Record verified Figure 2 H1 zero-latency evaluations and archive initial upload status

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/README.md

@@ -1,5 +1,11 @@
-# qwengr00t — mikasa-intercept-grab-fast
+## Verified follow-up evaluation: Figure 2 H1 zero latency
 
-Checkpoint-only upload. The final inference checkpoint exists locally and is uploaded here; the source Slurm job hit the 4h walltime before the canonical eval_l0.json/publication block completed.
+**This H1 checkpoint has a completed 200-episode zero-latency evaluation.** This records the later Figure 2 evaluation; earlier publication/evaluation records are preserved under `history/`. Model weights and training records are unchanged.
 
-Use `checkpoints/model.pt` with the included config/statistics/task_contract. See `checkpoint_only.json` / `provenance.json` for details.
+The 2026-09-23 evaluation used 20 Hz, 60 steps, action horizon 1, and seeds 4242424242–4242424441. Mean environment return: **23.257812902737324**; success: **127/200**. See [current zero-latency summary](eval_l0.json), [episode records](evaluations/figure2_h1_fixed_latency_20260923/latency_0/episode_metrics.jsonl), [evaluation configuration](evaluations/figure2_h1_fixed_latency_20260923/latency_0/eval_config.yaml), and [execution audit](evaluations/figure2_h1_fixed_latency_20260923/latency_0/execution_audit.json).
+
+The current summary is the Figure 2 H1 reference; H8 evaluations are separate. This follow-up does not assert completion or acceptance of any other training/deployment pipeline.
+
+The initial `checkpoint_only` status described the original walltime-limited upload, not the subsequent evaluation. That receipt is now [archived](history/initial_checkpoint_only.json); current evaluation status is recorded in `provenance.json`.
+
+[Initial publication notes (historical)](history/README_before_figure2.md). Use `checkpoints/model.pt` with the included task contract and the explicit evaluation configuration linked above.

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/eval_l0.json

@@ -0,0 +1,55 @@
+{
+  "model": "qwengr00t",
+  "model_label": "QwenGR00T",
+  "horizon": 1,
+  "latency_frames": 0,
+  "latency_ms": 0.0,
+  "n_episodes": 200,
+  "seed_start": 4242424242,
+  "seed_end": 4242424441,
+  "seeds_unique": true,
+  "success_count": 127,
+  "success_rate": 0.635,
+  "mean_return": 23.257812902737324,
+  "std_return": 15.648827244263138,
+  "mean_length": 60.0,
+  "std_length": 0.0,
+  "inference_code": {
+    "benchmark_revision": "0ce3400b86f01252c563e76a9e6f12f1ffdedb8d",
+    "starvla_revision": "3d2cd7fce72def48d9020d794392489031ba3f46",
+    "mikasa_revision": "34ece90941291dceaf942938b9f6c92f9dbae01f",
+    "working_tree": "local source synchronized before launch"
+  },
+  "evaluation_status": "completed_and_audited",
+  "evaluation_date": "2026-09-23",
+  "checkpoint_revision": "56b2c095d76ea5b10dd304e6e03c2ca81801630b",
+  "checkpoint_path": "zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/checkpoints/model.pt",
+  "checkpoint_sha256": "dbf6cfcc6daf5118b80ad8a92863108d9e0d2d52f0340905a411cdc5950e9b5d",
+  "evaluation_archive": "evaluations/figure2_h1_fixed_latency_20260923/latency_0",
+  "protocol": {
+    "task": "InterceptGrabFast-VLA-v0",
+    "env_fps": 20,
+    "latencies_frames": [
+      0,
+      1,
+      2,
+      3,
+      4
+    ],
+    "latencies_ms": [
+      0.0,
+      50.0,
+      100.0,
+      150.0,
+      200.0
+    ],
+    "episodes_per_condition": 200,
+    "seed_start": 4242424242,
+    "seed_end": 4242424441,
+    "eval_parallel_envs": 10,
+    "eval_max_steps": 60,
+    "simulated_worker_capacity": 1,
+    "inference_batch_size": 8,
+    "executor": "simulated"
+  }
+}

