diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/README.md b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/README.md index 20b61a2fb43d42ecfed57208153a1c2010833d9e..8438144054a42b0498d32f40ba1b8efb75890b7c 100644 --- a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/README.md +++ b/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. diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/eval_l0.json b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/eval_l0.json new file mode 100644 index 0000000000000000000000000000000000000000..dd53fa05c373c0ab2b528b4ae8c94612945b13f3 --- /dev/null +++ b/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" + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..5af30f0a8b09d61ce55724515070d38404ac6f13 --- /dev/null +++ b/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 @@ +{"episode_id": 0, "episode_seed": 4242424242, "episode_return_env": 3.2659234969469253, "survival_steps": 60, "success": 0.0} +{"episode_id": 1, "episode_seed": 4242424243, "episode_return_env": 4.462595757038798, "survival_steps": 60, "success": 0.0} +{"episode_id": 2, "episode_seed": 4242424244, "episode_return_env": 0.7295535348530393, "survival_steps": 60, "success": 0.0} +{"episode_id": 3, "episode_seed": 4242424245, "episode_return_env": 40.53164811851457, "survival_steps": 60, "success": 1.0} +{"episode_id": 4, "episode_seed": 4242424246, "episode_return_env": 6.680227548698895, "survival_steps": 60, "success": 0.0} +{"episode_id": 5, "episode_seed": 4242424247, "episode_return_env": 17.93398172967136, "survival_steps": 60, "success": 0.0} +{"episode_id": 6, "episode_seed": 4242424248, "episode_return_env": 39.88541647209786, "survival_steps": 60, "success": 1.0} +{"episode_id": 7, "episode_seed": 4242424249, "episode_return_env": 32.39974185093888, "survival_steps": 60, "success": 1.0} +{"episode_id": 8, "episode_seed": 4242424250, "episode_return_env": 3.853778828168288, "survival_steps": 60, "success": 0.0} +{"episode_id": 9, "episode_seed": 4242424251, "episode_return_env": 13.479859219689388, "survival_steps": 60, "success": 1.0} +{"episode_id": 10, "episode_seed": 4242424252, "episode_return_env": 38.56309828016674, "survival_steps": 60, "success": 1.0} +{"episode_id": 11, "episode_seed": 4242424253, "episode_return_env": 8.312931407126598, "survival_steps": 60, "success": 0.0} +{"episode_id": 12, "episode_seed": 4242424254, "episode_return_env": 6.005276876036078, "survival_steps": 60, "success": 0.0} +{"episode_id": 13, "episode_seed": 4242424255, "episode_return_env": 38.426884111366235, "survival_steps": 60, "success": 1.0} +{"episode_id": 14, "episode_seed": 4242424256, "episode_return_env": 41.10444425616879, "survival_steps": 60, "success": 1.0} +{"episode_id": 15, "episode_seed": 4242424257, "episode_return_env": 2.3958117716247216, "survival_steps": 60, "success": 0.0} +{"episode_id": 16, "episode_seed": 4242424258, "episode_return_env": 11.882930653984658, "survival_steps": 60, "success": 1.0} +{"episode_id": 17, "episode_seed": 4242424259, "episode_return_env": 37.975792242155876, "survival_steps": 60, "success": 1.0} +{"episode_id": 18, "episode_seed": 4242424260, "episode_return_env": 32.22033664921764, "survival_steps": 60, "success": 1.0} +{"episode_id": 19, "episode_seed": 4242424261, "episode_return_env": 35.73792489361949, "survival_steps": 60, "success": 1.0} +{"episode_id": 20, "episode_seed": 4242424262, "episode_return_env": 0.9067119255487341, "survival_steps": 60, "success": 0.0} +{"episode_id": 21, "episode_seed": 4242424263, "episode_return_env": 3.7953025355236605, "survival_steps": 60, "success": 0.0} +{"episode_id": 22, "episode_seed": 4242424264, "episode_return_env": 40.72348838392645, "survival_steps": 60, "success": 1.0} +{"episode_id": 23, "episode_seed": 4242424265, "episode_return_env": 31.075053118693177, "survival_steps": 60, "success": 1.0} +{"episode_id": 24, "episode_seed": 4242424266, "episode_return_env": 37.698844269732945, "survival_steps": 60, "success": 1.0} +{"episode_id": 25, "episode_seed": 4242424267, "episode_return_env": 35.065986910951324, "survival_steps": 60, "success": 1.0} +{"episode_id": 26, "episode_seed": 4242424268, "episode_return_env": 0.5707764094149752, "survival_steps": 60, "success": 0.0} +{"episode_id": 27, "episode_seed": 4242424269, "episode_return_env": 36.87677083729068, "survival_steps": 60, "success": 1.0} +{"episode_id": 28, "episode_seed": 4242424270, "episode_return_env": 38.62412184034474, "survival_steps": 60, "success": 1.0} +{"episode_id": 29, "episode_seed": 4242424271, "episode_return_env": 37.23225460498361, "survival_steps": 60, "success": 1.0} +{"episode_id": 30, "episode_seed": 4242424272, "episode_return_env": 37.369360626791604, "survival_steps": 60, "success": 1.0} +{"episode_id": 31, "episode_seed": 4242424273, "episode_return_env": 11.682779292430496, "survival_steps": 60, "success": 0.0} +{"episode_id": 32, "episode_seed": 4242424274, "episode_return_env": 0.5185981669783359, "survival_steps": 60, "success": 0.0} +{"episode_id": 33, "episode_seed": 4242424275, "episode_return_env": 36.63450531716808, "survival_steps": 60, "success": 1.0} +{"episode_id": 34, "episode_seed": 4242424276, "episode_return_env": 1.8850583388702944, "survival_steps": 60, "success": 0.0} +{"episode_id": 35, "episode_seed": 4242424277, "episode_return_env": 39.592438058927655, "survival_steps": 60, "success": 1.0} +{"episode_id": 36, "episode_seed": 4242424278, "episode_return_env": 18.40758522908436, "survival_steps": 60, "success": 1.0} +{"episode_id": 37, "episode_seed": 4242424279, "episode_return_env": 38.733707632054575, "survival_steps": 60, "success": 1.0} +{"episode_id": 38, "episode_seed": 4242424280, "episode_return_env": 8.042032672761707, "survival_steps": 60, "success": 0.0} +{"episode_id": 39, "episode_seed": 4242424281, "episode_return_env": 35.89703857747372, "survival_steps": 60, "success": 1.0} +{"episode_id": 40, "episode_seed": 4242424282, "episode_return_env": 37.66651941946475, "survival_steps": 60, "success": 1.0} +{"episode_id": 41, "episode_seed": 4242424283, "episode_return_env": 39.698337322915904, "survival_steps": 60, "success": 1.0} +{"episode_id": 42, "episode_seed": 4242424284, "episode_return_env": 37.57464513811283, "survival_steps": 60, "success": 1.0} +{"episode_id": 43, "episode_seed": 4242424285, "episode_return_env": 34.52082792535657, "survival_steps": 60, "success": 1.0} +{"episode_id": 44, "episode_seed": 4242424286, "episode_return_env": 3.212388322397601, "survival_steps": 60, "success": 0.0} +{"episode_id": 45, "episode_seed": 4242424287, "episode_return_env": 0.5533927663448139, "survival_steps": 60, "success": 0.0} +{"episode_id": 46, "episode_seed": 4242424288, "episode_return_env": 13.451489147497341, "survival_steps": 60, "success": 1.0} +{"episode_id": 47, "episode_seed": 4242424289, "episode_return_env": 36.13896288862452, "survival_steps": 60, "success": 1.0} +{"episode_id": 48, "episode_seed": 4242424290, "episode_return_env": 38.26546461938415, "survival_steps": 60, "success": 1.0} +{"episode_id": 49, "episode_seed": 4242424291, "episode_return_env": 31.324824578478, "survival_steps": 60, "success": 1.0} +{"episode_id": 50, "episode_seed": 4242424292, "episode_return_env": 32.12138684952515, "survival_steps": 60, "success": 1.0} +{"episode_id": 51, "episode_seed": 4242424293, "episode_return_env": 14.610597384045832, "survival_steps": 60, "success": 1.0} +{"episode_id": 52, "episode_seed": 4242424294, "episode_return_env": 36.76280252507422, "survival_steps": 60, "success": 1.0} +{"episode_id": 53, "episode_seed": 4242424295, "episode_return_env": 40.93177825823659, "survival_steps": 60, "success": 1.0} +{"episode_id": 54, "episode_seed": 4242424296, "episode_return_env": 36.33676105554332, "survival_steps": 60, "success": 1.0} +{"episode_id": 55, "episode_seed": 4242424297, "episode_return_env": 37.677840465388726, "survival_steps": 60, "success": 1.0} +{"episode_id": 56, "episode_seed": 4242424298, "episode_return_env": 9.744096882408485, "survival_steps": 60, "success": 0.0} +{"episode_id": 57, "episode_seed": 4242424299, "episode_return_env": 37.98783499276033, "survival_steps": 60, "success": 1.0} +{"episode_id": 58, "episode_seed": 4242424300, "episode_return_env": 32.52056737351813, "survival_steps": 60, "success": 1.0} +{"episode_id": 59, "episode_seed": 4242424301, "episode_return_env": 30.651964223448886, "survival_steps": 60, "success": 1.0} +{"episode_id": 60, "episode_seed": 4242424302, "episode_return_env": 41.25503701635171, "survival_steps": 60, "success": 1.0} +{"episode_id": 61, "episode_seed": 4242424303, "episode_return_env": 0.7177903406209225, "survival_steps": 60, "success": 0.0} +{"episode_id": 62, "episode_seed": 4242424304, "episode_return_env": 3.849991963710636, "survival_steps": 60, "success": 0.0} +{"episode_id": 63, "episode_seed": 4242424305, "episode_return_env": 7.566907565051224, "survival_steps": 60, "success": 0.0} +{"episode_id": 64, "episode_seed": 4242424306, "episode_return_env": 2.247498440934578, "survival_steps": 60, "success": 0.0} +{"episode_id": 65, "episode_seed": 4242424307, "episode_return_env": 31.14461101271445, "survival_steps": 60, "success": 1.0} +{"episode_id": 66, "episode_seed": 4242424308, "episode_return_env": 38.92189485405106, "survival_steps": 60, "success": 1.0} +{"episode_id": 67, "episode_seed": 4242424309, "episode_return_env": 13.123378154152306, "survival_steps": 60, "success": 0.0} +{"episode_id": 68, "episode_seed": 4242424310, "episode_return_env": 0.5422242110216757, "survival_steps": 60, "success": 0.0} +{"episode_id": 69, "episode_seed": 4242424311, "episode_return_env": 4.378718269930687, "survival_steps": 60, "success": 0.0} +{"episode_id": 70, "episode_seed": 4242424312, "episode_return_env": 7.723585559200728, "survival_steps": 60, "success": 0.0} +{"episode_id": 71, "episode_seed": 4242424313, "episode_return_env": 40.02526830154238, "survival_steps": 60, "success": 1.0} +{"episode_id": 72, "episode_seed": 4242424314, "episode_return_env": 31.654667795839487, "survival_steps": 60, "success": 1.0} +{"episode_id": 73, "episode_seed": 4242424315, "episode_return_env": 37.074379666737514, "survival_steps": 60, "success": 1.0} +{"episode_id": 74, "episode_seed": 4242424316, "episode_return_env": 38.12237201328389, "survival_steps": 60, "success": 1.0} +{"episode_id": 75, "episode_seed": 4242424317, "episode_return_env": 36.66098167508608, "survival_steps": 60, "success": 1.0} +{"episode_id": 76, "episode_seed": 4242424318, "episode_return_env": 0.8192181369231548, "survival_steps": 60, "success": 0.0} +{"episode_id": 77, "episode_seed": 4242424319, "episode_return_env": 35.15522851777496, "survival_steps": 60, "success": 1.0} +{"episode_id": 78, "episode_seed": 4242424320, "episode_return_env": 3.757165963674197, "survival_steps": 60, "success": 0.0} +{"episode_id": 79, "episode_seed": 4242424321, "episode_return_env": 2.2622105826449115, "survival_steps": 60, "success": 0.0} +{"episode_id": 80, "episode_seed": 4242424322, "episode_return_env": 3.1385122823692058, "survival_steps": 60, "success": 0.0} +{"episode_id": 81, "episode_seed": 4242424323, "episode_return_env": 8.381564326991793, "survival_steps": 60, "success": 1.0} +{"episode_id": 82, "episode_seed": 4242424324, "episode_return_env": 36.020378645014716, "survival_steps": 60, "success": 1.0} +{"episode_id": 83, "episode_seed": 4242424325, "episode_return_env": 2.4488408864708617, "survival_steps": 60, "success": 0.0} +{"episode_id": 84, "episode_seed": 4242424326, "episode_return_env": 5.765253991179634, "survival_steps": 60, "success": 0.0} +{"episode_id": 85, "episode_seed": 4242424327, "episode_return_env": 3.6167663781670853, "survival_steps": 60, "success": 0.0} +{"episode_id": 86, "episode_seed": 4242424328, "episode_return_env": 31.607259906479158, "survival_steps": 60, "success": 1.0} +{"episode_id": 87, "episode_seed": 4242424329, "episode_return_env": 3.692454823816661, "survival_steps": 60, "success": 0.0} +{"episode_id": 88, "episode_seed": 4242424330, "episode_return_env": 40.86896359396633, "survival_steps": 60, "success": 1.0} +{"episode_id": 89, "episode_seed": 4242424331, "episode_return_env": 40.454930110427085, "survival_steps": 60, "success": 1.0} +{"episode_id": 90, "episode_seed": 4242424332, "episode_return_env": 31.04605992382858, "survival_steps": 60, "success": 1.0} +{"episode_id": 91, "episode_seed": 4242424333, "episode_return_env": 6.289438592706574, "survival_steps": 60, "success": 0.0} +{"episode_id": 92, "episode_seed": 4242424334, "episode_return_env": 32.302840705786366, "survival_steps": 60, "success": 1.0} +{"episode_id": 93, "episode_seed": 4242424335, "episode_return_env": 33.87350434527616, "survival_steps": 60, "success": 1.0} +{"episode_id": 94, "episode_seed": 4242424336, "episode_return_env": 38.822788433230016, "survival_steps": 60, "success": 1.0} +{"episode_id": 95, "episode_seed": 4242424337, "episode_return_env": 34.85332228045445, "survival_steps": 60, "success": 1.0} +{"episode_id": 96, "episode_seed": 4242424338, "episode_return_env": 35.75772788282484, "survival_steps": 60, "success": 1.0} +{"episode_id": 97, "episode_seed": 4242424339, "episode_return_env": 36.29648744215956, "survival_steps": 60, "success": 1.0} +{"episode_id": 98, "episode_seed": 4242424340, "episode_return_env": 1.3098415436106734, "survival_steps": 60, "success": 0.0} +{"episode_id": 99, "episode_seed": 4242424341, "episode_return_env": 41.43436512525659, "survival_steps": 60, "success": 1.0} +{"episode_id": 100, "episode_seed": 4242424342, "episode_return_env": 4.1813245106022805, "survival_steps": 60, "success": 0.0} +{"episode_id": 101, "episode_seed": 4242424343, "episode_return_env": 18.216243565897457, "survival_steps": 60, "success": 1.0} +{"episode_id": 102, "episode_seed": 4242424344, "episode_return_env": 38.18059857643675, "survival_steps": 60, "success": 1.0} +{"episode_id": 103, "episode_seed": 4242424345, "episode_return_env": 35.442001299757976, "survival_steps": 60, "success": 1.0} +{"episode_id": 104, "episode_seed": 4242424346, "episode_return_env": 29.62864375775098, "survival_steps": 60, "success": 1.0} +{"episode_id": 105, "episode_seed": 4242424347, "episode_return_env": 4.327857811556896, "survival_steps": 60, "success": 0.0} +{"episode_id": 106, "episode_seed": 4242424348, "episode_return_env": 38.89675910945516, "survival_steps": 60, "success": 1.0} +{"episode_id": 107, "episode_seed": 4242424349, "episode_return_env": 32.66450252948562, "survival_steps": 60, "success": 1.0} +{"episode_id": 108, "episode_seed": 4242424350, "episode_return_env": 36.131084731954616, "survival_steps": 60, "success": 1.0} +{"episode_id": 109, "episode_seed": 4242424351, "episode_return_env": 30.88616257836111, "survival_steps": 60, "success": 1.0} +{"episode_id": 110, "episode_seed": 4242424352, "episode_return_env": 36.546141142665874, "survival_steps": 60, "success": 1.0} +{"episode_id": 111, "episode_seed": 4242424353, "episode_return_env": 33.98898120317608, "survival_steps": 60, "success": 1.0} +{"episode_id": 112, "episode_seed": 4242424354, "episode_return_env": 33.8361975098378, "survival_steps": 60, "success": 1.0} +{"episode_id": 113, "episode_seed": 4242424355, "episode_return_env": 6.477316614473239, "survival_steps": 60, "success": 0.0} +{"episode_id": 114, "episode_seed": 4242424356, "episode_return_env": 38.12960761459544, "survival_steps": 60, "success": 1.0} +{"episode_id": 115, "episode_seed": 4242424357, "episode_return_env": 4.494204144226387, "survival_steps": 60, "success": 0.0} +{"episode_id": 116, "episode_seed": 4242424358, "episode_return_env": 3.618963448680006, "survival_steps": 60, "success": 0.0} +{"episode_id": 117, "episode_seed": 4242424359, "episode_return_env": 5.8179236338764895, "survival_steps": 60, "success": 0.0} +{"episode_id": 118, "episode_seed": 4242424360, "episode_return_env": 10.338864149234723, "survival_steps": 60, "success": 1.0} +{"episode_id": 