diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/README.md b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/README.md index ea45b27c3cab62e72d4a8baa06c1119de0191163..560482d9862ce1d8f7ec3838fbaca46205a740d4 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/README.md +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/README.md @@ -1,5 +1,5 @@ -# walker2d gr00t corrected profile checkpoint +# walker2d gr00t profile -Teacher-issued action labels, step 5000, seed 42. -Evaluation: simulated IID, 100 episodes per condition, seeds 42–141, latency seed 0, cap 1000, simulated capacity 1. -Training parameters and model-specific FPS are recorded in config.full.yaml and results.json. +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/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..00c7d71fd2cd80b20c819cd66865913685d49ba2 --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cc2dcb38bec71ee16c67ebcdc2f09170215f5755be56109881132825282d800 +size 9976860963 diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/collection_protocol.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/collection_protocol.json index 111afe94c8079c8f74099a113bb9acb7004e8c72..27064de910de1fea8872344561699f3722c61730 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/collection_protocol.json +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/collection_protocol.json @@ -1,5 +1,5 @@ { - "teacher_source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/historical/latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1", + "teacher_source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/historical/latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1", "teacher_seed": 0, "gate": 3000, "max_episodes": 100, @@ -8,7 +8,7 @@ "split_seed": 0, "env_fps": 5.0, "obs_fps": 5.0, - "checkpoint": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/teacher/checkpoint.pth", - "profile": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", + "checkpoint": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/teacher/checkpoint.pth", + "profile": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/profile/profile.json", "label_semantics": "teacher_issued_command" } diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.full.yaml b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.full.yaml index 7297b59e6383375821995b0254c8ddd6e03825ee..c06bea1ffd5dbfd1f557e3c0e34fe1ccbde8604e 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.full.yaml +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.full.yaml @@ -41,7 +41,7 @@ datasets: data_root_dir: / data_mix: train eval_data_mix: validation - custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/mixture.json + custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/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: 32 + per_device_batch_size: 64 load_all_data_for_training: true num_obs_frames: 1 image_mode: single @@ -233,15 +233,15 @@ trainer: weight_decay: 1.0e-08 fused: true save_format: pt -run_id: walker2d_qwengr00t_issued_action_iid_s42_20261010 -run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/training +run_id: walker2d_gr00t_profile_issued_iid_g128_s42_20261010 +run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/training seed: 42 is_debug: false version_id: '0.21' wandb_project: latency-sensitive-bench wandb_entity: saberrr-zju -wandb_name: walker2d_qwengr00t_issued_action_iid_s42_20261010 -wandb_group: continuous-control-issued-iid-20261010 +wandb_name: walker2d_gr00t_profile_issued_iid_g128_s42_20261010 +wandb_group: continuous-control-g128-iid-20261010 wandb_tags: - walker2d - gr00t @@ -258,5 +258,5 @@ checkpoint: save_training_state: true local: keep_last_n: 1 -config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/train.yaml -output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/training/walker2d_qwengr00t_issued_action_iid_s42_20261010 +config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/train.yaml +output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/training/walker2d_gr00t_profile_issued_iid_g128_s42_20261010 diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/config.yaml b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42579858ef2f87458673e94eccca3c2353e98f46 --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/config.yaml @@ -0,0 +1,139 @@ +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: 6 + state_dim: 17 + 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: 6 + 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 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Walker2d robot forward while keeping its torso upright. + Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, + right foot, left thigh, left leg, and left foot. + env_fps: 5.0 + env_id: LatencyBench/Walker2dContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Walker2d-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 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 5.0 + registration_imports: + - latency_bench.envs.tasks.walker2d + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + task_name: walker2d + 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/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/dataset_statistics.