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/evaluations/figure2_h1_fixed_latency_20260923/latency_0/episode_metrics.jsonl

@@ -0,0 +1,200 @@
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zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/evaluations/figure2_h1_fixed_latency_20260923/latency_0/eval_config.yaml

@@ -0,0 +1,59 @@
+experiment:
+  name: mikasa_intercept_grab_fast_qwengr00t_h1_fixed_0f
+  seed: 4242424242
+executor:
+  mode: simulated
+  simulated_inference_pool: true
+  simulated_worker_capacity: 1
+  inference_devices:
+  - cuda:0
+  inference_batch_size: 8
+env:
+  name: mikasa_intercept_grab_fast
+  env_fps: 20
+  obs_fps: 20
+  frame_stack: 1
+  simulator_device: cuda:0
+  noop_action:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  base_prompt: Intercept the rolling ball and grasp it to stop it.
+latency:
+  method: zero
+  sync_cuda: false
+scheduler:
+  hold_policy: hold
+  ordering_policy: latest_ready
+  hold_last_chunk_action: true
+policy:
+  action_prefix:
+    mode: none
+  type: starvla
+  checkpoint_path: checkpoints/model.pt
+  model_config_path: config.yaml
+  task_contract_path: task_contract.json
+  backbone_path: Qwen/Qwen3-VL-4B-Instruct@ebb281ec70b05090aa6165b016eac8ec08e71b17
+  device: cuda:0
+  state_info_key: mikasa_proprio
+  image_views_info_key: mikasa_image_views
+evaluation:
+  eval_episodes: 200
+  eval_parallel_envs: 10
+  eval_max_steps: 60
+  eval_deterministic: true
+logging:
+  output_dir: evaluation-output
+  video:
+    enabled: false
+    num_bins: 10
+  save_step_records: true
+  save_action_records: true
+  save_latency_records: true
+provenance:
+  paths_relative_to_bundle: true
+  checkpoint_revision: 56b2c095d76ea5b10dd304e6e03c2ca81801630b

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/evaluations/figure2_h1_fixed_latency_20260923/latency_0/execution_audit.json

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+{
+  "request_fps": 20,
+  "simulated_worker_capacity": 1,
+  "startup_policy": "environment_starts_at_reset",
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+  "fixed_latency_ms": 0.0,
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zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/evaluations/figure2_h1_fixed_latency_20260923/latency_0/summary.json

@@ -0,0 +1,55 @@
+{
+  "model": "qwengr00t",
+  "model_label": "QwenGR00T",
+  "horizon": 1,
+  "latency_frames": 0,
+  "latency_ms": 0.0,
+  "n_episodes": 200,
+  "seed_start": 4242424242,
+  "seed_end": 4242424441,
+  "seeds_unique": true,
+  "success_count": 127,
+  "success_rate": 0.635,
+  "mean_return": 23.257812902737324,
+  "std_return": 15.648827244263138,
+  "mean_length": 60.0,
+  "std_length": 0.0,
+  "inference_code": {
+    "benchmark_revision": "0ce3400b86f01252c563e76a9e6f12f1ffdedb8d",
+    "starvla_revision": "3d2cd7fce72def48d9020d794392489031ba3f46",
+    "mikasa_revision": "34ece90941291dceaf942938b9f6c92f9dbae01f",
+    "working_tree": "local source synchronized before launch"
+  },
+  "evaluation_status": "completed_and_audited",
+  "evaluation_date": "2026-09-23",
+  "checkpoint_revision": "56b2c095d76ea5b10dd304e6e03c2ca81801630b",
+  "checkpoint_path": "zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/checkpoints/model.pt",
+  "checkpoint_sha256": "dbf6cfcc6daf5118b80ad8a92863108d9e0d2d52f0340905a411cdc5950e9b5d",
+  "evaluation_archive": "evaluations/figure2_h1_fixed_latency_20260923/latency_0",
+  "protocol": {
+    "task": "InterceptGrabFast-VLA-v0",
+    "env_fps": 20,
+    "latencies_frames": [
+      0,
+      1,
+      2,
+      3,
+      4
+    ],
+    "latencies_ms": [
+      0.0,
+      50.0,
+      100.0,
+      150.0,
+      200.0
+    ],
+    "episodes_per_condition": 200,
+    "seed_start": 4242424242,
+    "seed_end": 4242424441,
+    "eval_parallel_envs": 10,
+    "eval_max_steps": 60,
+    "simulated_worker_capacity": 1,
+    "inference_batch_size": 8,
+    "executor": "simulated"
+  }
+}