119, "episode_seed": 4242424361, "episode_return_env": 29.002157556446036, "survival_steps": 60, "success": 1.0} +{"episode_id": 120, "episode_seed": 4242424362, "episode_return_env": 6.080220698524499, "survival_steps": 60, "success": 0.0} +{"episode_id": 121, "episode_seed": 4242424363, "episode_return_env": 38.673113186086994, "survival_steps": 60, "success": 1.0} +{"episode_id": 122, "episode_seed": 4242424364, "episode_return_env": 3.195608949288726, "survival_steps": 60, "success": 0.0} +{"episode_id": 123, "episode_seed": 4242424365, "episode_return_env": 5.035200175945647, "survival_steps": 60, "success": 0.0} +{"episode_id": 124, "episode_seed": 4242424366, "episode_return_env": 4.725452434853651, "survival_steps": 60, "success": 0.0} +{"episode_id": 125, "episode_seed": 4242424367, "episode_return_env": 39.387279683491215, "survival_steps": 60, "success": 1.0} +{"episode_id": 126, "episode_seed": 4242424368, "episode_return_env": 2.6586518369149417, "survival_steps": 60, "success": 0.0} +{"episode_id": 127, "episode_seed": 4242424369, "episode_return_env": 40.11772131372709, "survival_steps": 60, "success": 1.0} +{"episode_id": 128, "episode_seed": 4242424370, "episode_return_env": 38.876557341078296, "survival_steps": 60, "success": 1.0} +{"episode_id": 129, "episode_seed": 4242424371, "episode_return_env": 41.95510225731414, "survival_steps": 60, "success": 1.0} +{"episode_id": 130, "episode_seed": 4242424372, "episode_return_env": 37.29277025652118, "survival_steps": 60, "success": 1.0} +{"episode_id": 131, "episode_seed": 4242424373, "episode_return_env": 0.8848714289197233, "survival_steps": 60, "success": 0.0} +{"episode_id": 132, "episode_seed": 4242424374, "episode_return_env": 41.300443002721295, "survival_steps": 60, "success": 1.0} +{"episode_id": 133, "episode_seed": 4242424375, "episode_return_env": 34.49557401292259, "survival_steps": 60, "success": 1.0} +{"episode_id": 134, "episode_seed": 4242424376, "episode_return_env": 4.060924165794859, "survival_steps": 60, "success": 0.0} +{"episode_id": 135, "episode_seed": 4242424377, "episode_return_env": 3.1003559447126463, "survival_steps": 60, "success": 0.0} +{"episode_id": 136, "episode_seed": 4242424378, "episode_return_env": 37.617954617133364, "survival_steps": 60, "success": 1.0} +{"episode_id": 137, "episode_seed": 4242424379, "episode_return_env": 1.550206342129968, "survival_steps": 60, "success": 0.0} +{"episode_id": 138, "episode_seed": 4242424380, "episode_return_env": 35.70979197358247, "survival_steps": 60, "success": 1.0} +{"episode_id": 139, "episode_seed": 4242424381, "episode_return_env": 18.905232775607146, "survival_steps": 60, "success": 1.0} +{"episode_id": 140, "episode_seed": 4242424382, "episode_return_env": 11.277638522617053, "survival_steps": 60, "success": 0.0} +{"episode_id": 141, "episode_seed": 4242424383, "episode_return_env": 35.8744084162463, "survival_steps": 60, "success": 1.0} +{"episode_id": 142, "episode_seed": 4242424384, "episode_return_env": 39.18270830315305, "survival_steps": 60, "success": 1.0} +{"episode_id": 143, "episode_seed": 4242424385, "episode_return_env": 6.359927042503841, "survival_steps": 60, "success": 1.0} +{"episode_id": 144, "episode_seed": 4242424386, "episode_return_env": 1.7795954044268, "survival_steps": 60, "success": 0.0} +{"episode_id": 145, "episode_seed": 4242424387, "episode_return_env": 0.38614143573977344, "survival_steps": 60, "success": 0.0} +{"episode_id": 146, "episode_seed": 4242424388, "episode_return_env": 8.199270299592172, "survival_steps": 60, "success": 0.0} +{"episode_id": 147, "episode_seed": 4242424389, "episode_return_env": 0.5053141093812883, "survival_steps": 60, "success": 0.0} +{"episode_id": 148, "episode_seed": 4242424390, "episode_return_env": 35.552254255861044, "survival_steps": 60, "success": 1.0} +{"episode_id": 149, "episode_seed": 4242424391, "episode_return_env": 38.067195397045, "survival_steps": 60, "success": 1.0} +{"episode_id": 150, "episode_seed": 4242424392, "episode_return_env": 35.11066080161254, "survival_steps": 60, "success": 1.0} +{"episode_id": 151, "episode_seed": 4242424393, "episode_return_env": 5.048144453030545, "survival_steps": 60, "success": 0.0} +{"episode_id": 152, "episode_seed": 4242424394, "episode_return_env": 39.96205715072574, "survival_steps": 60, "success": 1.0} +{"episode_id": 153, "episode_seed": 4242424395, "episode_return_env": 37.77372678928077, "survival_steps": 60, "success": 1.0} +{"episode_id": 154, "episode_seed": 4242424396, "episode_return_env": 33.804234859504504, "survival_steps": 60, "success": 1.0} +{"episode_id": 155, "episode_seed": 4242424397, "episode_return_env": 10.993251200998202, "survival_steps": 60, "success": 1.0} +{"episode_id": 156, "episode_seed": 4242424398, "episode_return_env": 30.248817643267103, "survival_steps": 60, "success": 1.0} +{"episode_id": 157, "episode_seed": 4242424399, "episode_return_env": 35.70592697116081, "survival_steps": 60, "success": 1.0} +{"episode_id": 158, "episode_seed": 4242424400, "episode_return_env": 36.287839695985895, "survival_steps": 60, "success": 1.0} +{"episode_id": 159, "episode_seed": 4242424401, "episode_return_env": 35.25495378745836, "survival_steps": 60, "success": 1.0} +{"episode_id": 160, "episode_seed": 4242424402, "episode_return_env": 4.553005881723948, "survival_steps": 60, "success": 0.0} +{"episode_id": 161, "episode_seed": 4242424403, "episode_return_env": 11.268826070416253, "survival_steps": 60, "success": 0.0} +{"episode_id": 162, "episode_seed": 4242424404, "episode_return_env": 3.2552205576212145, "survival_steps": 60, "success": 0.0} +{"episode_id": 163, "episode_seed": 4242424405, "episode_return_env": 6.290283540147357, "survival_steps": 60, "success": 0.0} +{"episode_id": 164, "episode_seed": 4242424406, "episode_return_env": 35.802627760276664, "survival_steps": 60, "success": 1.0} +{"episode_id": 165, "episode_seed": 4242424407, "episode_return_env": 30.338320689596003, "survival_steps": 60, "success": 1.0} +{"episode_id": 166, "episode_seed": 4242424408, "episode_return_env": 36.23231533402577, "survival_steps": 60, "success": 1.0} +{"episode_id": 167, "episode_seed": 4242424409, "episode_return_env": 38.04739736189367, "survival_steps": 60, "success": 1.0} +{"episode_id": 168, "episode_seed": 4242424410, "episode_return_env": 39.142337862809654, "survival_steps": 60, "success": 1.0} +{"episode_id": 169, "episode_seed": 4242424411, "episode_return_env": 35.90341572178295, "survival_steps": 60, "success": 1.0} +{"episode_id": 170, "episode_seed": 4242424412, "episode_return_env": 2.3476155888056383, "survival_steps": 60, "success": 0.0} +{"episode_id": 171, "episode_seed": 4242424413, "episode_return_env": 1.3079833844385576, "survival_steps": 60, "success": 0.0} +{"episode_id": 172, "episode_seed": 4242424414, "episode_return_env": 31.21380418984336, "survival_steps": 60, "success": 1.0} +{"episode_id": 173, "episode_seed": 4242424415, "episode_return_env": 1.385292830877006, "survival_steps": 60, "success": 0.0} +{"episode_id": 174, "episode_seed": 4242424416, "episode_return_env": 37.163756843830924, "survival_steps": 60, "success": 1.0} +{"episode_id": 175, "episode_seed": 4242424417, "episode_return_env": 2.634835253818892, "survival_steps": 60, "success": 0.0} +{"episode_id": 176, "episode_seed": 4242424418, "episode_return_env": 35.34451960172737, "survival_steps": 60, "success": 1.0} +{"episode_id": 177, "episode_seed": 4242424419, "episode_return_env": 28.327109729783842, "survival_steps": 60, "success": 1.0} +{"episode_id": 178, "episode_seed": 4242424420, "episode_return_env": 12.552969112934079, "survival_steps": 60, "success": 1.0} +{"episode_id": 179, "episode_seed": 4242424421, "episode_return_env": 38.94344563910272, "survival_steps": 60, "success": 1.0} +{"episode_id": 180, "episode_seed": 4242424422, "episode_return_env": 36.08576342102606, "survival_steps": 60, "success": 1.0} +{"episode_id": 181, "episode_seed": 4242424423, "episode_return_env": 3.9736901979194954, "survival_steps": 60, "success": 0.0} +{"episode_id": 182, "episode_seed": 4242424424, "episode_return_env": 1.4491479622665793, "survival_steps": 60, "success": 0.0} +{"episode_id": 183, "episode_seed": 4242424425, "episode_return_env": 38.937488793046214, "survival_steps": 60, "success": 1.0} +{"episode_id": 184, "episode_seed": 4242424426, "episode_return_env": 5.373355872841785, "survival_steps": 60, "success": 0.0} +{"episode_id": 185, "episode_seed": 4242424427, "episode_return_env": 6.581271993170958, "survival_steps": 60, "success": 0.0} +{"episode_id": 186, "episode_seed": 4242424428, "episode_return_env": 36.85063602263108, "survival_steps": 60, "success": 1.0} +{"episode_id": 187, "episode_seed": 4242424429, "episode_return_env": 36.8133027961012, "survival_steps": 60, "success": 1.0} +{"episode_id": 188, "episode_seed": 4242424430, "episode_return_env": 6.492051198496483, "survival_steps": 60, "success": 0.0} +{"episode_id": 189, "episode_seed": 4242424431, "episode_return_env": 28.098146743985126, "survival_steps": 60, "success": 1.0} +{"episode_id": 190, "episode_seed": 4242424432, "episode_return_env": 36.210394928231835, "survival_steps": 60, "success": 1.0} +{"episode_id": 191, "episode_seed": 4242424433, "episode_return_env": 38.93775544146774, "survival_steps": 60, "success": 1.0} +{"episode_id": 192, "episode_seed": 4242424434, "episode_return_env": 33.952248724293895, "survival_steps": 60, "success": 1.0} +{"episode_id": 193, "episode_seed": 4242424435, "episode_return_env": 3.636075709335273, "survival_steps": 60, "success": 0.0} +{"episode_id": 194, "episode_seed": 4242424436, "episode_return_env": 38.16193073685281, "survival_steps": 60, "success": 1.0} +{"episode_id": 195, "episode_seed": 4242424437, "episode_return_env": 36.353862919379026, "survival_steps": 60, "success": 1.0} +{"episode_id": 196, "episode_seed": 4242424438, "episode_return_env": 34.652277973655146, "survival_steps": 60, "success": 1.0} +{"episode_id": 197, "episode_seed": 4242424439, "episode_return_env": 2.867755603394471, "survival_steps": 60, "success": 0.0} +{"episode_id": 198, "episode_seed": 4242424440, "episode_return_env": 39.21145606983919, "survival_steps": 60, "success": 1.0} +{"episode_id": 199, "episode_seed": 4242424441, "episode_return_env": 37.148764211917296, "survival_steps": 60, "success": 1.0} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..d243b0dde7bae863366ba13a7998510edf69694d --- /dev/null +++ b/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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..04e04547afca972f8ccb764112500d302089d7d4 --- /dev/null +++ b/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 @@ -0,0 +1,212 @@ +{ + "request_fps": 20, + "simulated_worker_capacity": 1, + "startup_policy": "environment_starts_at_reset", + "latency_raw_frames": 0, + "fixed_latency_ms": 0.0, + "initial_noop_transitions": 0, + "first_action_apply_raw_frames": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "executed_later_heads": null, + "passed": true +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..dd53fa05c373c0ab2b528b4ae8c94612945b13f3 --- /dev/null +++ b/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" + } +} diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/history/README_before_figure2.md b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/history/README_before_figure2.md new file mode 100644 index 0000000000000000000000000000000000000000..20b61a2fb43d42ecfed57208153a1c2010833d9e --- /dev/null +++ b/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. diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/checkpoint_only.json b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/history/initial_checkpoint_only.json similarity index 100% rename from zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/checkpoint_only.json rename to zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/history/initial_checkpoint_only.json diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/provenance.json b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/provenance.json index c48d612b04be21fd615b3435ab38ee15c1f370e4..9c51a0613469cbe4636d51a6596b39981550903f 100644 --- a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwengr00t-h1/mikasa_intercept_grab_fast_qwengr00t_formal_latest_r8gpu7_20260907T075003Z/provenance.json +++ b/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." + } } diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/README.md b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/README.md index 6d73a0593398f962fe00b37f3a1167e68bfdf854..c6cccfd0f371dbb21e2ea34fc82b53d6ffea7cc1 100644 --- a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/README.md +++ b/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. diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/eval_l0.json b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/eval_l0.json new file mode 100644 index 0000000000000000000000000000000000000000..7dcfb85f334fb8d10cd960af505a8c5430e5b423 --- /dev/null +++ b/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" + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..35eb858bb277c931c46fe540c04b394739b0895a --- /dev/null +++ b/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} +{"episode_id": 1, "episode_seed": 4242424243, "episode_return_env": 30.92854347085813, "survival_steps": 60, "success": 1.0} +{"episode_id": 2, "episode_seed": 4242424244, "episode_return_env": 0.7693689764564624, "survival_steps": 60, "success": 0.0} +{"episode_id": 3, "episode_seed": 4242424245, "episode_return_env": 40.08595237246482, "survival_steps": 60, "success": 1.0} +{"episode_id": 4, "episode_seed": 4242424246, "episode_return_env": 5.136952850269154, "survival_steps": 60, "success": 0.0} +{"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} +{"episode_id": 11, "episode_seed": 4242424253, "episode_return_env": 1.5916751401673537, "survival_steps": 60, "success": 0.0} +{"episode_id": 12, "episode_seed": 4242424254, "episode_return_env": 6.772101281851064, "survival_steps": 60, "success": 0.0} +{"episode_id": 13, "episode_seed": 4242424255, "episode_return_env": 38.31373674812494, "survival_steps": 60, "success": 1.0} +{"episode_id": 14, "episode_seed": 4242424256, "episode_return_env": 30.536939093726687, "survival_steps": 60, "success": 1.0} +{"episode_id": 15, "episode_seed": 4242424257, "episode_return_env": 2.517060459651745, "survival_steps": 60, "success": 0.0} +{"episode_id": 16, "episode_seed": 4242424258, "episode_return_env": 6.227761180198286, "survival_steps": 60, "success": 1.0} +{"episode_id": 17, "episode_seed": 4242424259, "episode_return_env": 39.4010680168285, "survival_steps": 60, "success": 1.0} +{"episode_id": 18, "episode_seed": 4242424260, "episode_return_env": 32.57641890150262, "survival_steps": 60, "success": 1.0} +{"episode_id": 19, "episode_seed": 4242424261, "episode_return_env": 36.10645091504557, "survival_steps": 60, "success": 1.0} +{"episode_id": 20, "episode_seed": 4242424262, "episode_return_env": 1.3541503393789753, "survival_steps": 60, "success": 0.0} +{"episode_id": 21, "episode_seed": 4242424263, "episode_return_env": 2.6579448638949543, "survival_steps": 60, "success": 0.0} +{"episode_id": 22, "episode_seed": 4242424264, "episode_return_env": 40.93805540190078, "survival_steps": 60, "success": 1.0} +{"episode_id": 23, "episode_seed": 4242424265, "episode_return_env": 6.740783334797015, "survival_steps": 60, "success": 0.0} +{"episode_id": 24, "episode_seed": 4242424266, "episode_return_env": 37.418609517102595, "survival_steps": 60, "success": 1.0} +{"episode_id": 25, "episode_seed": 4242424267, "episode_return_env": 38.82700501609361, "survival_steps": 60, "success": 1.0} +{"episode_id": 26, "episode_seed": 4242424268, "episode_return_env": 0.5419424377369069, "survival_steps": 60, "success": 0.0} +{"episode_id": 27, "episode_seed": 4242424269, "episode_return_env": 36.814462831651326, "survival_steps": 60, "success": 