd5b3a02a60c059f41caa30adbe642 --- /dev/null +++ b/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 diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/dataset_statistics.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..1438ba79ed6fd56dd8e43d7b5130595492fe6463 --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/dataset_statistics.json @@ -0,0 +1,123 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.03865884989500046, + 0.5777319669723511, + -0.13737158477306366 + ], + "std": [ + 0.37739884853363037, + 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"output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/gr00t_l0/evaluation/zero_parallel32_ib8", "policy_id": "starvla", "profile_ref": null, "run_name": "hopper_gr00t_l0_zero_100ep", "simulated_worker_capacity": 1, "source_run_id": null, "submitted_observation_frames": 437, "workload_id": null}, "num_actions": 437, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 0.0, "p99_latency_ms": 0.0, "return_raw": null, "survival_steps": 437} diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20.yaml b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/eval_config.yaml similarity index 74% rename from zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20.yaml rename to zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/eval_config.yaml index fbbb7fad47c9a38e538daa82a70ad7ceefd0b579..5932a4be0eb024228e0f42aaec26e9f95244a9e0 100644 --- a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/vla/evaluation/l0_sim20.yaml +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/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 diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/latency_prompt_map.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..f2b7129bb06cf782fa08ced52a646bb6c42dfaec --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/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 + } +} \ No newline at end of file diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/manifest.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/manifest.json similarity index 85% rename from zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/manifest.json rename to zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/manifest.json index 8fbb9edb1070c7b854bbfb75de07b4b80aea957f..f74ab646ac028f15116a8dad454b0887445a7db8 100644 --- a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/issued_action_iid_20261010/manifest.json +++ b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/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" }, - "validation_dataset_name": "hopper_h1_5fps_l0__val", + "validation_dataset_name": "lerobot__val", "validation_episodes": 10, "validation_frames": 9917 -} +} \ No newline at end of file diff --git a/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/result.json b/zero-latency/hopper/vla/starvla-qwengr00t-h1/hopper_l0_gr00t_h1_5fps_2h100_20260917/evaluations/g128_iid_20261010/zero/result.json new file mode 100644 index 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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", + 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