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/history/README_before_figure2.md

@@ -0,0 +1,5 @@
+# qwengr00t — mikasa-intercept-grab-fast
+
+Checkpoint-only upload. The final inference checkpoint exists locally and is uploaded here; the source Slurm job hit the 4h walltime before the canonical eval_l0.json/publication block completed.
+
+Use `checkpoints/model.pt` with the included config/statistics/task_contract. See `checkpoint_only.json` / `provenance.json` for details.

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/provenance.json

@@ -45,14 +45,29 @@
     }
   ],
   "model": "qwengr00t",
-  "reason": "Training produced inference/checkpoints/model.pt, but the original 4h Slurm job ended before train_task.py wrote eval_l0.json/provenance/README and called publish_run.",
   "run_id": "mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z",
-  "status": "checkpoint_only_uploaded_after_walltime",
   "task": "mikasa",
   "teacher": {
     "path": "zero-latency/mikasa-intercept-grab-fast/small-policy/ppo-v1/checkpoint.pt",
     "repo_id": "latency-sensitive-bench/benchmark-models",
     "revision": "46abd9ece5745d808d16aa8013766a26b4f6c371"
   },
-  "uploaded_at_utc": "2026-09-07T16:28:00Z"
+  "uploaded_at_utc": "2026-09-07T16:28:00Z",
+  "initial_upload": {
+    "status": "checkpoint_only_uploaded_after_walltime",
+    "reason": "Training produced inference/checkpoints/model.pt, but the original 4h Slurm job ended before train_task.py wrote eval_l0.json/provenance/README and called publish_run.",
+    "record": "history/initial_checkpoint_only.json"
+  },
+  "evaluation_status": "completed_and_audited",
+  "followup_evaluation": {
+    "status": "completed_and_audited",
+    "date": "2026-09-23",
+    "summary": "eval_l0.json",
+    "archive": "evaluations/figure2_h1_fixed_latency_20260923/latency_0",
+    "episodes": 200,
+    "latency_frames": 0,
+    "action_horizon": 1,
+    "checkpoint_sha256": "dbf6cfcc6daf5118b80ad8a92863108d9e0d2d52f0340905a411cdc5950e9b5d",
+    "scope": "Post-training evaluation; original training and initial-publication records are preserved."
+  }
 }

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/README.md

@@ -1,5 +1,11 @@
-# qwenoft — mikasa-intercept-grab-fast
+## Verified follow-up evaluation: Figure 2 H1 zero latency
 
-Checkpoint-only upload. The final inference checkpoint exists locally and is uploaded here; the source Slurm job hit the 4h walltime before the canonical eval_l0.json/publication block completed.
+**This H1 checkpoint has a completed 200-episode zero-latency evaluation.** This records the later Figure 2 evaluation; earlier publication/evaluation records are preserved under `history/`. Model weights and training records are unchanged.
 
-Use `checkpoints/model.pt` with the included config/statistics/task_contract. See `checkpoint_only.json` / `provenance.json` for details.
+The 2026-09-23 evaluation used 20 Hz, 60 steps, action horizon 1, and seeds 4242424242–4242424441. Mean environment return: **21.447104194871223**; success: **110/200**. See [current zero-latency summary](eval_l0.json), [episode records](evaluations/figure2_h1_fixed_latency_20260923/latency_0/episode_metrics.jsonl), [evaluation configuration](evaluations/figure2_h1_fixed_latency_20260923/latency_0/eval_config.yaml), and [execution audit](evaluations/figure2_h1_fixed_latency_20260923/latency_0/execution_audit.json).
+
+The current summary is the Figure 2 H1 reference; H8 evaluations are separate. This follow-up does not assert completion or acceptance of any other training/deployment pipeline.
+
+The initial `checkpoint_only` status described the original walltime-limited upload, not the subsequent evaluation. That receipt is now [archived](history/initial_checkpoint_only.json); current evaluation status is recorded in `provenance.json`.
+
+[Initial publication notes (historical)](history/README_before_figure2.md). Use `checkpoints/model.pt` with the included task contract and the explicit evaluation configuration linked above.