1.0} +{"episode_id": 28, "episode_seed": 4242424270, "episode_return_env": 39.836189907277, "survival_steps": 60, "success": 1.0} +{"episode_id": 29, "episode_seed": 4242424271, "episode_return_env": 38.099369722185656, "survival_steps": 60, "success": 1.0} +{"episode_id": 30, "episode_seed": 4242424272, "episode_return_env": 38.25266881030984, "survival_steps": 60, "success": 1.0} +{"episode_id": 31, "episode_seed": 4242424273, "episode_return_env": 7.575486471730983, "survival_steps": 60, "success": 0.0} +{"episode_id": 32, "episode_seed": 4242424274, "episode_return_env": 0.5739387574722059, "survival_steps": 60, "success": 0.0} +{"episode_id": 33, "episode_seed": 4242424275, "episode_return_env": 12.356425987032708, "survival_steps": 60, "success": 0.0} +{"episode_id": 34, "episode_seed": 4242424276, "episode_return_env": 1.3414131817407906, "survival_steps": 60, "success": 0.0} +{"episode_id": 35, "episode_seed": 4242424277, "episode_return_env": 41.235728929168545, "survival_steps": 60, "success": 1.0} +{"episode_id": 36, "episode_seed": 4242424278, "episode_return_env": 37.84402939566644, "survival_steps": 60, "success": 1.0} +{"episode_id": 37, "episode_seed": 4242424279, "episode_return_env": 37.47466357925441, "survival_steps": 60, "success": 1.0} +{"episode_id": 38, "episode_seed": 4242424280, "episode_return_env": 9.84413525412674, "survival_steps": 60, "success": 0.0} +{"episode_id": 39, "episode_seed": 4242424281, "episode_return_env": 9.087552549084648, "survival_steps": 60, "success": 0.0} +{"episode_id": 40, "episode_seed": 4242424282, "episode_return_env": 40.1565090212971, "survival_steps": 60, "success": 1.0} +{"episode_id": 41, "episode_seed": 4242424283, "episode_return_env": 10.448616258741822, "survival_steps": 60, "success": 0.0} +{"episode_id": 42, "episode_seed": 4242424284, "episode_return_env": 39.48381229874212, "survival_steps": 60, "success": 1.0} +{"episode_id": 43, "episode_seed": 4242424285, "episode_return_env": 9.719496534729842, "survival_steps": 60, "success": 0.0} +{"episode_id": 44, "episode_seed": 4242424286, "episode_return_env": 9.026088232465554, "survival_steps": 60, "success": 0.0} +{"episode_id": 45, "episode_seed": 4242424287, "episode_return_env": 1.185949038947001, "survival_steps": 60, "success": 0.0} +{"episode_id": 46, "episode_seed": 4242424288, "episode_return_env": 36.55542112299008, "survival_steps": 60, "success": 1.0} +{"episode_id": 47, "episode_seed": 4242424289, "episode_return_env": 37.07295475254068, "survival_steps": 60, "success": 1.0} +{"episode_id": 48, "episode_seed": 4242424290, "episode_return_env": 5.234768601483665, "survival_steps": 60, "success": 0.0} +{"episode_id": 49, "episode_seed": 4242424291, "episode_return_env": 27.96971324380138, "survival_steps": 60, "success": 1.0} +{"episode_id": 50, "episode_seed": 4242424292, "episode_return_env": 6.641442172811367, "survival_steps": 60, "success": 1.0} +{"episode_id": 51, "episode_seed": 4242424293, "episode_return_env": 0.5063720159669174, "survival_steps": 60, "success": 0.0} +{"episode_id": 52, "episode_seed": 4242424294, "episode_return_env": 37.644592274155, "survival_steps": 60, "success": 1.0} +{"episode_id": 53, "episode_seed": 4242424295, "episode_return_env": 9.667816720320843, "survival_steps": 60, "success": 0.0} +{"episode_id": 54, "episode_seed": 4242424296, "episode_return_env": 35.74143116726191, "survival_steps": 60, "success": 1.0} +{"episode_id": 55, "episode_seed": 4242424297, "episode_return_env": 35.065863438125234, "survival_steps": 60, "success": 1.0} +{"episode_id": 56, "episode_seed": 4242424298, "episode_return_env": 39.39809629210504, "survival_steps": 60, "success": 1.0} +{"episode_id": 57, "episode_seed": 4242424299, "episode_return_env": 38.16547605465166, "survival_steps": 60, "success": 1.0} +{"episode_id": 58, "episode_seed": 4242424300, "episode_return_env": 32.33193373517133, "survival_steps": 60, "success": 1.0} +{"episode_id": 59, "episode_seed": 4242424301, "episode_return_env": 30.400638096383773, "survival_steps": 60, "success": 1.0} +{"episode_id": 60, "episode_seed": 4242424302, "episode_return_env": 40.217236076132394, "survival_steps": 60, "success": 1.0} +{"episode_id": 61, "episode_seed": 4242424303, "episode_return_env": 0.6616235103574581, "survival_steps": 60, "success": 0.0} +{"episode_id": 62, "episode_seed": 4242424304, "episode_return_env": 5.542554019892123, "survival_steps": 60, "success": 0.0} +{"episode_id": 63, "episode_seed": 4242424305, "episode_return_env": 38.06340712856036, "survival_steps": 60, "success": 1.0} +{"episode_id": 64, "episode_seed": 4242424306, "episode_return_env": 0.9749689977325033, "survival_steps": 60, "success": 0.0} +{"episode_id": 65, "episode_seed": 4242424307, "episode_return_env": 4.938855140295345, "survival_steps": 60, "success": 0.0} +{"episode_id": 66, "episode_seed": 4242424308, "episode_return_env": 40.678976615541615, "survival_steps": 60, "success": 1.0} +{"episode_id": 67, "episode_seed": 4242424309, "episode_return_env": 6.346767248789547, "survival_steps": 60, "success": 0.0} +{"episode_id": 68, "episode_seed": 4242424310, "episode_return_env": 0.8170457277738024, "survival_steps": 60, "success": 0.0} +{"episode_id": 69, "episode_seed": 4242424311, "episode_return_env": 0.693823320500087, "survival_steps": 60, "success": 0.0} +{"episode_id": 70, "episode_seed": 4242424312, "episode_return_env": 3.0321670200496946, "survival_steps": 60, "success": 0.0} +{"episode_id": 71, "episode_seed": 4242424313, "episode_return_env": 40.49626176210586, "survival_steps": 60, "success": 1.0} +{"episode_id": 72, "episode_seed": 4242424314, "episode_return_env": 33.738842110324185, "survival_steps": 60, "success": 1.0} +{"episode_id": 73, "episode_seed": 4242424315, "episode_return_env": 37.565704145730706, "survival_steps": 60, "success": 1.0} +{"episode_id": 74, "episode_seed": 4242424316, "episode_return_env": 39.93005122838076, "survival_steps": 60, "success": 1.0} +{"episode_id": 75, "episode_seed": 4242424317, "episode_return_env": 32.80855923553463, "survival_steps": 60, "success": 1.0} +{"episode_id": 76, "episode_seed": 4242424318, "episode_return_env": 1.2902842836629134, "survival_steps": 60, "success": 0.0} +{"episode_id": 77, "episode_seed": 4242424319, "episode_return_env": 35.092048133403296, "survival_steps": 60, "success": 1.0} +{"episode_id": 78, "episode_seed": 4242424320, "episode_return_env": 0.8411861868589767, "survival_steps": 60, "success": 0.0} +{"episode_id": 79, "episode_seed": 4242424321, "episode_return_env": 1.1234852300549392, "survival_steps": 60, "success": 0.0} +{"episode_id": 80, "episode_seed": 4242424322, "episode_return_env": 8.555826428055298, "survival_steps": 60, "success": 0.0} +{"episode_id": 81, "episode_seed": 4242424323, "episode_return_env": 3.5948519620305888, "survival_steps": 60, "success": 0.0} +{"episode_id": 82, "episode_seed": 4242424324, "episode_return_env": 36.23979663508362, "survival_steps": 60, "success": 1.0} +{"episode_id": 83, "episode_seed": 4242424325, "episode_return_env": 1.9696576516726054, "survival_steps": 60, "success": 0.0} +{"episode_id": 84, "episode_seed": 4242424326, "episode_return_env": 10.581989204045385, "survival_steps": 60, "success": 0.0} +{"episode_id": 85, "episode_seed": 4242424327, "episode_return_env": 0.5831452911052395, "survival_steps": 60, "success": 0.0} +{"episode_id": 86, "episode_seed": 4242424328, "episode_return_env": 5.2075552798633, "survival_steps": 60, "success": 0.0} +{"episode_id": 87, "episode_seed": 4242424329, "episode_return_env": 4.860977310367161, "survival_steps": 60, "success": 0.0} +{"episode_id": 88, "episode_seed": 4242424330, "episode_return_env": 39.84540670563001, "survival_steps": 60, "success": 1.0} +{"episode_id": 89, "episode_seed": 4242424331, "episode_return_env": 40.95459514838876, "survival_steps": 60, "success": 1.0} +{"episode_id": 90, "episode_seed": 4242424332, "episode_return_env": 31.865206567948917, "survival_steps": 60, "success": 1.0} +{"episode_id": 91, "episode_seed": 4242424333, "episode_return_env": 30.769975639152108, "survival_steps": 60, "success": 1.0} +{"episode_id": 92, "episode_seed": 4242424334, "episode_return_env": 34.004302417393774, "survival_steps": 60, "success": 1.0} +{"episode_id": 93, "episode_seed": 4242424335, "episode_return_env": 32.82747009239392, "survival_steps": 60, "success": 1.0} +{"episode_id": 94, "episode_seed": 4242424336, "episode_return_env": 39.392983410623856, "survival_steps": 60, "success": 1.0} +{"episode_id": 95, "episode_seed": 4242424337, "episode_return_env": 2.965347647550516, "survival_steps": 60, "success": 0.0} +{"episode_id": 96, "episode_seed": 4242424338, "episode_return_env": 36.428667561733164, "survival_steps": 60, "success": 1.0} +{"episode_id": 97, "episode_seed": 4242424339, "episode_return_env": 36.23599798735813, "survival_steps": 60, "success": 1.0} +{"episode_id": 98, "episode_seed": 4242424340, "episode_return_env": 0.9784011235460639, "survival_steps": 60, "success": 0.0} +{"episode_id": 99, "episode_seed": 4242424341, "episode_return_env": 40.06451363104861, "survival_steps": 60, "success": 1.0} +{"episode_id": 100, "episode_seed": 4242424342, "episode_return_env": 4.21735326317139, "survival_steps": 60, "success": 0.0} +{"episode_id": 101, "episode_seed": 4242424343, "episode_return_env": 4.9180078181802855, "survival_steps": 60, "success": 0.0} +{"episode_id": 102, "episode_seed": 4242424344, "episode_return_env": 39.32127791357925, "survival_steps": 60, "success": 1.0} +{"episode_id": 103, "episode_seed": 4242424345, "episode_return_env": 34.52600892394548, "survival_steps": 60, "success": 1.0} +{"episode_id": 104, "episode_seed": 4242424346, "episode_return_env": 8.676748876314377, "survival_steps": 60, "success": 0.0} +{"episode_id": 105, "episode_seed": 4242424347, "episode_return_env": 0.4264191068650689, "survival_steps": 60, "success": 0.0} +{"episode_id": 106, "episode_seed": 4242424348, "episode_return_env": 41.49639852112159, "survival_steps": 60, "success": 1.0} +{"episode_id": 107, "episode_seed": 4242424349, "episode_return_env": 32.13400663557695, "survival_steps": 60, "success": 1.0} +{"episode_id": 108, "episode_seed": 4242424350, "episode_return_env": 37.104892369010486, "survival_steps": 60, "success": 1.0} +{"episode_id": 109, "episode_seed": 4242424351, "episode_return_env": 5.903166284202598, "survival_steps": 60, "success": 0.0} +{"episode_id": 110, "episode_seed": 4242424352, "episode_return_env": 5.806377532542683, "survival_steps": 60, "success": 0.0} +{"episode_id": 111, "episode_seed": 4242424353, "episode_return_env": 31.125484424672322, "survival_steps": 60, "success": 1.0} +{"episode_id": 112, "episode_seed": 4242424354, "episode_return_env": 34.352472638885956, "survival_steps": 60, "success": 1.0} +{"episode_id": 113, "episode_seed": 4242424355, "episode_return_env": 4.23063580802409, "survival_steps": 60, "success": 0.0} +{"episode_id": 114, "episode_seed": 4242424356, "episode_return_env": 37.73146426025778, "survival_steps": 60, "success": 1.0} +{"episode_id": 115, "episode_seed": 4242424357, "episode_return_env": 6.266976807266474, "survival_steps": 60, "success": 0.0} +{"episode_id": 116, "episode_seed": 4242424358, "episode_return_env": 2.0095054378034547, "survival_steps": 60, "success": 0.0} +{"episode_id": 117, "episode_seed": 4242424359, "episode_return_env": 2.1579866086656825, "survival_steps": 60, "success": 0.0} +{"episode_id": 118, "episode_seed": 4242424360, "episode_return_env": 31.69302813403192, "survival_steps": 60, "success": 1.0} +{"episode_id": 119, "episode_seed": 4242424361, "episode_return_env": 7.635116125980858, "survival_steps": 60, "success": 0.0} +{"episode_id": 120, "episode_seed": 4242424362, "episode_return_env": 5.741485232982086, "survival_steps": 60, "success": 0.0} +{"episode_id": 121, "episode_seed": 4242424363, "episode_return_env": 40.323545225779526, "survival_steps": 60, "success": 1.0} +{"episode_id": 122, "episode_seed": 4242424364, "episode_return_env": 2.274665701435879, "survival_steps": 60, "success": 0.0} +{"episode_id": 123, "episode_seed": 4242424365, "episode_return_env": 1.0188299748697318, "survival_steps": 60, "success": 0.0} +{"episode_id": 124, "episode_seed": 4242424366, "episode_return_env": 1.6875213086605072, "survival_steps": 60, "success": 0.0} +{"episode_id": 125, "episode_seed": 4242424367, "episode_return_env": 41.05790085741319, "survival_steps": 60, "success": 1.0} +{"episode_id": 126, "episode_seed": 4242424368, "episode_return_env": 1.7909013437456451, "survival_steps": 60, "success": 0.0} +{"episode_id": 127, "episode_seed": 4242424369, "episode_return_env": 37.81430038961116, "survival_steps": 60, "success": 1.0} +{"episode_id": 128, "episode_seed": 4242424370, "episode_return_env": 8.415050671785139, "survival_steps": 60, "success": 0.0} +{"episode_id": 129, "episode_seed": 4242424371, "episode_return_env": 41.551888175774366, "survival_steps": 60, "success": 1.0} +{"episode_id": 130, "episode_seed": 4242424372, "episode_return_env": 3.7497763122810284, "survival_steps": 60, "success": 0.0} +{"episode_id": 131, "episode_seed": 4242424373, "episode_return_env": 0.8308624461933505, "survival_steps": 60, "success": 0.0} +{"episode_id": 132, "episode_seed": 4242424374, "episode_return_env": 39.59321220358834, "survival_steps": 60, "success": 1.0} +{"episode_id": 133, "episode_seed": 4242424375, "episode_return_env": 34.97156842582626, "survival_steps": 60, "success": 1.0} +{"episode_id": 134, "episode_seed": 4242424376, "episode_return_env": 5.752435363247059, "survival_steps": 60, "success": 0.0} +{"episode_id": 135, "episode_seed": 4242424377, "episode_return_env": 40.343328101793304, "survival_steps": 60, "success": 1.0} +{"episode_id": 136, "episode_seed": 4242424378, "episode_return_env": 35.55331734000356, "survival_steps": 60, "success": 1.0} +{"episode_id": 137, "episode_seed": 4242424379, "episode_return_env": 0.7280828384555207, "survival_steps": 60, "success": 0.0} +{"episode_id": 138, "episode_seed": 4242424380, "episode_return_env": 38.01412131887628, "survival_steps": 60, "success": 1.0} +{"episode_id": 139, "episode_seed": 4242424381, "episode_return_env": 37.88472598127555, "survival_steps": 60, "success": 1.0} +{"episode_id": 140, "episode_seed": 4242424382, "episode_return_env": 3.56811029574601, "survival_steps": 60, "success": 0.0} +{"episode_id": 141, "episode_seed": 4242424383, "episode_return_env": 1.4148044112153002, "survival_steps": 60, "success": 0.0} +{"episode_id": 142, "episode_seed": 4242424384, "episode_return_env": 38.70214260253124, "survival_steps": 60, "success": 1.0} +{"episode_id": 143, "episode_seed": 4242424385, "episode_return_env": 2.752771754108835, "survival_steps": 60, "success": 0.0} +{"episode_id": 144, "episode_seed": 4242424386, "episode_return_env": 2.5571365707728546, "survival_steps": 60, "success": 0.0} +{"episode_id": 145, "episode_seed": 4242424387, "episode_return_env": 11.860739248921163, "survival_steps": 60, "success": 1.0} +{"episode_id": 146, "episode_seed": 4242424388, "episode_return_env": 38.27914813809912, "survival_steps": 60, "success": 1.0} +{"episode_id": 147, "episode_seed": 4242424389, "episode_return_env": 1.2410451457835734, "survival_steps": 60, "success": 0.0} +{"episode_id": 148, "episode_seed": 4242424390, "episode_return_env": 37.31094084761571, "survival_steps": 60, "success": 1.0} +{"episode_id": 149, "episode_seed": 4242424391, "episode_return_env": 9.64144280279288, "survival_steps": 60, "success": 0.0} +{"episode_id": 150, "episode_seed": 4242424392, "episode_return_env": 12.88911383395316, "survival_steps": 60, "success": 1.0} +{"episode_id": 151, "episode_seed": 4242424393, "episode_return_env": 40.63755970908096, "survival_steps": 60, "success": 1.0} +{"episode_id": 152, "episode_seed": 4242424394, "episode_return_env": 40.358042097010184, "survival_steps": 60, "success": 1.0} +{"episode_id": 153, "episode_seed": 4242424395, "episode_return_env": 