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..520910d24330222a88c42483afc14f73362cf050 --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/dataset_statistics.json @@ -0,0 +1,180 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.9485777020454407, + 0.8980432748794556, + 0.22086535394191742, + 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b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecd522e56eb23af59c774e6ec6aca832c2346c7d --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/episode_metrics.jsonl @@ -0,0 +1,100 @@ +{"episode_id": 0, "episode_return": 4225.5144425747985, "episode_return_env": 4225.5144425747985, "game_score": null, "mean_latency_ms": 111.69516596958135, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/new_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_profile_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 42, "frame_ms": 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119.48729511330984, "return_raw": null, "survival_steps": 1000} +{"episode_id": 99, "episode_return": 1526.8141663202753, "episode_return_env": 1526.8141663202753, "game_score": null, "mean_latency_ms": 111.3732889278345, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/new_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_profile_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 141, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/evaluation/iid_parallel32_ib8", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_profile_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 390, "workload_id": "walker2d"}, "num_actions": 390, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.86287744753864, "p99_latency_ms": 119.09407318460899, "return_raw": null, "survival_steps": 390} diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/eval_config.yaml b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/eval_config.yaml similarity index 87% rename from latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/eval_config.yaml rename to latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/eval_config.yaml index e449f739c06338eb46ee4eb0a501714c327f4959..5057b0b260f353ba7312706796740e903be2ac50 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/eval_config.yaml +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/eval_config.yaml @@ -94,7 +94,7 @@ env: latency: method: iid sync_cuda: false - profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json + profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/profile/profile.json profile_worker_slot: 0 seed: 0 scheduler: @@ -102,12 +102,12 @@ scheduler: ordering_policy: issue_order_fifo policy: type: starvla - checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/checkpoints/model.pt - model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/config.yaml + checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/new_bundle/checkpoints/model.pt + model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/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/walker2d/gr00t/new_bundle/manifest.json - latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/latency_prompt_map.json + task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/new_bundle/manifest.json + latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/new_bundle/latency_prompt_map.json latency_prompt_key: 1 training: train_for_env_steps: 10000000 @@ -156,7 +156,7 @@ evaluation: eval_latency_values: null episode_seed_offset: 0 logging: - output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/profile_parallel32 + output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/evaluation/iid_parallel32_ib8 video: enabled: false num_bins: 1 diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/latency_prompt_map.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..ab7cb73c4a6870635a012917737f130eac0545b7 --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/latency_prompt_map.json @@ -0,0 +1,7 @@ +{ + "1": { + "prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 1 raw frames (200.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.", + "latency_raw_frames": 1, + "latency_ms": 200.0 + } +} \ No newline at end of file diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/manifest.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..32b4f382f1d2d76673b38072a10f4d52f131a6eb --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/manifest.json @@ -0,0 +1,184 @@ +{ + "dataset_name": "lerobot", + "env_name": "walker2d", + "episodes": 90, + "frames": 89918, + "task_prompts": [ + "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 1 raw frames (200.00 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": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/raw", + "integration_name": "gymnasium", + "task_name": "walker2d", + "action_layout": "gymnasium_continuous_v1", + "action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "carrier_action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "action_dim": 6, + "active_action_dim": 6, + "action_carrier": "native", + "rows_unit": "decision_step", + "obs_fps": 5.0, + "obs_stride_raw_frames": 1, + "uses_state": true, + "state_dim": 17, + "state_labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.9314286708831787, + -0.1729077845811844, + -0.4933790862560272, + -0.4129164516925812, + -1.1557602882385254, + -1.5651016235351562, + -2.7074811458587646, + -1.447374939918518, + -1.4488009214401245, + -2.6456122398376465, + -8.981568336486816, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0 + ], + "max": [ + 1.5055254697799683, + 0.9924107789993286, + 0.14722543954849243, + 0.17162975668907166, + 1.215640902519226, + 0.18669180572032928, + 0.3025740087032318, + 1.3430273532867432, + 6.26255989074707, + 3.290994167327881, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/lerobot/latency_prompt_map.json", + "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/_generated_mixtures/lerobot.json", + "gymnasium_task": { + "action_space": { + "dtype": "float32", + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "type": "box" + }, + "base_prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot.", + "env_fps": 5.0, + "env_id": "LatencyBench/Walker2dContinuous-v0", + "frame_stack": 1, + "make_kwargs": { + "base_env_id": "Walker2d-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, + 0.0, + 0.0, + 0.0 + ], + "obs_fps": 5.0, + "registration_imports": [ + "latency_bench.envs.tasks.walker2d" + ], + "state_space": { + "labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ] + }, + "task_name": "walker2d" + }, + "validation_dataset_name": "lerobot__val", + "validation_episodes": 10, + "validation_frames": 10000 +} \ No newline at end of file diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/result.