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/eval_l0.json

@@ -0,0 +1,55 @@
+{
+  "model": "qwenoft",
+  "model_label": "QwenOFT",
+  "horizon": 1,
+  "latency_frames": 0,
+  "latency_ms": 0.0,
+  "n_episodes": 200,
+  "seed_start": 4242424242,
+  "seed_end": 4242424441,
+  "seeds_unique": true,
+  "success_count": 110,
+  "success_rate": 0.55,
+  "mean_return": 21.447104194871223,
+  "std_return": 16.60358126125529,
+  "mean_length": 60.0,
+  "std_length": 0.0,
+  "inference_code": {
+    "benchmark_revision": "0ce3400b86f01252c563e76a9e6f12f1ffdedb8d",
+    "starvla_revision": "3d2cd7fce72def48d9020d794392489031ba3f46",
+    "mikasa_revision": "34ece90941291dceaf942938b9f6c92f9dbae01f",
+    "working_tree": "local source synchronized before launch"
+  },
+  "evaluation_status": "completed_and_audited",
+  "evaluation_date": "2026-09-23",
+  "checkpoint_revision": "56b2c095d76ea5b10dd304e6e03c2ca81801630b",
+  "checkpoint_path": "zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/checkpoints/model.pt",
+  "checkpoint_sha256": "03bd214f4c34a1d32ac046d4baaf301abcfe92e2470858ca9ff18338056475c7",
+  "evaluation_archive": "evaluations/figure2_h1_fixed_latency_20260923/latency_0",
+  "protocol": {
+    "task": "InterceptGrabFast-VLA-v0",
+    "env_fps": 20,
+    "latencies_frames": [
+      0,
+      1,
+      2,
+      3,
+      4
+    ],
+    "latencies_ms": [
+      0.0,
+      50.0,
+      100.0,
+      150.0,
+      200.0
+    ],
+    "episodes_per_condition": 200,
+    "seed_start": 4242424242,
+    "seed_end": 4242424441,
+    "eval_parallel_envs": 10,
+    "eval_max_steps": 60,
+    "simulated_worker_capacity": 1,
+    "inference_batch_size": 8,
+    "executor": "simulated"
+  }
+}

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/evaluations/figure2_h1_fixed_latency_20260923/latency_0/episode_metrics.jsonl

@@ -0,0 +1,200 @@
+{"episode_id": 0, "episode_seed": 4242424242, "episode_return_env": 4.954021312500117, "survival_steps": 60, "success": 0.0}
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+{"episode_id": 5, "episode_seed": 4242424247, "episode_return_env": 39.886232702294365, "survival_steps": 60, "success": 1.0}
+{"episode_id": 6, "episode_seed": 4242424248, "episode_return_env": 41.4070534252096, "survival_steps": 60, "success": 1.0}
+{"episode_id": 7, "episode_seed": 4242424249, "episode_return_env": 37.26810474117519, "survival_steps": 60, "success": 1.0}
+{"episode_id": 8, "episode_seed": 4242424250, "episode_return_env": 0.8238645146484487, "survival_steps": 60, "success": 0.0}
+{"episode_id": 9, "episode_seed": 4242424251, "episode_return_env": 8.271268997748848, "survival_steps": 60, "success": 1.0}
+{"episode_id": 10, "episode_seed": 4242424252, "episode_return_env": 38.179972389596514, "survival_steps": 60, "success": 1.0}
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zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/evaluations/figure2_h1_fixed_latency_20260923/latency_0/eval_config.yaml

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+experiment:
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+  seed: 4242424242
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+policy:
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+  type: starvla
+  checkpoint_path: checkpoints/model.pt
+  model_config_path: config.yaml
+  task_contract_path: task_contract.json
+  backbone_path: Qwen/Qwen3-VL-4B-Instruct@ebb281ec70b05090aa6165b016eac8ec08e71b17
+  device: cuda:0
+  state_info_key: mikasa_proprio
+  image_views_info_key: mikasa_image_views
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+  save_step_records: true
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+provenance:
+  paths_relative_to_bundle: true
+  checkpoint_revision: 56b2c095d76ea5b10dd304e6e03c2ca81801630b