38.89332321600523, "survival_steps": 60, "success": 1.0} +{"episode_id": 154, "episode_seed": 4242424396, "episode_return_env": 32.743285856442526, "survival_steps": 60, "success": 1.0} +{"episode_id": 155, "episode_seed": 4242424397, "episode_return_env": 1.3643169947317801, "survival_steps": 60, "success": 0.0} +{"episode_id": 156, "episode_seed": 4242424398, "episode_return_env": 31.10887864342658, "survival_steps": 60, "success": 1.0} +{"episode_id": 157, "episode_seed": 4242424399, "episode_return_env": 4.763185774674639, "survival_steps": 60, "success": 0.0} +{"episode_id": 158, "episode_seed": 4242424400, "episode_return_env": 37.49746519065229, "survival_steps": 60, "success": 1.0} +{"episode_id": 159, "episode_seed": 4242424401, "episode_return_env": 35.204479352221824, "survival_steps": 60, "success": 1.0} +{"episode_id": 160, "episode_seed": 4242424402, "episode_return_env": 5.26504088845104, "survival_steps": 60, "success": 0.0} +{"episode_id": 161, "episode_seed": 4242424403, "episode_return_env": 7.444541485005175, "survival_steps": 60, "success": 0.0} +{"episode_id": 162, "episode_seed": 4242424404, "episode_return_env": 2.285544660000596, "survival_steps": 60, "success": 0.0} +{"episode_id": 163, "episode_seed": 4242424405, "episode_return_env": 34.908243172074435, "survival_steps": 60, "success": 1.0} +{"episode_id": 164, "episode_seed": 4242424406, "episode_return_env": 3.160176713106921, "survival_steps": 60, "success": 0.0} +{"episode_id": 165, "episode_seed": 4242424407, "episode_return_env": 29.68955077312421, "survival_steps": 60, "success": 1.0} +{"episode_id": 166, "episode_seed": 4242424408, "episode_return_env": 37.75915385852568, "survival_steps": 60, "success": 1.0} +{"episode_id": 167, "episode_seed": 4242424409, "episode_return_env": 37.58511424885364, "survival_steps": 60, "success": 1.0} +{"episode_id": 168, "episode_seed": 4242424410, "episode_return_env": 39.74613296118332, "survival_steps": 60, "success": 1.0} +{"episode_id": 169, "episode_seed": 4242424411, "episode_return_env": 34.52597496891394, "survival_steps": 60, "success": 1.0} +{"episode_id": 170, "episode_seed": 4242424412, "episode_return_env": 2.6746758746448904, "survival_steps": 60, "success": 0.0} +{"episode_id": 171, "episode_seed": 4242424413, "episode_return_env": 0.7998831368095125, "survival_steps": 60, "success": 0.0} +{"episode_id": 172, "episode_seed": 4242424414, "episode_return_env": 29.833845894347178, "survival_steps": 60, "success": 1.0} +{"episode_id": 173, "episode_seed": 4242424415, "episode_return_env": 0.5453633732104208, "survival_steps": 60, "success": 0.0} +{"episode_id": 174, "episode_seed": 4242424416, "episode_return_env": 35.760360707645305, "survival_steps": 60, "success": 1.0} +{"episode_id": 175, "episode_seed": 4242424417, "episode_return_env": 0.899387086275965, "survival_steps": 60, "success": 0.0} +{"episode_id": 176, "episode_seed": 4242424418, "episode_return_env": 35.91868774750037, "survival_steps": 60, "success": 1.0} +{"episode_id": 177, "episode_seed": 4242424419, "episode_return_env": 31.029725171276368, "survival_steps": 60, "success": 1.0} +{"episode_id": 178, "episode_seed": 4242424420, "episode_return_env": 35.44762755633565, "survival_steps": 60, "success": 1.0} +{"episode_id": 179, "episode_seed": 4242424421, "episode_return_env": 38.38441108906409, "survival_steps": 60, "success": 1.0} +{"episode_id": 180, "episode_seed": 4242424422, "episode_return_env": 37.973667076497804, "survival_steps": 60, "success": 1.0} +{"episode_id": 181, "episode_seed": 4242424423, "episode_return_env": 2.0135294405627064, "survival_steps": 60, "success": 0.0} +{"episode_id": 182, "episode_seed": 4242424424, "episode_return_env": 1.3868412859737873, "survival_steps": 60, "success": 0.0} +{"episode_id": 183, "episode_seed": 4242424425, "episode_return_env": 37.9335560669424, "survival_steps": 60, "success": 1.0} +{"episode_id": 184, "episode_seed": 4242424426, "episode_return_env": 4.836946122290101, "survival_steps": 60, "success": 0.0} +{"episode_id": 185, "episode_seed": 4242424427, "episode_return_env": 3.555338020902127, "survival_steps": 60, "success": 0.0} +{"episode_id": 186, "episode_seed": 4242424428, "episode_return_env": 36.32715010875836, "survival_steps": 60, "success": 1.0} +{"episode_id": 187, "episode_seed": 4242424429, "episode_return_env": 37.19450576195959, "survival_steps": 60, "success": 1.0} +{"episode_id": 188, "episode_seed": 4242424430, "episode_return_env": 40.272192307864316, "survival_steps": 60, "success": 1.0} +{"episode_id": 189, "episode_seed": 4242424431, "episode_return_env": 0.9675339755485766, "survival_steps": 60, "success": 0.0} +{"episode_id": 190, "episode_seed": 4242424432, "episode_return_env": 37.055162027536426, "survival_steps": 60, "success": 1.0} +{"episode_id": 191, "episode_seed": 4242424433, "episode_return_env": 38.93511445866898, "survival_steps": 60, "success": 1.0} +{"episode_id": 192, "episode_seed": 4242424434, "episode_return_env": 5.780526636496063, "survival_steps": 60, "success": 0.0} +{"episode_id": 193, "episode_seed": 4242424435, "episode_return_env": 9.409322163672186, "survival_steps": 60, "success": 0.0} +{"episode_id": 194, "episode_seed": 4242424436, "episode_return_env": 40.36843375186436, "survival_steps": 60, "success": 1.0} +{"episode_id": 195, "episode_seed": 4242424437, "episode_return_env": 14.57582951511722, "survival_steps": 60, "success": 0.0} +{"episode_id": 196, "episode_seed": 4242424438, "episode_return_env": 35.532452922081575, "survival_steps": 60, "success": 1.0} +{"episode_id": 197, "episode_seed": 4242424439, "episode_return_env": 3.5514159377198666, "survival_steps": 60, "success": 0.0} +{"episode_id": 198, "episode_seed": 4242424440, "episode_return_env": 39.1136256174068, "survival_steps": 60, "success": 1.0} +{"episode_id": 199, "episode_seed": 4242424441, "episode_return_env": 39.58886555326171, "survival_steps": 60, "success": 1.0} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..80c6a981f31dec8df1d4b8bfb161dc9f25b2e7af --- /dev/null +++ b/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 @@ -0,0 +1,59 @@ +experiment: + name: mikasa_intercept_grab_fast_qwenoft_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 diff --git a/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/execution_audit.json b/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/execution_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..04e04547afca972f8ccb764112500d302089d7d4 --- /dev/null +++ b/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/execution_audit.json @@ -0,0 +1,212 @@ +{ + "request_fps": 20, + "simulated_worker_capacity": 1, + "startup_policy": "environment_starts_at_reset", + "latency_raw_frames": 0, + "fixed_latency_ms": 0.0, + "initial_noop_transitions": 0, + "first_action_apply_raw_frames": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "executed_later_heads": null, + "passed": true +} diff --git a/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/summary.json b/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/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7dcfb85f334fb8d10cd960af505a8c5430e5b423 --- /dev/null +++ b/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/summary.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" + } +} diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/history/README_before_figure2.md b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/history/README_before_figure2.md new file mode 100644 index 0000000000000000000000000000000000000000..6d73a0593398f962fe00b37f3a1167e68bfdf854 --- /dev/null +++ b/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. diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/checkpoint_only.json b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/history/initial_checkpoint_only.json similarity index 100% rename from zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/checkpoint_only.json rename to zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/history/initial_checkpoint_only.json diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/provenance.json b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/provenance.json index 92aed5377968d1b3c5940ad055163c64cb11cacb..fa0fcf07bdeb6cc2b679ba38e8fa7dc3e07fb5d8 100644 --- a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_intercept_grab_fast_qwenoft_formal_latest_r8gpu8_20260907T082154Z/provenance.json +++ b/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." + } } diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/README.md b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/README.md index 542a382192115fb94273e681d89c1d6fe6acfcb4..6ba0142d8d73acdf494d82aad528eab97f79d49b 100644 --- a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/README.md +++ b/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. diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/eval_l0.json b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/eval_l0.json index add71fddc76c1991fa00c4bb769ddc3301f35d53..817bb8e200513bfff8f961b017b5012f57305a8f 100644 --- a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/eval_l0.json +++ b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/eval_l0.json @@ -1,4228 +1,60 @@ { - "n_episodes": 100, - "mean_return": 20.14148510393185, - "std_return": 15.85562640357565, - "min_return": 0.5514102033048403, - "max_return": 42.72939181223046, + "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, - "min_length": 60.0, - "max_length": 60.0, - "return_field": "episode_return_env", - "length_field": "survival_steps", - "mode": "simulated", - "policy_id": "starvla", - "env_id": "mikasa_intercept_grab_fast", - "model_id": null, - "gpu_class": null, - "workload_id": null, - "instance_id": null, - "source_run_id": null, - "profile_ref": null, - "env_fps": 20.0, - "obs_fps": 20.0, - "frame_ms": 50.0, - "latency_type": "zero", - "episodes": [ - { - "episode_id": 0, - "episode_return": 2.8813758016040083, - "episode_return_env": 2.8813758016040083, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424242, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 1, - "episode_return": 2.7051026615081355, - "episode_return_env": 2.7051026615081355, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424243, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 2, - "episode_return": 2.6035789568559267, - "episode_return_env": 2.6035789568559267, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424244, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 3, - "episode_return": 2.657492988393642, - "episode_return_env": 2.657492988393642, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424245, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 4, - "episode_return": 3.341556693369057, - "episode_return_env": 3.341556693369057, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424246, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 5, - "episode_return": 2.0170754566206597, - "episode_return_env": 2.0170754566206597, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424247, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 6, - "episode_return": 2.6505219152313657, - "episode_return_env": 2.6505219152313657, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424248, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 7, - "episode_return": 3.593072425428545, - "episode_return_env": 3.593072425428545, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424249, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 8, - "episode_return": 3.5961461181286722, - "episode_return_env": 3.5961461181286722, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424250, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 9, - "episode_return": 2.973338910669554, - "episode_return_env": 2.973338910669554, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424251, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 10, - "episode_return": 37.327102255949285, - "episode_return_env": 37.327102255949285, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424252, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 11, - "episode_return": 40.488139568362385, - "episode_return_env": 40.488139568362385, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424253, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 12, - "episode_return": 39.62410163809545, - "episode_return_env": 39.62410163809545, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424254, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 13, - "episode_return": 37.18482774042059, - "episode_return_env": 37.18482774042059, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424255, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 14, - "episode_return": 38.286841957771685, - "episode_return_env": 38.286841957771685, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424256, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 15, - "episode_return": 40.53875725058606, - "episode_return_env": 40.53875725058606, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424257, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 16, - "episode_return": 38.518417559505906, - "episode_return_env": 38.518417559505906, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424258, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 17, - "episode_return": 40.08822415396571, - "episode_return_env": 40.08822415396571, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424259, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 18, - "episode_return": 37.56991631624987, - "episode_return_env": 37.56991631624987, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424260, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 19, - "episode_return": 36.95979312394047, - "episode_return_env": 36.95979312394047, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424261, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 20, - "episode_return": 1.1047361865930725, - "episode_return_env": 1.1047361865930725, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424262, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 21, - "episode_return": 1.0698128599615302, - "episode_return_env": 1.0698128599615302, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424263, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 22, - "episode_return": 0.6110965514963027, - "episode_return_env": 0.6110965514963027, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424264, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 23, - "episode_return": 1.3835577327699866, - "episode_return_env": 1.3835577327699866, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424265, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 24, - "episode_return": 1.1301320513275641, - "episode_return_env": 1.1301320513275641, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424266, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 25, - "episode_return": 1.3974329847551417, - "episode_return_env": 1.3974329847551417, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424267, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 26, - "episode_return": 4.546240732684964, - "episode_return_env": 4.546240732684964, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424268, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 27, - "episode_return": 0.5514102033048403, - "episode_return_env": 0.5514102033048403, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424269, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 28, - "episode_return": 1.3611023961566389, - "episode_return_env": 1.3611023961566389, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424270, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 29, - "episode_return": 0.6774474788107909, - "episode_return_env": 0.6774474788107909, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424271, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 30, - "episode_return": 37.2932140865596, - "episode_return_env": 