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/result.json new file mode 100644 index 0000000000000000000000000000000000000000..47e414644a3fed57d40eb4aa8e4e5e76e27d89dc --- /dev/null +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/result.json @@ -0,0 +1,213 @@ +{ + "episodes": 100, + "seeds": [ + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 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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/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/episode_metrics.jsonl b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/episode_metrics.jsonl deleted file mode 100644 index 183ceefe134a07392e7af15e6fd5897d872f5a0c..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/episode_metrics.jsonl +++ /dev/null @@ -1,100 +0,0 @@ -{"episode_id": 0, "episode_return": 65.58934628306696, "episode_return_env": 65.58934628306696, 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"episode_return": 71.27124528832528, "episode_return_env": 71.27124528832528, "game_score": null, "mean_latency_ms": 111.2623083227981, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 138, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 64, "workload_id": "walker2d"}, "num_actions": 64, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.03454609232656, "p99_latency_ms": 119.7427069848635, "return_raw": null, "survival_steps": 64} -{"episode_id": 97, "episode_return": 64.64764120346435, "episode_return_env": 64.64764120346435, "game_score": null, "mean_latency_ms": 111.56656563872998, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 139, 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"episode_return": 66.07376166858724, "episode_return_env": 66.07376166858724, "game_score": null, "mean_latency_ms": 111.49547353625586, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 140, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.22445550403538, "p99_latency_ms": 118.65186179139042, "return_raw": null, "survival_steps": 62} -{"episode_id": 99, "episode_return": 51.863129588608565, "episode_return_env": 51.863129588608565, "game_score": null, "mean_latency_ms": 111.66540691482543, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 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a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/eval_config.yaml b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/eval_config.yaml deleted file mode 100644 index 493cd34a1ee1ab8833a967cfc8c0a2c947a9c2a8..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/eval_config.yaml +++ /dev/null @@ -1,166 +0,0 @@ -experiment: - name: walker2d_gr00t_l0_iid_100ep - seed: 42 -backend: - type: sample_factory - algo: APPO - device: cuda - train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/walker2d - 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: walker2d - env_id: LatencyBench/Walker2dContinuous-v0 - registration_imports: - - latency_bench.envs.tasks.walker2d - make_kwargs: - base_env_id: Walker2d-v4 - base_make_kwargs: - ctrl_cost_weight: 0.001 - exclude_current_positions_from_observation: true - forward_reward_weight: 1.0 - healthy_reward: 1.0 - reset_noise_scale: 0.005 - terminate_when_unhealthy: true - render_mode: rgb_array - env_fps: 5 - obs_fps: 5 - frame_stack: 1 - action_space: - dtype: float32 - high: - - 1.0 - - 1.0 - - 1.0 - - 1.0 - - 1.0 - - 1.0 - labels: - - right_thigh_torque - - right_leg_torque - - right_foot_torque - - left_thigh_torque - - left_leg_torque - - left_foot_torque - low: - - -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 - base_prompt: Move the Walker2d robot forward while keeping its torso upright. Predict - six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, - left thigh, left leg, and left foot. - state_space: - labels: - - torso_height - - torso_angle - - right_thigh_angle - - right_leg_angle - - right_foot_angle - - left_thigh_angle - - left_leg_angle - - left_foot_angle - - torso_x_velocity - - torso_z_velocity - - torso_angular_velocity - - right_thigh_angular_velocity - - right_leg_angular_velocity - - right_foot_angular_velocity - - left_thigh_angular_velocity - - left_leg_angular_velocity - - left_foot_angular_velocity - obs_resize: - - 224 - - 224 -latency: - method: iid - sync_cuda: false - profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json - profile_worker_slot: 0 - seed: 0 -scheduler: - hold_policy: hold - ordering_policy: issue_order_fifo -policy: - type: starvla - checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt - model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/config.yaml - backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 - device: cuda:0 - task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/manifest.json - latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/latency_prompt_map.json - latency_prompt_key: 0 -training: - train_for_env_steps: 10000000 - num_workers: 8 - num_envs_per_worker: 8 - worker_num_splits: 2 - num_policies: 1 - batch_size: 1024 - rollout: 64 - recurrence: 1 - num_epochs: 2 - num_batches_per_epoch: 4 - max_policy_lag: 300 - learning_rate: 0.00295 - gamma: 0.99 - gae_lambda: 0.95 - ppo_clip_ratio: 0.2 - ppo_clip_value: 0.2 - value_loss_coeff: 1.3 - max_grad_norm: 3.5 - exploration_loss_coeff: 0.0 - async_rl: false - batched_sampling: false - use_rnn: false - encoder_mlp_layers: - - 64 - - 64 - normalize_input: true - normalize_returns: true - save_every_sec: 600 - keep_checkpoints: 5 - lr_schedule: linear_decay - kl_loss_coeff: 0.1 - serial_mode: false - nonlinearity: tanh - adaptive_stddev: false - policy_initialization: torch_default - initial_stddev: 1.0 - shuffle_minibatches: false - value_bootstrap: true -evaluation: - eval_episodes: 100 - eval_parallel_envs: 32 - eval_max_steps: 1000 - eval_deterministic: true - eval_latency_values: null - episode_seed_offset: 0 -logging: - output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32 - video: - enabled: false - num_bins: 1 - save_step_records: true - save_action_records: true - save_latency_records: true - realtime_pipeline_profile: false diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/episode_metrics.jsonl b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/episode_metrics.jsonl deleted file mode 100644 index 040583493b8df3d9d45246e704a45844e5764e1c..0000000000000000000000000000000000000000 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/episode_metrics.jsonl +++ /dev/null @@ -1,100 +0,0 @@ -{"episode_id": 0, "episode_return": 1481.0751044092483, "episode_return_env": 1481.0751044092483, "game_score": null, "mean_latency_ms": 111.5257758037208, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": 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"/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_profile_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 141, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/profile_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_profile_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 163, "workload_id": "walker2d"}, "num_actions": 163, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.69790866255263, "p99_latency_ms": 119.14731969694557, "return_raw": null, "survival_steps": 163} diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/provenance.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/provenance.json index 1a4e788d92426d10a0bfb379a172a0fd45a43268..92509e72c0494c13e941ac6ef5d05093f94d7919 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/provenance.json +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/provenance.json @@ -1,9 +1,9 @@ { "task": "walker2d", "model": "gr00t", - "training_run_id": "walker2d_qwengr00t_issued_action_iid_s42_20261010", + "training_run_id": "walker2d_gr00t_profile_issued_iid_g128_s42_20261010", "steps": 5000, "seed": 42, - "source_identity": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/source_identity.json", - "collection_protocol": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/collection_protocol.json" + "source_identity": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/source_identity.json", + "data_source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/collection_protocol.json" } diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/results.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/results.json index e1b9b755cdc80b7160bbbf39ce3e2357aaa1b8fa..665a9515a02837e50034d1fe7410de62dbae702e 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/results.json +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/results.json @@ -1,12 +1,13 @@ { "task": "walker2d", "model": "gr00t", + "condition": "profile", "method": "iid", "parallel_envs": 32, "fps": 5, "latency_seed": 0, "eval_max_steps": 1000, - "profile": { + "iid": { "episodes": 100, "seeds": [ 42, @@ -110,427 +111,113 @@ 140, 141 ], - "mean_return": 1935.497368575507, - "population_std_return": 1526.3288616707152, - "mean_length": 504.17, + "mean_return": 3955.2027355439686, + "population_std_return": 822.9780691864123, + "mean_length": 940.93, "returns": [ - 1481.0751044092483, - 2793.1022369003863, - 1751.8128821409791, - 3325.230592708965, - 4135.953345175524, - 240.58735485173244, - 1020.8793737770817, - 2101.9003635689446, - 228.76575878865225, - 4132.147062174697, - 2042.5592505028749, - 2079.2306355779033, - 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"/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/eval_iid_parallel32_ib8.yaml", + "inference_batch_size": 8 + } } diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source.tar.gz b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source.tar.gz index 80709f1c94360669a3ea298f9da17f506fa229b2..0dfea1cd80b19f7336dacf9069d0c2ee81887ba1 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source.tar.gz +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source.tar.gz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bfe045fb75114eafb5de1728ef0eed39318a8baa5a9668b059e23bd6e6419820 -size 15042086 +oid sha256:243de1df8298a262fed9f20fc794bf4a8c784b8754aa29c36e06280b3e9b8e2c +size 15131356 diff --git a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source_identity.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source_identity.json index c0e158e6b25321833422ba92f5635774e81f5fae..f6be50aac65296bb6389a26f1408ab6dfbb9fcac 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source_identity.json +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/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/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/training.complete.json b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/training.complete.json index 541c9d389acc8f87bf7ba1185bcd244b98d10402..63924a1fd5a36eab3d57787c1433ce345efc8a8e 100644 --- a/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/training.complete.json +++ b/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/training.complete.json @@ -1,12 +1,12 @@ { "steps": 5000, "seed": 42, - "global_batch": 64, + "global_batch": 128, "gradient_checkpointing": true, - "gpus": "0,1", + "gpus": "2,3", "attempts": [ { - "micro_batch": 32, + "micro_batch": 64, "accumulation": 1, "state": "COMPLETED" }