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+  "evaluation_date": "2026-09-23",
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+  }
+}

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/history/README_before_figure2.md

@@ -0,0 +1,5 @@
+# qwenoft — mikasa-intercept-grab-fast
+
+Checkpoint-only upload. The final inference checkpoint exists locally and is uploaded here; the source Slurm job hit the 4h walltime before the canonical eval_l0.json/publication block completed.
+
+Use `checkpoints/model.pt` with the included config/statistics/task_contract. See `checkpoint_only.json` / `provenance.json` for details.

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/provenance.json

@@ -45,14 +45,29 @@
     }
   ],
   "model": "qwenoft",
-  "reason": "Training produced inference/checkpoints/model.pt, but the original 4h Slurm job ended before train_task.py wrote eval_l0.json/provenance/README and called publish_run.",
   "run_id": "mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z",
-  "status": "checkpoint_only_uploaded_after_walltime",
   "task": "mikasa",
   "teacher": {
     "path": "zero-latency/mikasa-intercept-grab-fast/small-policy/ppo-v1/checkpoint.pt",
     "repo_id": "latency-sensitive-bench/benchmark-models",
     "revision": "46abd9ece5745d808d16aa8013766a26b4f6c371"
   },
-  "uploaded_at_utc": "2026-09-07T16:29:56Z"
+  "uploaded_at_utc": "2026-09-07T16:29:56Z",
+  "initial_upload": {
+    "status": "checkpoint_only_uploaded_after_walltime",
+    "reason": "Training produced inference/checkpoints/model.pt, but the original 4h Slurm job ended before train_task.py wrote eval_l0.json/provenance/README and called publish_run.",
+    "record": "history/initial_checkpoint_only.json"
+  },
+  "evaluation_status": "completed_and_audited",
+  "followup_evaluation": {
+    "status": "completed_and_audited",
+    "date": "2026-09-23",
+    "summary": "eval_l0.json",
+    "archive": "evaluations/figure2_h1_fixed_latency_20260923/latency_0",
+    "episodes": 200,
+    "latency_frames": 0,
+    "action_horizon": 1,
+    "checkpoint_sha256": "03bd214f4c34a1d32ac046d4baaf301abcfe92e2470858ca9ff18338056475c7",
+    "scope": "Post-training evaluation; original training and initial-publication records are preserved."
+  }
 }

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/README.md

@@ -1,4 +1,11 @@
-# qwenpi_v3 — mikasa_intercept_grab_fast
+## Verified follow-up evaluation: Figure 2 H1 zero latency
 
-RGB + continuous state, action horizon 1, VLA 20 Hz.
-See task_contract.json for normalization, eval_l0.json for zero-latency results, and provenance.json for exact teacher, backbone, and dataset revisions.
+**This H1 checkpoint has a completed 200-episode zero-latency evaluation.** This records the later Figure 2 evaluation; earlier publication/evaluation records are preserved under `history/`. Model weights and training records are unchanged.
+
+The 2026-09-23 evaluation used 20 Hz, 60 steps, action horizon 1, and seeds 4242424242–4242424441. Mean environment return: **20.56687915752911**; success: **100/200**. See [current zero-latency summary](eval_l0.json), [episode records](evaluations/figure2_h1_fixed_latency_20260923/latency_0/episode_metrics.jsonl), [evaluation configuration](evaluations/figure2_h1_fixed_latency_20260923/latency_0/eval_config.yaml), and [execution audit](evaluations/figure2_h1_fixed_latency_20260923/latency_0/execution_audit.json).
+
+The current summary is the Figure 2 H1 reference; H8 evaluations are separate. This follow-up does not assert completion or acceptance of any other training/deployment pipeline.
+
+QwenPI v3 used `interleave_self_attention: false` to match the trained action architecture. This override is explicit in the archived evaluation config; checkpoint weights were unchanged. The preceding `eval_l0.json` is preserved in `history/eval_l0_before_figure2.json`.
+
+[Initial publication notes (historical)](history/README_before_figure2.md). Use `checkpoints/model.pt` with the included task contract and the explicit evaluation configuration linked above.