37.2932140865596, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424272, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 31, - "episode_return": 36.13664583564969, - "episode_return_env": 36.13664583564969, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424273, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 32, - "episode_return": 34.26216178154573, - "episode_return_env": 34.26216178154573, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424274, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 33, - "episode_return": 36.3959483326762, - "episode_return_env": 36.3959483326762, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424275, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 34, - "episode_return": 36.639578462636564, - "episode_return_env": 36.639578462636564, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424276, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 35, - "episode_return": 37.69565670232987, - "episode_return_env": 37.69565670232987, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424277, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 36, - "episode_return": 35.4500981043675, - "episode_return_env": 35.4500981043675, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424278, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 37, - "episode_return": 34.99587933823932, - "episode_return_env": 34.99587933823932, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424279, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 38, - "episode_return": 37.340439031191636, - "episode_return_env": 37.340439031191636, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424280, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 39, - "episode_return": 36.5930267474032, - "episode_return_env": 36.5930267474032, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424281, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 40, - "episode_return": 35.87098116247216, - "episode_return_env": 35.87098116247216, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424282, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 41, - "episode_return": 36.94883604766801, - "episode_return_env": 36.94883604766801, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424283, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 42, - "episode_return": 38.352677882416174, - "episode_return_env": 38.352677882416174, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424284, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 43, - "episode_return": 35.42366369877709, - "episode_return_env": 35.42366369877709, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424285, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 44, - "episode_return": 35.025443131278735, - "episode_return_env": 35.025443131278735, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424286, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 45, - "episode_return": 36.53282055549789, - "episode_return_env": 36.53282055549789, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424287, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 46, - "episode_return": 34.876693355094176, - "episode_return_env": 34.876693355094176, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424288, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 47, - "episode_return": 34.638703534787055, - "episode_return_env": 34.638703534787055, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424289, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 48, - "episode_return": 39.38795668800594, - "episode_return_env": 39.38795668800594, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424290, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 49, - "episode_return": 38.87825274869101, - "episode_return_env": 38.87825274869101, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424291, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 50, - "episode_return": 31.13376269568107, - "episode_return_env": 31.13376269568107, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424292, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 51, - "episode_return": 5.012418100202922, - "episode_return_env": 5.012418100202922, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424293, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 52, - "episode_return": 32.075869508844335, - "episode_return_env": 32.075869508844335, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424294, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 53, - "episode_return": 30.592195364297368, - "episode_return_env": 30.592195364297368, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424295, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 54, - "episode_return": 31.06612532812869, - "episode_return_env": 31.06612532812869, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424296, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 55, - "episode_return": 30.86648933729157, - "episode_return_env": 30.86648933729157, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424297, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 56, - "episode_return": 3.015576661360683, - "episode_return_env": 3.015576661360683, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424298, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 57, - "episode_return": 30.762279379181564, - "episode_return_env": 30.762279379181564, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424299, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 58, - "episode_return": 28.049224131566007, - "episode_return_env": 28.049224131566007, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424300, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 59, - "episode_return": 2.6086623997834977, - "episode_return_env": 2.6086623997834977, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424301, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 60, - "episode_return": 41.51747795857955, - "episode_return_env": 41.51747795857955, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424302, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 61, - "episode_return": 7.87059280811809, - "episode_return_env": 7.87059280811809, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424303, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 62, - "episode_return": 9.835021510953084, - "episode_return_env": 9.835021510953084, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424304, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 63, - "episode_return": 42.72939181223046, - "episode_return_env": 42.72939181223046, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424305, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 64, - "episode_return": 40.582139934878796, - "episode_return_env": 40.582139934878796, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424306, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 65, - "episode_return": 9.134712015395053, - "episode_return_env": 9.134712015395053, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424307, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 66, - "episode_return": 10.415069262962788, - "episode_return_env": 10.415069262962788, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424308, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 67, - "episode_return": 11.180960667843465, - "episode_return_env": 11.180960667843465, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424309, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 68, - "episode_return": 41.44526117190253, - "episode_return_env": 41.44526117190253, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424310, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 69, - "episode_return": 11.829925220925361, - "episode_return_env": 11.829925220925361, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424311, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 70, - "episode_return": 2.8415657640953373, - "episode_return_env": 2.8415657640953373, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424312, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 71, - "episode_return": 5.019985567342701, - "episode_return_env": 5.019985567342701, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424313, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 72, - "episode_return": 3.191388649152941, - "episode_return_env": 3.191388649152941, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424314, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 73, - "episode_return": 6.605726736238466, - "episode_return_env": 6.605726736238466, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424315, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 74, - "episode_return": 3.232054962547709, - "episode_return_env": 3.232054962547709, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424316, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 75, - "episode_return": 3.7908322561634122, - "episode_return_env": 3.7908322561634122, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424317, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 76, - "episode_return": 3.2163023948669434, - "episode_return_env": 3.2163023948669434, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424318, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 77, - "episode_return": 7.653916584269609, - "episode_return_env": 7.653916584269609, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424319, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 78, - "episode_return": 10.28854885196779, - "episode_return_env": 10.28854885196779, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424320, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 79, - "episode_return": 10.317464818421286, - "episode_return_env": 10.317464818421286, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424321, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 80, - "episode_return": 3.591983827180229, - "episode_return_env": 3.591983827180229, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424322, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 81, - "episode_return": 3.985093329101801, - "episode_return_env": 3.985093329101801, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424323, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 82, - "episode_return": 8.119969989231322, - "episode_return_env": 8.119969989231322, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424324, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 83, - "episode_return": 2.773078650032403, - "episode_return_env": 2.773078650032403, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424325, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 84, - "episode_return": 5.823901190291508, - "episode_return_env": 5.823901190291508, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424326, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 85, - "episode_return": 2.6816093724482926, - "episode_return_env": 2.6816093724482926, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424327, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 86, - "episode_return": 4.942851768399123, - "episode_return_env": 4.942851768399123, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424328, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 87, - "episode_return": 4.494103210396133, - "episode_return_env": 4.494103210396133, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424329, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 88, - "episode_return": 3.6686587011208758, - "episode_return_env": 3.6686587011208758, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424330, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 89, - "episode_return": 3.762474329560064, - "episode_return_env": 3.762474329560064, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424331, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 0.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 90, - "episode_return": 30.626706802810077, - "episode_return_env": 30.626706802810077, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424332, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 91, - "episode_return": 29.059640469640726, - "episode_return_env": 29.059640469640726, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424333, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 92, - "episode_return": 29.87401009479072, - "episode_return_env": 29.87401009479072, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424334, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 93, - "episode_return": 30.42750722024357, - "episode_return_env": 30.42750722024357, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424335, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 94, - "episode_return": 31.444782183214556, - "episode_return_env": 31.444782183214556, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424336, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 95, - "episode_return": 30.824315321748145, - "episode_return_env": 30.824315321748145, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424337, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 96, - "episode_return": 31.22003023690195, - "episode_return_env": 31.22003023690195, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424338, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 97, - "episode_return": 27.613686969911214, - "episode_return_env": 27.613686969911214, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424339, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 98, - "episode_return": 31.756049016839825, - "episode_return_env": 31.756049016839825, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424340, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - }, - { - "episode_id": 99, - "episode_return": 31.400085956323892, - "episode_return_env": 31.400085956323892, - "game_score": null, - "mean_latency_ms": 0.0, - "metadata": { - "chunk_age_ms": 0.0, - "chunk_age_raw_frames": 0, - "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "env_fps": 20.0, - "env_id": "mikasa_intercept_grab_fast", - "episode_seed": 4242424341, - "frame_ms": 50.0, - "gpu_class": null, - "hold_last_chunk_action": true, - "instance_id": null, - "latency_type": "zero", - "mode": "simulated", - "model_id": null, - "obs_fps": 20.0, - "policy_id": "starvla", - "profile_ref": null, - "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", - "source_run_id": null, - "stale_prefix_frames": 0, - "task_metrics": { - "success": 1.0 - }, - "underflow_count": 0, - "underflow_duration_ms": 0.0, - "underflow_frames": 0, - "workload_id": null - }, - "num_actions": 60, - "num_dropped_actions": 0, - "num_invalid_actions": 0, - "p90_latency_ms": 0.0, - "p99_latency_ms": 0.0, - "return_raw": null, - "survival_steps": 60 - } - ] + "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 + } } diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..5d4a3bd1ad8a9aa91d45155557dedfc606fc4d30 --- /dev/null +++ b/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} +{"episode_id": 1, "episode_seed": 4242424243, "episode_return_env": 35.63393739925232, "survival_steps": 60, "success": 1.0} +{"episode_id": 2, "episode_seed": 4242424244, "episode_return_env": 0.5826329858682584, "survival_steps": 60, "success": 0.0} +{"episode_id": 3, "episode_seed": 4242424245, "episode_return_env": 40.79825295781484, "survival_steps": 60, "success": 1.0} +{"episode_id": 4, "episode_seed": 4242424246, "episode_return_env": 39.77204437128967, "survival_steps": 60, "success": 1.0} +{"episode_id": 5, "episode_seed": 4242424247, "episode_return_env": 39.486475226935, "survival_steps": 60, "success": 1.0} +{"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} +{"episode_id": 9, "episode_seed": 4242424251, "episode_return_env": 3.3565780068165623, "survival_steps": 60, "success": 0.0} +{"episode_id": 10, "episode_seed": 4242424252, "episode_return_env": 4.686836180277169, "survival_steps": 60, "success": 0.0} +{"episode_id": 11, "episode_seed": 4242424253, "episode_return_env": 3.25308602876612, "survival_steps": 60, "success": 0.0} +{"episode_id": 12, "episode_seed": 4242424254, "episode_return_env": 37.77243034861749, "survival_steps": 60, "success": 1.0} +{"episode_id": 13, "episode_seed": 4242424255, "episode_return_env": 39.559448285843246, "survival_steps": 60, "success": 1.0} +{"episode_id": 14, "episode_seed": 4242424256, "episode_return_env": 3.379349030321464, "survival_steps": 60, "success": 0.0} +{"episode_id": 15, "episode_seed": 4242424257, "episode_return_env": 9.011048276675865, "survival_steps": 60, "success": 0.0} +{"episode_id": 16, "episode_seed": 4242424258, "episode_return_env": 3.281458572659176, "survival_steps": 60, "success": 0.0} +{"episode_id": 17, "episode_seed": 4242424259, "episode_return_env": 37.068099903233815, "survival_steps": 60, "success": 1.0} +{"episode_id": 18, "episode_seed": 4242424260, "episode_return_env": 31.814235761004966, "survival_steps": 60, "success": 1.0} +{"episode_id": 19, "episode_seed": 4242424261, "episode_return_env": 37.78406776249176, "survival_steps": 60, "success": 1.0} +{"episode_id": 20, "episode_seed": 4242424262, "episode_return_env": 1.0596176851249766, "survival_steps": 60, "success": 0.0} +{"episode_id": 21, "episode_seed": 4242424263, "episode_return_env": 5.6197469652979635, "survival_steps": 60, "success": 0.0} +{"episode_id": 22, "episode_seed": 4242424264, "episode_return_env": 40.211326267104596, "survival_steps": 60, "success": 1.0} +{"episode_id": 23, "episode_seed": 4242424265, "episode_return_env": 0.6897345453908201, "survival_steps": 60, "success": 0.0} +{"episode_id": 24, "episode_seed": 4242424266, "episode_return_env": 36.77045990561601, "survival_steps": 60, "success": 1.0} +{"episode_id": 25, "episode_seed": 4242424267, "episode_return_env": 35.242739980632905, "survival_steps": 60, "success": 1.0} +{"episode_id": 26, "episode_seed": 4242424268, "episode_return_env": 0.47518249901804666, "survival_steps": 60, "success": 0.0} +{"episode_id": 27, "episode_seed": 4242424269, "episode_return_env": 37.236314092355315, "survival_steps": 60, "success": 1.0} +{"episode_id": 28, "episode_seed": 4242424270, "episode_return_env": 40.325369429192506, "survival_steps": 60, "success": 1.0} +{"episode_id": 29, "episode_seed": 4242424271, "episode_return_env": 37.777948817412835, "survival_steps": 60, "success": 1.0} +{"episode_id": 30, "episode_seed": 4242424272, "episode_return_env": 35.55871084338287, "survival_steps": 60, "success": 1.0} +{"episode_id": 31, "episode_seed": 4242424273, "episode_return_env": 35.351116665493464, "survival_steps": 60, "success": 1.0} +{"episode_id": 32, "episode_seed": 4242424274, "episode_return_env": 0.39601613645936595, "survival_steps": 60, "success": 0.0} +{"episode_id": 33, "episode_seed": 4242424275, "episode_return_env": 3.3313300602312665, "survival_steps": 60, "success": 0.0} +{"episode_id": 34, "episode_seed": 4242424276, "episode_return_env": 3.9581604066188447, "survival_steps": 60, "success": 0.0} +{"episode_id": 35, "episode_seed": 4242424277, "episode_return_env": 5.416973444850555, "survival_steps": 60, "success": 0.0} +{"episode_id": 36, "episode_seed": 4242424278, "episode_return_env": 3.515529947354313, "survival_steps": 60, "success": 0.0} +{"episode_id": 37, "episode_seed": 4242424279, "episode_return_env": 10.802975215832703, "survival_steps": 60, "success": 0.0} +{"episode_id": 38, "episode_seed": 4242424280, "episode_return_env": 7.396018834493589, "survival_steps": 60, "success": 0.0} +{"episode_id": 39, "episode_seed": 4242424281, "episode_return_env": 32.26388112641871, "survival_steps": 60, "success": 1.0} +{"episode_id": 40, "episode_seed": 4242424282, "episode_return_env": 37.7855762533145, "survival_steps": 60, "success": 1.0} +{"episode_id": 41, "episode_seed": 4242424283, "episode_return_env": 8.027874368199264, "survival_steps": 60, "success": 0.0} +{"episode_id": 42, "episode_seed": 4242424284, "episode_return_env": 38.46083799947519, "survival_steps": 60, "success": 1.0} +{"episode_id": 43, "episode_seed": 4242424285, "episode_return_env": 32.83541704714298, "survival_steps": 60, "success": 1.0} +{"episode_id": 44, "episode_seed": 4242424286, "episode_return_env": 12.15971756161889, "survival_steps": 60, "success": 0.0} +{"episode_id": 45, "episode_seed": 4242424287, "episode_return_env": 0.5648617005099368, "survival_steps": 60, "success": 0.0} +{"episode_id": 46, "episode_seed": 4242424288, "episode_return_env": 37.13007536629448, "survival_steps": 60, "success": 1.0} +{"episode_id": 47, "episode_seed": 4242424289, "episode_return_env": 38.07366865372751, "survival_steps": 60, "success": 1.0} +{"episode_id": 48, "episode_seed": 4242424290, "episode_return_env": 14.318544942769222, "survival_steps": 60, "success": 0.0} +{"episode_id": 49, "episode_seed": 4242424291, "episode_return_env": 32.251856999704614, "survival_steps": 60, "success": 1.0} +{"episode_id": 50, "episode_seed": 4242424292, "episode_return_env": 31.724893490492832, "survival_steps": 60, "success": 1.0} +{"episode_id": 51, "episode_seed": 4242424293, "episode_return_env": 1.3785767224617302, "survival_steps": 60, "success": 0.0} +{"episode_id": 52, "episode_seed": 4242424294, "episode_return_env": 37.30799875006778, "survival_steps": 60, "success": 1.0} +{"episode_id": 53, "episode_seed": 4242424295, "episode_return_env": 3.087881955667399, "survival_steps": 60, "success": 0.0} +{"episode_id": 54, "episode_seed": 4242424296, "episode_return_env": 35.984322133124806, "survival_steps": 60, "success": 1.0} +{"episode_id": 55, "episode_seed": 4242424297, "episode_return_env": 35.56462886801455, "survival_steps": 60, "success": 1.0} +{"episode_id": 56, "episode_seed": 4242424298, "episode_return_env": 38.771497741749045, "survival_steps": 60, "success": 1.0} +{"episode_id": 57, "episode_seed": 4242424299, "episode_return_env": 5.191967202699743, "survival_steps": 60, "success": 0.0} +{"episode_id": 58, "episode_seed": 4242424300, "episode_return_env": 31.623695547226816, "survival_steps": 60, "success": 1.0} +{"episode_id": 59, "episode_seed": 4242424301, "episode_return_env": 0.9855787010747008, "survival_steps": 60, "success": 0.0} +{"episode_id": 60, "episode_seed": 4242424302, "episode_return_env": 42.02910208713729, "survival_steps": 60, "success": 1.0} +{"episode_id": 61, "episode_seed": 4242424303, "episode_return_env": 2.469911181353382, "survival_steps": 60, "success": 0.0} +{"episode_id": 62, "episode_seed": 4242424304, "episode_return_env": 3.402078841929324, "survival_steps": 60, "success": 0.0} +{"episode_id": 63, "episode_seed": 4242424305, "episode_return_env": 37.999213227420114, "survival_steps": 60, "success": 1.0} +{"episode_id": 64, "episode_seed": 4242424306, "episode_return_env": 34.314664156292565, "survival_steps": 60, "success": 1.0} +{"episode_id": 65, "episode_seed": 4242424307, "episode_return_env": 1.230515444651246, "survival_steps": 60, "success": 0.0} +{"episode_id": 66, "episode_seed": 4242424308, "episode_return_env": 40.80046405387111, "survival_steps": 60, "success": 1.0} +{"episode_id": 67, "episode_seed": 4242424309, "episode_return_env": 31.94207316072425, "survival_steps": 60, "success": 1.0} +{"episode_id": 68, "episode_seed": 4242424310, "episode_return_env": 0.7305755044944817, "survival_steps": 60, "success": 0.0} +{"episode_id": 69, "episode_seed": 4242424311, "episode_return_env": 2.3492205288494006, "survival_steps": 60, "success": 0.0} +{"episode_id": 70, "episode_seed": 4242424312, "episode_return_env": 5.135672602458726, "survival_steps": 60, "success": 0.0} +{"episode_id": 71, "episode_seed": 4242424313, "episode_return_env": 39.9422620740952, "survival_steps": 60, "success": 1.0} +{"episode_id": 72, "episode_seed": 4242424314, "episode_return_env": 0.8723880772013217, "survival_steps": 60, "success": 0.0} +{"episode_id": 73, "episode_seed": 4242424315, "episode_return_env": 37.152822870819364, "survival_steps": 60, "success": 1.0} +{"episode_id": 74, "episode_seed": 4242424316, "episode_return_env": 40.874498117831536, "survival_steps": 60, "success": 1.0} +{"episode_id": 75, "episode_seed": 4242424317, "episode_return_env": 36.42843990935944, "survival_steps": 60, "success": 1.0} +{"episode_id": 76, "episode_seed": 4242424318, "episode_return_env": 1.3591777675319463, "survival_steps": 60, "success": 0.0} +{"episode_id": 77, "episode_seed": 4242424319, "episode_return_env": 35.3505633038003, "survival_steps": 60, "success": 1.0} +{"episode_id": 78, "episode_seed": 4242424320, "episode_return_env": 0.611945067459601, "survival_steps": 60, "success": 0.0} +{"episode_id": 79, "episode_seed": 4242424321, "episode_return_env": 0.6307913870477933, "survival_steps": 60, "success": 0.0} +{"episode_id": 80, "episode_seed": 4242424322, "episode_return_env": 4.566592569870409, "survival_steps": 60, "success": 0.0} +{"episode_id": 81, "episode_seed": 4242424323, "episode_return_env": 5.476922153495252, "survival_steps": 60, "success": 0.0} +{"episode_id": 82, "episode_seed": 4242424324, "episode_return_env": 36.74145392558421, "survival_steps": 60, "success": 1.0} +{"episode_id": 83, "episode_seed": 4242424325, "episode_return_env": 4.803379782359116, "survival_steps": 60, "success": 0.0} +{"episode_id": 84, "episode_seed": 4242424326, "episode_return_env": 7.184191431500949, "survival_steps": 60, "success": 0.0} +{"episode_id": 85, "episode_seed": 4242424327, "episode_return_env": 6.614186569233425, "survival_steps": 60, "success": 0.0} +{"episode_id": 86, "episode_seed": 4242424328, "episode_return_env": 30.51353414618643, "survival_steps": 60, "success": 1.0} +{"episode_id": 87, "episode_seed": 4242424329, "episode_return_env": 2.2097358421306126, "survival_steps": 60, "success": 0.0} +{"episode_id": 88, "episode_seed": 4242424330, "episode_return_env": 40.354102071141824, "survival_steps": 60, "success": 1.0} +{"episode_id": 89, "episode_seed": 4242424331, "episode_return_env": 40.21913122921251, "survival_steps": 60, "success": 1.0} +{"episode_id": 90, "episode_seed": 4242424332, "episode_return_env": 30.640168389567407, "survival_steps": 60, "success": 1.0} +{"episode_id": 91, "episode_seed": 4242424333, "episode_return_env": 30.781875044398475, "survival_steps": 60, "success": 1.0} +{"episode_id": 92, "episode_seed": 4242424334, "episode_return_env": 35.46498270635493, "survival_steps": 60, "success": 1.0} +{"episode_id": 93, "episode_seed": 4242424335, "episode_return_env": 36.259593041904736, "survival_steps": 60, "success": 1.0} +{"episode_id": 94, "episode_seed": 4242424336, "episode_return_env": 39.36309616302606, "survival_steps": 60, "success": 1.0} +{"episode_id": 95, "episode_seed": 4242424337, "episode_return_env": 13.604499667912023, "survival_steps": 60, "success": 0.0} +{"episode_id": 96, "episode_seed": 4242424338, "episode_return_env": 36.52790381555678, "survival_steps": 60, "success": 1.0} +{"episode_id": 97, "episode_seed": 4242424339, "episode_return_env": 37.27585312433075, "survival_steps": 60, "success": 1.0} +{"episode_id": 98, "episode_seed": 4242424340, "episode_return_env": 1.999706316855736, "survival_steps": 60, "success": 0.0} +{"episode_id": 99, "episode_seed": 4242424341, "episode_return_env": 42.15827480435837, "survival_steps": 60, "success": 1.0} +{"episode_id": 100, "episode_seed": 4242424342, "episode_return_env": 4.221228117618011, "survival_steps": 60, "success": 0.0} +{"episode_id": 101, "episode_seed": 4242424343, "episode_return_env": 38.75183472892968, "survival_steps": 60, "success": 1.0} +{"episode_id": 102, "episode_seed": 4242424344, "episode_return_env": 37.19992227834882, "survival_steps": 60, "success": 1.0} +{"episode_id": 103, "episode_seed": 4242424345, "episode_return_env": 4.282870830298634, "survival_steps": 60, "success": 0.0} +{"episode_id": 104, "episode_seed": 4242424346, "episode_return_env": 0.6732539614313282, "survival_steps": 60, "success": 0.0} +{"episode_id": 105, "episode_seed": 4242424347, "episode_return_env": 3.487666096450994, "survival_steps": 60, "success": 0.0} +{"episode_id": 106, "episode_seed": 4242424348, "episode_return_env": 38.58460719237337, "survival_steps": 60, "success": 1.0} +{"episode_id": 107, "episode_seed": 4242424349, "episode_return_env": 32.930701816949295, "survival_steps": 60, "success": 1.0} +{"episode_id": 108, "episode_seed": 4242424350, "episode_return_env": 34.69335310027236, "survival_steps": 60, "success": 1.0} +{"episode_id": 109, "episode_seed": 4242424351, "episode_return_env": 0.8899179422296584, "survival_steps": 60, "success": 0.0} +{"episode_id": 110, "episode_seed": 4242424352, "episode_return_env": 37.11118756473297, "survival_steps": 60, "success": 1.0} +{"episode_id": 111, "episode_seed": 4242424353, "episode_return_env": 6.083967895625392, "survival_steps": 60, "success": 0.0} +{"episode_id": 112, "episode_seed": 4242424354, "episode_return_env": 39.17860542051494, "survival_steps": 60, "success": 1.0} +{"episode_id": 113, "episode_seed": 4242424355, "episode_return_env": 4.274719864857616, "survival_steps": 60, "success": 0.0} +{"episode_id": 114, "episode_seed": 4242424356, "episode_return_env": 38.111847014690284, "survival_steps": 60, "success": 1.0} +{"episode_id": 115, "episode_seed": 4242424357, "episode_return_env": 4.305843779962743, "survival_steps": 60, "success": 0.0} +{"episode_id": 116, "episode_seed": 4242424358, "episode_return_env": 4.100009299116209, "survival_steps": 60, "success": 0.0} +{"episode_id": 117, "episode_seed": 4242424359, "episode_return_env": 1.5567327873723116, "survival_steps": 60, "success": 0.0} +{"episode_id": 118, "episode_seed": 4242424360, "episode_return_env": 32.547297457116656, "survival_steps": 60, "success": 1.0} +{"episode_id": 119, "episode_seed": 4242424361, "episode_return_env": 32.42571551556466, "survival_steps": 60, "success": 1.0} +{"episode_id": 120, "episode_seed": 4242424362, "episode_return_env": 4.371394414687529, "survival_steps": 60, "success": 0.0} +{"episode_id": 121, "episode_seed": 4242424363, "episode_return_env": 40.76501125446521, "survival_steps": 60, "success": 1.0} +{"episode_id": 122, "episode_seed": 4242424364, "episode_return_env": 3.9175814248155802, "survival_steps": 60, "success": 0.0} +{"episode_id": 123, "episode_seed": 4242424365, "episode_return_env": 9.710920614248607, "survival_steps": 60, "success": 0.0} +{"episode_id": 124, "episode_seed": 4242424366, "episode_return_env": 2.4362626682705013, "survival_steps": 60, "success": 0.0} +{"episode_id": 125, "episode_seed": 4242424367, "episode_return_env": 40.35605690232478, "survival_steps": 60, "success": 1.0} +{"episode_id": 126, "episode_seed": 4242424368, "episode_return_env": 5.477550579991657, "survival_steps": 60, "success": 0.0} +{"episode_id": 127, "episode_seed": 4242424369, "episode_return_env": 41.84828808379825, "survival_steps": 60, "success": 1.0} +{"episode_id": 128, "episode_seed": 4242424370, "episode_return_env": 8.996883074520156, "survival_steps": 60, "success": 0.0} +{"episode_id": 129, "episode_seed": 4242424371, "episode_return_env": 40.46859574294649, "survival_steps": 60, "success": 1.0} +{"episode_id": 130, "episode_seed": 4242424372, "episode_return_env": 37.32462713296991, "survival_steps": 60, "success": 1.0} +{"episode_id": 131, "episode_seed": 4242424373, "episode_return_env": 0.5910806922878464, "survival_steps": 60, "success": 0.0} +{"episode_id": 132, "episode_seed": 4242424374, "episode_return_env": 8.478203280945309, "survival_steps": 60, "success": 0.0} +{"episode_id": 133, "episode_seed": 4242424375, "episode_return_env": 29.56449720886303, "survival_steps": 60, "success": 1.0} +{"episode_id": 134, "episode_seed": 4242424376, "episode_return_env": 3.6746168397367, "survival_steps": 60, "success": 0.0} +{"episode_id": 135, "episode_seed": 4242424377, "episode_return_env": 3.053714003181085, "survival_steps": 60, "success": 0.0} +{"episode_id": 136, "episode_seed": 4242424378, "episode_return_env": 36.29489479115, "survival_steps": 60, "success": 1.0} +{"episode_id": 