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/evaluations/figure2_h1_fixed_latency_20260923/latency_0/episode_metrics.jsonl

@@ -0,0 +1,200 @@
+{"episode_id": 0, "episode_seed": 4242424242, "episode_return_env": 7.577335132082226, "survival_steps": 60, "success": 0.0}
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+{"episode_id": 3, "episode_seed": 4242424245, "episode_return_env": 40.79825295781484, "survival_steps": 60, "success": 1.0}
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+{"episode_id": 6, "episode_seed": 4242424248, "episode_return_env": 40.86775237834081, "survival_steps": 60, "success": 1.0}
+{"episode_id": 7, "episode_seed": 4242424249, "episode_return_env": 36.059910799289355, "survival_steps": 60, "success": 1.0}
+{"episode_id": 8, "episode_seed": 4242424250, "episode_return_env": 8.074090536567383, "survival_steps": 60, "success": 0.0}
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+{"episode_id": 10, "episode_seed": 4242424252, "episode_return_env": 4.686836180277169, "survival_steps": 60, "success": 0.0}
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zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/evaluations/figure2_h1_fixed_latency_20260923/latency_0/eval_config.yaml

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+experiment:
+  name: mikasa_intercept_grab_fast_qwenpi_v3_h1_fixed_0f
+  seed: 4242424242
+executor:
+  mode: simulated
+  simulated_inference_pool: true
+  simulated_worker_capacity: 1
+  inference_devices:
+  - cuda:0
+  inference_batch_size: 8
+env:
+  name: mikasa_intercept_grab_fast
+  env_fps: 20
+  obs_fps: 20
+  frame_stack: 1
+  simulator_device: cuda:0
+  noop_action:
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+  - 0.0
+  - 0.0
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+  - 0.0
+  base_prompt: Intercept the rolling ball and grasp it to stop it.
+latency:
+  method: zero
+  sync_cuda: false
+scheduler:
+  hold_policy: hold
+  ordering_policy: latest_ready
+  hold_last_chunk_action: true
+policy:
+  action_prefix:
+    mode: none
+  type: starvla
+  checkpoint_path: checkpoints/model.pt
+  model_config_path: evaluations/figure2_h1_fixed_latency_20260923/latency_0/model_config_override.yaml
+  task_contract_path: task_contract.json
+  backbone_path: Qwen/Qwen3-VL-4B-Instruct@ebb281ec70b05090aa6165b016eac8ec08e71b17
+  device: cuda:0
+  state_info_key: mikasa_proprio
+  image_views_info_key: mikasa_image_views
+evaluation:
+  eval_episodes: 200
+  eval_parallel_envs: 10
+  eval_max_steps: 60
+  eval_deterministic: true
+logging:
+  output_dir: evaluation-output
+  video:
+    enabled: false
+    num_bins: 10
+  save_step_records: true
+  save_action_records: true
+  save_latency_records: true
+provenance:
+  paths_relative_to_bundle: true
+  checkpoint_revision: 56b2c095d76ea5b10dd304e6e03c2ca81801630b
+  inference_config_override:
+    field: framework.action_model.diffusion_model_cfg.interleave_self_attention
+    hub_value: true
+    eval_value: false

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/evaluations/figure2_h1_fixed_latency_20260923/latency_0/execution_audit.json

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zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/evaluations/figure2_h1_fixed_latency_20260923/latency_0/model_config_override.yaml

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+framework:
+  name: QwenPI_v3
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2560
+    num_vl_layers: 36
+  action_model:
+    action_model_type: LayerwiseFM
+    action_dim: 7
+    state_dim: 7
+    state_encoding: continuous_projector
+    task_objective: null
+    action_horizon: 1
+    repeated_diffusion_steps: 2
+    num_inference_timesteps: 4
+    add_pos_embed: true
+    max_seq_len: 1024
+    num_target_vision_tokens: 32
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    diffusion_model_cfg:
+      action_dit_hidden_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: false
+      norm_type: ada_norm
+      positional_embeddings: null
+      attention_head_dim: 64
+      num_layers: 36
+      input_embedding_dim: 1024
+      cross_attention_dim: 1024
+      output_dim: 1024
+      num_attention_heads: 16
+    action_env_dim: 7
+    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:
+    - 1
+    - 2
+    num_obs_frames: 1
+trainer:
+  pretrained_checkpoint: null
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+  allow_patterns:
+  - '*.json'
+  - '*.safetensors'
+  - '*.txt'
+  - '*.jinja'
+  - '*.model'

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/evaluations/figure2_h1_fixed_latency_20260923/latency_0/summary.json

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+{
+  "model": "qwenpi_v3",
+  "model_label": "QwenPI v3",
+  "horizon": 1,
+  "latency_frames": 0,
+  "latency_ms": 0.0,
+  "n_episodes": 200,
+  "seed_start": 4242424242,
+  "seed_end": 4242424441,
+  "seeds_unique": true,
+  "success_count": 100,
+  "success_rate": 0.5,
+  "mean_return": 20.56687915752911,
+  "std_return": 16.494827758302048,
+  "mean_length": 60.0,
+  "std_length": 0.0,
+  "inference_code": {
+    "benchmark_revision": "0ce3400b86f01252c563e76a9e6f12f1ffdedb8d",
+    "starvla_revision": "3d2cd7fce72def48d9020d794392489031ba3f46",
+    "mikasa_revision": "34ece90941291dceaf942938b9f6c92f9dbae01f",
+    "working_tree": "local source synchronized before launch"
+  },
+  "evaluation_status": "completed_and_audited",
+  "evaluation_date": "2026-09-23",
+  "checkpoint_revision": "56b2c095d76ea5b10dd304e6e03c2ca81801630b",
+  "checkpoint_path": "zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/checkpoints/model.pt",
+  "checkpoint_sha256": "7467625bb4ce0bc4d7ea7a601191b138750e66216567d00c2ca95a412360f752",
+  "evaluation_archive": "evaluations/figure2_h1_fixed_latency_20260923/latency_0",
+  "protocol": {
+    "task": "InterceptGrabFast-VLA-v0",
+    "env_fps": 20,
+    "latencies_frames": [
+      0,
+      1,
+      2,
+      3,
+      4
+    ],
+    "latencies_ms": [
+      0.0,
+      50.0,
+      100.0,
+      150.0,
+      200.0
+    ],
+    "episodes_per_condition": 200,
+    "seed_start": 4242424242,
+    "seed_end": 4242424441,
+    "eval_parallel_envs": 10,
+    "eval_max_steps": 60,
+    "simulated_worker_capacity": 1,
+    "inference_batch_size": 8,
+    "executor": "simulated"
+  },
+  "inference_config_override": {
+    "field": "framework.action_model.diffusion_model_cfg.interleave_self_attention",
+    "hub_value": true,
+    "eval_value": false
+  }
+}

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/history/README_before_figure2.md

@@ -0,0 +1,4 @@
+# qwenpi_v3 — mikasa_intercept_grab_fast
+
+RGB + continuous state, action horizon 1, VLA 20 Hz.
+See task_contract.json for normalization, eval_l0.json for zero-latency results, and provenance.json for exact teacher, backbone, and dataset revisions.

zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/provenance.json

@@ -80,5 +80,17 @@
       "min_lr": 1e-06
     },
     "warmup_updates": 100
+  },
+  "evaluation_status": "completed_and_audited",
+  "followup_evaluation": {
+    "status": "completed_and_audited",
+    "date": "2026-09-23",
+    "summary": "eval_l0.json",
+    "archive": "evaluations/figure2_h1_fixed_latency_20260923/latency_0",
+    "episodes": 200,
+    "latency_frames": 0,
+    "action_horizon": 1,
+    "checkpoint_sha256": "7467625bb4ce0bc4d7ea7a601191b138750e66216567d00c2ca95a412360f752",
+    "scope": "Post-training evaluation; original training and initial-publication records are preserved."
   }
 }