137, "episode_seed": 4242424379, "episode_return_env": 3.9378145217779092, "survival_steps": 60, "success": 0.0} +{"episode_id": 138, "episode_seed": 4242424380, "episode_return_env": 37.49316760589136, "survival_steps": 60, "success": 1.0} +{"episode_id": 139, "episode_seed": 4242424381, "episode_return_env": 5.708600699144881, "survival_steps": 60, "success": 0.0} +{"episode_id": 140, "episode_seed": 4242424382, "episode_return_env": 3.8710778622771613, "survival_steps": 60, "success": 0.0} +{"episode_id": 141, "episode_seed": 4242424383, "episode_return_env": 34.816772244201275, "survival_steps": 60, "success": 1.0} +{"episode_id": 142, "episode_seed": 4242424384, "episode_return_env": 38.180272859404795, "survival_steps": 60, "success": 1.0} +{"episode_id": 143, "episode_seed": 4242424385, "episode_return_env": 3.720678894314915, "survival_steps": 60, "success": 0.0} +{"episode_id": 144, "episode_seed": 4242424386, "episode_return_env": 0.6869246385758743, "survival_steps": 60, "success": 0.0} +{"episode_id": 145, "episode_seed": 4242424387, "episode_return_env": 0.7525370987714268, "survival_steps": 60, "success": 0.0} +{"episode_id": 146, "episode_seed": 4242424388, "episode_return_env": 6.06224854865286, "survival_steps": 60, "success": 0.0} +{"episode_id": 147, "episode_seed": 4242424389, "episode_return_env": 1.8041676309367176, "survival_steps": 60, "success": 0.0} +{"episode_id": 148, "episode_seed": 4242424390, "episode_return_env": 37.33839374326635, "survival_steps": 60, "success": 1.0} +{"episode_id": 149, "episode_seed": 4242424391, "episode_return_env": 4.599242358695847, "survival_steps": 60, "success": 0.0} +{"episode_id": 150, "episode_seed": 4242424392, "episode_return_env": 7.853116671758471, "survival_steps": 60, "success": 0.0} +{"episode_id": 151, "episode_seed": 4242424393, "episode_return_env": 1.9795954901492223, "survival_steps": 60, "success": 0.0} +{"episode_id": 152, "episode_seed": 4242424394, "episode_return_env": 5.2925452504714485, "survival_steps": 60, "success": 0.0} +{"episode_id": 153, "episode_seed": 4242424395, "episode_return_env": 36.71971062803641, "survival_steps": 60, "success": 1.0} +{"episode_id": 154, "episode_seed": 4242424396, "episode_return_env": 33.244530594151, "survival_steps": 60, "success": 1.0} +{"episode_id": 155, "episode_seed": 4242424397, "episode_return_env": 1.2085451584425755, "survival_steps": 60, "success": 0.0} +{"episode_id": 156, "episode_seed": 4242424398, "episode_return_env": 34.705181716999505, "survival_steps": 60, "success": 1.0} +{"episode_id": 157, "episode_seed": 4242424399, "episode_return_env": 32.93763933365699, "survival_steps": 60, "success": 0.0} +{"episode_id": 158, "episode_seed": 4242424400, "episode_return_env": 34.85569505003514, "survival_steps": 60, "success": 1.0} +{"episode_id": 159, "episode_seed": 4242424401, "episode_return_env": 33.983644048683345, "survival_steps": 60, "success": 1.0} +{"episode_id": 160, "episode_seed": 4242424402, "episode_return_env": 4.00121251726523, "survival_steps": 60, "success": 0.0} +{"episode_id": 161, "episode_seed": 4242424403, "episode_return_env": 4.13327972398838, "survival_steps": 60, "success": 0.0} +{"episode_id": 162, "episode_seed": 4242424404, "episode_return_env": 3.783961082168389, "survival_steps": 60, "success": 0.0} +{"episode_id": 163, "episode_seed": 4242424405, "episode_return_env": 0.782179796260607, "survival_steps": 60, "success": 0.0} +{"episode_id": 164, "episode_seed": 4242424406, "episode_return_env": 34.37827248024405, "survival_steps": 60, "success": 1.0} +{"episode_id": 165, "episode_seed": 4242424407, "episode_return_env": 28.96108378827921, "survival_steps": 60, "success": 1.0} +{"episode_id": 166, "episode_seed": 4242424408, "episode_return_env": 37.30028880486498, "survival_steps": 60, "success": 1.0} +{"episode_id": 167, "episode_seed": 4242424409, "episode_return_env": 4.925684561225353, "survival_steps": 60, "success": 0.0} +{"episode_id": 168, "episode_seed": 4242424410, "episode_return_env": 39.41141865774989, "survival_steps": 60, "success": 1.0} +{"episode_id": 169, "episode_seed": 4242424411, "episode_return_env": 33.827642765274504, "survival_steps": 60, "success": 1.0} +{"episode_id": 170, "episode_seed": 4242424412, "episode_return_env": 2.655211143894121, "survival_steps": 60, "success": 0.0} +{"episode_id": 171, "episode_seed": 4242424413, "episode_return_env": 5.5757810805225745, "survival_steps": 60, "success": 0.0} +{"episode_id": 172, "episode_seed": 4242424414, "episode_return_env": 31.393161178653827, "survival_steps": 60, "success": 1.0} +{"episode_id": 173, "episode_seed": 4242424415, "episode_return_env": 2.67891423671972, "survival_steps": 60, "success": 0.0} +{"episode_id": 174, "episode_seed": 4242424416, "episode_return_env": 6.01900153484894, "survival_steps": 60, "success": 0.0} +{"episode_id": 175, "episode_seed": 4242424417, "episode_return_env": 2.6192639804212376, "survival_steps": 60, "success": 0.0} +{"episode_id": 176, "episode_seed": 4242424418, "episode_return_env": 35.191107391088735, "survival_steps": 60, "success": 1.0} +{"episode_id": 177, "episode_seed": 4242424419, "episode_return_env": 14.625030928145861, "survival_steps": 60, "success": 0.0} +{"episode_id": 178, "episode_seed": 4242424420, "episode_return_env": 33.923955822887365, "survival_steps": 60, "success": 1.0} +{"episode_id": 179, "episode_seed": 4242424421, "episode_return_env": 39.554957317886874, "survival_steps": 60, "success": 1.0} +{"episode_id": 180, "episode_seed": 4242424422, "episode_return_env": 36.48231218580622, "survival_steps": 60, "success": 1.0} +{"episode_id": 181, "episode_seed": 4242424423, "episode_return_env": 8.083624954451807, "survival_steps": 60, "success": 0.0} +{"episode_id": 182, "episode_seed": 4242424424, "episode_return_env": 2.024489998468198, "survival_steps": 60, "success": 0.0} +{"episode_id": 183, "episode_seed": 4242424425, "episode_return_env": 38.216433445806615, "survival_steps": 60, "success": 1.0} +{"episode_id": 184, "episode_seed": 4242424426, "episode_return_env": 2.8248066406085854, "survival_steps": 60, "success": 0.0} +{"episode_id": 185, "episode_seed": 4242424427, "episode_return_env": 1.3107333937368821, "survival_steps": 60, "success": 0.0} +{"episode_id": 186, "episode_seed": 4242424428, "episode_return_env": 37.00005041458644, "survival_steps": 60, "success": 1.0} +{"episode_id": 187, "episode_seed": 4242424429, "episode_return_env": 40.0520116276457, "survival_steps": 60, "success": 1.0} +{"episode_id": 188, "episode_seed": 4242424430, "episode_return_env": 11.519056098652072, "survival_steps": 60, "success": 0.0} +{"episode_id": 189, "episode_seed": 4242424431, "episode_return_env": 2.1556989689997863, "survival_steps": 60, "success": 0.0} +{"episode_id": 190, "episode_seed": 4242424432, "episode_return_env": 37.07796195533592, "survival_steps": 60, "success": 1.0} +{"episode_id": 191, "episode_seed": 4242424433, "episode_return_env": 39.36980817699805, "survival_steps": 60, "success": 1.0} +{"episode_id": 192, "episode_seed": 4242424434, "episode_return_env": 32.12205009817262, "survival_steps": 60, "success": 1.0} +{"episode_id": 193, "episode_seed": 4242424435, "episode_return_env": 0.7400613473146223, "survival_steps": 60, "success": 0.0} +{"episode_id": 194, "episode_seed": 4242424436, "episode_return_env": 41.10714853310492, "survival_steps": 60, "success": 1.0} +{"episode_id": 195, "episode_seed": 4242424437, "episode_return_env": 34.63718572864309, "survival_steps": 60, "success": 1.0} +{"episode_id": 196, "episode_seed": 4242424438, "episode_return_env": 36.08456285559805, "survival_steps": 60, "success": 1.0} +{"episode_id": 197, "episode_seed": 4242424439, "episode_return_env": 3.0236286605359055, "survival_steps": 60, "success": 0.0} +{"episode_id": 198, "episode_seed": 4242424440, "episode_return_env": 40.103995703335386, "survival_steps": 60, "success": 1.0} +{"episode_id": 199, "episode_seed": 4242424441, "episode_return_env": 4.37198092660401, "survival_steps": 60, "success": 0.0} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..b1fccbaea51513c780e416a3204dabe0e6fb3fd0 --- /dev/null +++ b/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 @@ -0,0 +1,63 @@ +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: + - 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: 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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..04e04547afca972f8ccb764112500d302089d7d4 --- /dev/null +++ b/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 @@ -0,0 +1,212 @@ +{ + "request_fps": 20, + "simulated_worker_capacity": 1, + "startup_policy": "environment_starts_at_reset", + "latency_raw_frames": 0, + "fixed_latency_ms": 0.0, + "initial_noop_transitions": 0, + "first_action_apply_raw_frames": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "executed_later_heads": null, + "passed": true +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..619d7a8a41890daf5625a5bc164f99f3a7fb09b2 --- /dev/null +++ b/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 @@ -0,0 +1,62 @@ +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' diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..817bb8e200513bfff8f961b017b5012f57305a8f --- /dev/null +++ b/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 @@ -0,0 +1,60 @@ +{ + "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 + } +} diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..542a382192115fb94273e681d89c1d6fe6acfcb4 --- /dev/null +++ b/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. diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/history/eval_l0_before_figure2.json b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/history/eval_l0_before_figure2.json new file mode 100644 index 0000000000000000000000000000000000000000..add71fddc76c1991fa00c4bb769ddc3301f35d53 --- /dev/null +++ b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/history/eval_l0_before_figure2.json @@ -0,0 +1,4228 @@ +{ + "n_episodes": 100, + "mean_return": 20.14148510393185, + "std_return": 15.85562640357565, + "min_return": 0.5514102033048403, + "max_return": 42.72939181223046, + "mean_length": 60.0, + "std_length": 0.0, + "min_length": 60.0, + "max_length": 60.0, + "return_field": "episode_return_env", + "length_field": "survival_steps", + "mode": "simulated", + "policy_id": "starvla", + "env_id": "mikasa_intercept_grab_fast", + "model_id": null, + "gpu_class": null, + "workload_id": null, + "instance_id": null, + "source_run_id": null, + "profile_ref": null, + "env_fps": 20.0, + "obs_fps": 20.0, + "frame_ms": 50.0, + "latency_type": "zero", + "episodes": [ + { + "episode_id": 0, + "episode_return": 2.8813758016040083, + "episode_return_env": 2.8813758016040083, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424242, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 1, + "episode_return": 2.7051026615081355, + "episode_return_env": 2.7051026615081355, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424243, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 2, + "episode_return": 2.6035789568559267, + "episode_return_env": 2.6035789568559267, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424244, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 3, + "episode_return": 2.657492988393642, + "episode_return_env": 2.657492988393642, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424245, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 4, + "episode_return": 3.341556693369057, + "episode_return_env": 3.341556693369057, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424246, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 5, + "episode_return": 2.0170754566206597, + "episode_return_env": 2.0170754566206597, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424247, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 6, + "episode_return": 2.6505219152313657, + "episode_return_env": 2.6505219152313657, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424248, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 7, + "episode_return": 3.593072425428545, + "episode_return_env": 3.593072425428545, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424249, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 8, + "episode_return": 3.5961461181286722, + "episode_return_env": 3.5961461181286722, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424250, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 9, + "episode_return": 2.973338910669554, + "episode_return_env": 2.973338910669554, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424251, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 10, + "episode_return": 37.327102255949285, + "episode_return_env": 37.327102255949285, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424252, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 11, + "episode_return": 40.488139568362385, + "episode_return_env": 40.488139568362385, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424253, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 12, + "episode_return": 39.62410163809545, + "episode_return_env": 39.62410163809545, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424254, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 13, + "episode_return": 37.18482774042059, + "episode_return_env": 37.18482774042059, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424255, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 14, + "episode_return": 38.286841957771685, + "episode_return_env": 38.286841957771685, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424256, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 15, + "episode_return": 40.53875725058606, + "episode_return_env": 40.53875725058606, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424257, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 16, + "episode_return": 38.518417559505906, + "episode_return_env": 38.518417559505906, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424258, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 17, + "episode_return": 40.08822415396571, + "episode_return_env": 40.08822415396571, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424259, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 18, + "episode_return": 37.56991631624987, + "episode_return_env": 37.56991631624987, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424260, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 19, + "episode_return": 36.95979312394047, + "episode_return_env": 36.95979312394047, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424261, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 20, + "episode_return": 1.1047361865930725, + "episode_return_env": 1.1047361865930725, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424262, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 21, + "episode_return": 1.0698128599615302, + "episode_return_env": 1.0698128599615302, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424263, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 22, + "episode_return": 0.6110965514963027, + "episode_return_env": 0.6110965514963027, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424264, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 23, + "episode_return": 1.3835577327699866, + "episode_return_env": 1.3835577327699866, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424265, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 24, + "episode_return": 1.1301320513275641, + "episode_return_env": 1.1301320513275641, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424266, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 25, + "episode_return": 1.3974329847551417, + "episode_return_env": 1.3974329847551417, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424267, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 26, + "episode_return": 4.546240732684964, + "episode_return_env": 4.546240732684964, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424268, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 27, + "episode_return": 0.5514102033048403, + "episode_return_env": 0.5514102033048403, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424269, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 28, + "episode_return": 1.3611023961566389, + "episode_return_env": 1.3611023961566389, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424270, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 29, + "episode_return": 0.6774474788107909, + "episode_return_env": 0.6774474788107909, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424271, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 30, + "episode_return": 37.2932140865596, + "episode_return_env": 37.2932140865596, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424272, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 31, + "episode_return": 36.13664583564969, + "episode_return_env": 36.13664583564969, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424273, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 32, + "episode_return": 34.26216178154573, + "episode_return_env": 34.26216178154573, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424274, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 33, + "episode_return": 36.3959483326762, + "episode_return_env": 36.3959483326762, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424275, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 34, + "episode_return": 36.639578462636564, + "episode_return_env": 36.639578462636564, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424276, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 35, + "episode_return": 37.69565670232987, + "episode_return_env": 37.69565670232987, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424277, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 36, + "episode_return": 35.4500981043675, + "episode_return_env": 35.4500981043675, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424278, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 37, + "episode_return": 34.99587933823932, + "episode_return_env": 34.99587933823932, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424279, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 38, + "episode_return": 37.340439031191636, + "episode_return_env": 37.340439031191636, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424280, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 39, + "episode_return": 36.5930267474032, + "episode_return_env": 36.5930267474032, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424281, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 40, + "episode_return": 35.87098116247216, + "episode_return_env": 35.87098116247216, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424282, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 41, + "episode_return": 36.94883604766801, + "episode_return_env": 36.94883604766801, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424283, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 42, + "episode_return": 38.352677882416174, + "episode_return_env": 38.352677882416174, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424284, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 43, + "episode_return": 35.42366369877709, + "episode_return_env": 35.42366369877709, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424285, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 44, + "episode_return": 35.025443131278735, + "episode_return_env": 35.025443131278735, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424286, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 45, + "episode_return": 36.53282055549789, + "episode_return_env": 36.53282055549789, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424287, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 46, + "episode_return": 34.876693355094176, + "episode_return_env": 34.876693355094176, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424288, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 47, + "episode_return": 34.638703534787055, + "episode_return_env": 34.638703534787055, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424289, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 48, + "episode_return": 39.38795668800594, + "episode_return_env": 39.38795668800594, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424290, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 49, + "episode_return": 38.87825274869101, + "episode_return_env": 38.87825274869101, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424291, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 50, + "episode_return": 31.13376269568107, + "episode_return_env": 31.13376269568107, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424292, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 51, + "episode_return": 5.012418100202922, + "episode_return_env": 5.012418100202922, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424293, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 52, + "episode_return": 32.075869508844335, + "episode_return_env": 32.075869508844335, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424294, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 53, + "episode_return": 30.592195364297368, + "episode_return_env": 30.592195364297368, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424295, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 54, + "episode_return": 31.06612532812869, + "episode_return_env": 31.06612532812869, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424296, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 55, + "episode_return": 30.86648933729157, + "episode_return_env": 30.86648933729157, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424297, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 56, + "episode_return": 3.015576661360683, + "episode_return_env": 3.015576661360683, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424298, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 57, + "episode_return": 30.762279379181564, + "episode_return_env": 30.762279379181564, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424299, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 58, + "episode_return": 28.049224131566007, + "episode_return_env": 28.049224131566007, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424300, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 59, + "episode_return": 2.6086623997834977, + "episode_return_env": 2.6086623997834977, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424301, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 60, + "episode_return": 41.51747795857955, + "episode_return_env": 41.51747795857955, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424302, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 61, + "episode_return": 7.87059280811809, + "episode_return_env": 7.87059280811809, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424303, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 62, + "episode_return": 9.835021510953084, + "episode_return_env": 9.835021510953084, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424304, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 63, + "episode_return": 42.72939181223046, + "episode_return_env": 42.72939181223046, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424305, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 64, + "episode_return": 40.582139934878796, + "episode_return_env": 40.582139934878796, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424306, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 65, + "episode_return": 9.134712015395053, + "episode_return_env": 9.134712015395053, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424307, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 66, + "episode_return": 10.415069262962788, + "episode_return_env": 10.415069262962788, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424308, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 67, + "episode_return": 11.180960667843465, + "episode_return_env": 11.180960667843465, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424309, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 68, + "episode_return": 41.44526117190253, + "episode_return_env": 41.44526117190253, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424310, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 69, + "episode_return": 11.829925220925361, + "episode_return_env": 11.829925220925361, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424311, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 70, + "episode_return": 2.8415657640953373, + "episode_return_env": 2.8415657640953373, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424312, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 71, + "episode_return": 5.019985567342701, + "episode_return_env": 5.019985567342701, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424313, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 72, + "episode_return": 3.191388649152941, + "episode_return_env": 3.191388649152941, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424314, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 73, + "episode_return": 6.605726736238466, + "episode_return_env": 6.605726736238466, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424315, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 74, + "episode_return": 3.232054962547709, + "episode_return_env": 3.232054962547709, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424316, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 75, + "episode_return": 3.7908322561634122, + "episode_return_env": 3.7908322561634122, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424317, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 76, + "episode_return": 3.2163023948669434, + "episode_return_env": 3.2163023948669434, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424318, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 77, + "episode_return": 7.653916584269609, + "episode_return_env": 7.653916584269609, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424319, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 78, + "episode_return": 10.28854885196779, + "episode_return_env": 10.28854885196779, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424320, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 79, + "episode_return": 10.317464818421286, + "episode_return_env": 10.317464818421286, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424321, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 80, + "episode_return": 3.591983827180229, + "episode_return_env": 3.591983827180229, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424322, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 81, + "episode_return": 3.985093329101801, + "episode_return_env": 3.985093329101801, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424323, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 82, + "episode_return": 8.119969989231322, + "episode_return_env": 8.119969989231322, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424324, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 83, + "episode_return": 2.773078650032403, + "episode_return_env": 2.773078650032403, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424325, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 84, + "episode_return": 5.823901190291508, + "episode_return_env": 5.823901190291508, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424326, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 85, + "episode_return": 2.6816093724482926, + "episode_return_env": 2.6816093724482926, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424327, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 86, + "episode_return": 4.942851768399123, + "episode_return_env": 4.942851768399123, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424328, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 87, + "episode_return": 4.494103210396133, + "episode_return_env": 4.494103210396133, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424329, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 88, + "episode_return": 3.6686587011208758, + "episode_return_env": 3.6686587011208758, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424330, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 89, + "episode_return": 3.762474329560064, + "episode_return_env": 3.762474329560064, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424331, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 0.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 90, + "episode_return": 30.626706802810077, + "episode_return_env": 30.626706802810077, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424332, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 91, + "episode_return": 29.059640469640726, + "episode_return_env": 29.059640469640726, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424333, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 92, + "episode_return": 29.87401009479072, + "episode_return_env": 29.87401009479072, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424334, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 93, + "episode_return": 30.42750722024357, + "episode_return_env": 30.42750722024357, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424335, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 94, + "episode_return": 31.444782183214556, + "episode_return_env": 31.444782183214556, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424336, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 95, + "episode_return": 30.824315321748145, + "episode_return_env": 30.824315321748145, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424337, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 96, + "episode_return": 31.22003023690195, + "episode_return_env": 31.22003023690195, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424338, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 97, + "episode_return": 27.613686969911214, + "episode_return_env": 27.613686969911214, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424339, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 98, + "episode_return": 31.756049016839825, + "episode_return_env": 31.756049016839825, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424340, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + }, + { + "episode_id": 99, + "episode_return": 31.400085956323892, + "episode_return_env": 31.400085956323892, + "game_score": null, + "mean_latency_ms": 0.0, + "metadata": { + "chunk_age_ms": 0.0, + "chunk_age_raw_frames": 0, + "config_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "env_fps": 20.0, + "env_id": "mikasa_intercept_grab_fast", + "episode_seed": 4242424341, + "frame_ms": 50.0, + "gpu_class": null, + "hold_last_chunk_action": true, + "instance_id": null, + "latency_type": "zero", + "mode": "simulated", + "model_id": null, + "obs_fps": 20.0, + "policy_id": "starvla", + "profile_ref": null, + "run_name": "mikasa_intercept_grab_fast_qwenpi_v3_h1_l0", + "source_run_id": null, + "stale_prefix_frames": 0, + "task_metrics": { + "success": 1.0 + }, + "underflow_count": 0, + "underflow_duration_ms": 0.0, + "underflow_frames": 0, + "workload_id": null + }, + "num_actions": 60, + "num_dropped_actions": 0, + "num_invalid_actions": 0, + "p90_latency_ms": 0.0, + "p99_latency_ms": 0.0, + "return_raw": null, + "survival_steps": 60 + } + ] +} diff --git a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/provenance.json b/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/provenance.json index 78d3cae32dd2c40c07296df1fbb763771d7c4147..7797faf1e282210d0fab2e910e406f3f17c11f42 100644 --- a/zero-latency/mikasa-intercept-grab-fast/vla/starvla-qwenpi_v3-h1/mikasa_intercept_grab_fast_qwenpi_v3_formal_latest_r8gpu8_20260907T082154Z/provenance.json +++ b/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." } }