Publish atlantis qwenoft H8 training artifacts

latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/README.md

@@ -0,0 +1,7 @@
+# Atlantis qwenoft profile-trained H8 VLA
+
+Current RGB and eight binary decision-history windows; action horizon one. Initialized from the pinned Qwen3-VL-4B backbone and random action head.
+
+- Training: 5000 steps, seed 42, global batch 128
+- W&B: https://wandb.ai/saberrr-zju/starvla_tasks/runs/7ea15469
+- Formal profile evaluation: pending.

latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/bundle.complete.json

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+  "training_step": 5000
+}

latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/checkpoint.sha256

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latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/checkpoints/model.pt

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latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/collection_quality_report.json

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latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/config.full.yaml

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+framework:
+  name: QwenOFT
+  qwenvl:
+    base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
+    attn_implementation: flash_attention_2
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: MLP
+    action_dim: 4
+    state_dim: 56
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: discrete_ce
+    state_encoding: continuous_projector
+    task_objective: null
+    action_horizon: 1
+    action_env_dim: 4
+  kv_memory:
+    enabled: false
+    window: 4
+    rollout_len: 8
+    packed_train: false
+    rebased_sink: true
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/data_profile/atlantis/qwenoft
+    data_mix: lerobot
+    eval_data_mix: lerobot__val
+    custom_mixtures_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/data_profile/atlantis/qwenoft/_generated_mixtures/lerobot.json
+    action_type: discrete
+    sequential_step_sampling: false
+    eval_sequential_step_sampling: null
+    num_workers: 16
+    eval_num_workers: 16
+    prefetch_factor: 4
+    persistent_workers: true
+    pin_memory: true
+    shuffle: true
+    action_balance:
+      enabled: false
+      strategy: balanced_epoch
+      action_key: action_id
+      target_flap_fraction: 0.3
+      noop_id: 0
+      flap_id: 1
+    latency_curriculum:
+      enabled: false
+      strategy: exclusive
+      latencies: null
+      phase_steps: null
+      phase_distributions: null
+      new_latency_passes: 1.0
+      replay_passes: 0.25
+      target_total_passes: 2.0
+      final_equalization: true
+      step_budget_mode: auto
+      eval_at_phase_end: false
+      save_at_phase_end: false
+      computed_plan: null
+    per_device_batch_size: 64
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size: null
+    video_backend: torchvision_av
+dataset:
+  source_hf: latency-sensitive-bench/memory-rollouts
+  config_name: null
+  source_subdir: null
+  converted_name: atlantis_train
+  single_source_hf: latency-sensitive-bench/memory-rollouts
+  mixed_source_hf: latency-sensitive-bench/memory-rollouts
+  single_converted_name: atlantis_train
+  mixed_converted_name: atlantis_mixed_latency_train
+  single_latency_filter: null
+  mixed_latency_filter: null
+  force_download: false
+  setup_force: false
+  skip_verification: false
+  target_latency_unit: observation_steps
+  verify_rows: 200
+  max_episodes: null
+  episodes_per_latency: null
+  latency_filter: null
+  debug_subset:
+    enabled: false
+    max_episodes: 5
+    suffix: debug
+base_model:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+initialization:
+  checkpoint_local_dir: null
+  checkpoint_hf_repo_id: null
+  checkpoint_filename: null
+trainer:
+  max_train_steps: 5000
+  num_warmup_steps: 100
+  save_interval: 500
+  eval_interval: 500
+  eval_num_batches: 50
+  per_latency_eval_num_batches: null
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  cc_f1_tolerance: 1
+  learning_rate:
+    base: 3.0e-05
+    qwen_vl_interface: 3.0e-06
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr_rate: 0.03333333333333333
+  freeze_modules: ''
+  freeze_vit: false
+  freeze_tied_embedding: false
+  freeze_llm_layers: []
+  loss_scale:
+    vla: 1.0
+    vlm: 0.0
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 1
+  profile_timing:
+    enabled: false
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  distributed_backend: deepspeed
+  is_resume: false
+  pretrained_checkpoint: null
+  resume_step: 0
+  reload_modules: null
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+    fused: true
+  save_format: pt
+workspace_dir: WORKSPACE_DIR
+run_root_dir: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/train
+seed: 42
+wandb_entity: saberrr-zju
+wandb_project: starvla_tasks
+auth:
+  env_file: null
+  hf_token_env: HF_TOKEN
+  wandb_api_key_env: WANDB_API_KEY
+paths:
+  run_root_dir: results/Checkpoints
+  dataset_local_dir: playground/Datasets/rl_games
+  dataset_cache_dir: null
+  base_model_dir: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
+  accelerate_config: starVLA/config/deepseeds/deepspeed_zero2.yaml
+launch:
+  use_accelerate: true
+  gpus: null
+  num_processes: 1
+  dry_run: false
+conda:
+  enabled: true
+  env_name: null
+rl_games:
+  model_alias: openvla
+  env_eval:
+    image_size: 224
+    frameskip: 4
+    image_transform: raw_rgb
+    prompt_mode: raw
+    ghost_trail:
+      history_frames: 5
+      gamma: 1.3
+      min_alpha: 35
+      scroll_px_per_step: 4.0
+      ground_fraction: 0.22
+    seed: 42
+    fixed_episode_seeds: true
+    latency_seed_stride: 0
+    task_seed_stride: 0
+    task_description: 'Defend Atlantis by firing at descending enemies. Choose exactly
+      one action from: noop, fire, rightfire, leftfire.'
+    eval_parallel_envs: 5
+    action_chunk_execution:
+      enabled: false
+      chunk_size: null
+    atari:
+      env_id: ALE/Atlantis-v5
+      noop_max: 30
+    enabled: false
+    eval_backend: latency_bench
+    distributed_mode: none
+    vectorized:
+      enabled: false
+      batch_size: 1
+    latency:
+      prompt_map_path: null
+      mode: single
+      values:
+      - 0
+    mid_train:
+      enabled: false
+      interval_steps: 100
+      latencies:
+      - 0
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    post_train:
+      enabled: false
+      latencies:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      latencies_from_prompt_map: false
+      num_episodes: 5
+      max_steps_per_episode: 3600
+  task: atlantis
+  initialization_mode: scratch
+  action_carrier: native
+model: openvla
+env: atlantis
+init: scratch
+mode: single
+checkpoint:
+  load: none
+  hf_repo_id: null
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: true
+  save_safetensors_file: false
+  local:
+    keep_last_n: 2
+  sync:
+    enabled: false
+    repo_id: null
+    keep_last_n: 0
+    sync_every_n_checkpoints: 1
+    resume_policy: local_latest
+run_id: atlantis-qwenoft-hist8-profile-s42-v1
+output_dir: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/train/atlantis-qwenoft-hist8-profile-s42-v1
+config_yaml: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/train/atlantis-qwenoft-hist8-profile-s42-v1/train.yaml
+is_debug: false
+version_id: '0.21'
+wandb_name: atlantis-qwenoft-hist8-profile-s42-v1
+wandb_group: decision-history-vla-h8-v2
+wandb_tags:
+- atlantis
+- qwenoft
+- hist8-v2
+- history01
+- scratch
+- profile-latency
+training_latency_condition: profile-latency

latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/config.yaml

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+framework:
+  name: QwenOFT
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: MLP
+    action_dim: 4
+    state_dim: 56
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: discrete_ce
+    state_encoding: continuous_projector
+    task_objective: null
+    action_horizon: 1
+    action_env_dim: 4
+  kv_memory:
+    enabled: false
+    window: 4
+    rollout_len: 8
+    packed_train: false
+    rebased_sink: true
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size: null
+    image_mode: single
+    num_obs_frames: 1
+    robot_type: rl_games_atlantis
+trainer:
+  pretrained_checkpoint: null
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+rl_games:
+  env_eval:
+    image_size: 224

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latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/history_audit.json

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latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/manifest.json

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+}

latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/provenance.json

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+{
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+    "teacher_checkpoint": "best_000028336_14508032_reward_587110.000.pth",
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+    "profile_repo": "latency-sensitive-bench/profiles",
+    "profile_revision": "7efc9af422864b9a1cb569aa81f1b2b1e216b89e",
+    "rollout_overrides": {
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+      "seed": 42,
+      "simulator": "gpu",
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+  "base_model": "Qwen/Qwen3-VL-4B-Instruct",
+  "wandb_run_id": "7ea15469",
+  "checkpoint_sha256": "3fc3190e4151c33d203f69da461d6c56042236200ea9f61369a08c97cb28b88b",
+  "eval_protocol_version": "hist8-history01-sf-render-v4",
+  "history_encoding": "binary_0_1"
+}

latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/publication_status.json

@@ -0,0 +1,4 @@
+{
+  "profile_evaluation_status": "pending",
+  "training_status": "complete"
+}

latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/rollout_metadata.json

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+{
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+      "env": "latency_gymnasium",
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+      "episode_metrics_path": "/mnt/ssd/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers/atlantis-qwenoft-hist8-profile-cpu15m-s0-v1/episode_metrics.jsonl",
+      "eval_deterministic": true,
+      "eval_episodes": 5,
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+      "eval_parallel_envs": 1,
+      "experiment": "atlantis-qwenoft-hist8-profile-cpu15m-s0-v1",
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+      "gym_action_labels_json": "[\"noop\", \"fire\", \"rightfire\", \"leftfire\"]",
+      "gym_action_space_json": "{\"type\": \"discrete\", \"labels\": [\"noop\", \"fire\", \"rightfire\", \"leftfire\"], \"values\": [0, 1, 2, 3]}",
+      "gym_action_values_json": "[0, 1, 2, 3]",
+      "gym_base_prompt": "Defend Atlantis by firing at descending enemies. Choose exactly one action from: noop, fire, rightfire, leftfire.",
+      "gym_env_id": "LatencyBench/Atlantis-v0",
+      "gym_make_kwargs_json": "{\"base_env_id\": \"ALE/Atlantis-v5\", \"render_mode\": \"rgb_array\", \"screen_size\": 84, \"noop_max\": 30, \"base_make_kwargs\": {\"obs_type\": \"rgb\", \"frameskip\": 1, \"repeat_action_probability\": 0.0, \"full_action_space\": false, \"mode\": 0, \"difficulty\": 0, \"max_num_frames_per_episode\": 108000}}",
+      "gym_noop_action_id": 0,
+      "gym_noop_action_json": "\"noop\"",
+      "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_atlantis\"]",
+      "gym_task_name": "atlantis",
+      "hold_policy": "hold",
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+      "latency_profile_path": "/mnt/ssd/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_configs/atlantis-qwenoft/profile/profile.json",
+      "latency_profile_worker_slot": 0,
+      "latency_seed": 0,
+      "latency_type": "profile_sample",
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+      "obs_scale": 1.0,
+      "ordering_policy": "issue_order_fifo",
+      "output_dir": "/mnt/ssd/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_logs/atlantis-qwenoft-hist8-profile-cpu15m-s0-v1",
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+      "value_loss_coeff": 0.5,
+      "wandb_group": "atlantis",
+      "wandb_job_type": "sample_factory",
+      "wandb_project": "latency-sensitive-bench",
+      "wandb_tags": [
+        "atari-hist8-v1",
+        "profile",
+        "qwenoft"
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+      "wandb_unique_id": "atlantis-qwenoft-hist8-profile-cpu15m-s0-v1",
+      "with_vtrace": false,
+      "with_wandb": true,
+      "worker_num_splits": 1
+    },
+    "clip_reward": null,
+    "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment atlantis-qwenoft-hist8-profile-cpu15m-s0-v1 --train_dir /mnt/ssd/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers --restart_behavior resume --device gpu --seed 0 --episode_metrics_path /mnt/ssd/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers/atlantis-qwenoft-hist8-profile-cpu15m-s0-v1/episode_metrics.jsonl --train_for_env_steps 15000000 --num_workers 4 --num_envs_per_worker 16 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 32 --num_epochs 2 --num_batches_per_epoch 8 --worker_num_splits 1 --max_policy_lag 300 --learning_rate 0.000303 --lr_schedule constant --nonlinearity elu --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.1 --ppo_clip_value 0.2 --exploration_loss entropy --exploration_loss_coeff 0.003 --value_loss_coeff 0.5 --max_grad_norm 0.0 --adam_eps 1e-06 --obs_scale 1.0 --save_every_sec 600 --keep_checkpoints 5 --stats_avg 100 --experiment_summaries_interval 1 --async_rl True --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --with_vtrace False --latency-type profile_sample --latency-seed 0 --latency-profile-path /mnt/ssd/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_configs/atlantis-qwenoft/profile/profile.json --latency-profile-worker-slot 0 --simulated-worker-capacity 1 --add-latency-info False --eval-episodes 5 --eval-parallel-envs 1 --eval-max-steps 5000 --eval-deterministic True --with_wandb True --wandb_project latency-sensitive-bench --wandb_group atlantis --wandb_job_type sample_factory --wandb_tags atari-hist8-v1 profile qwenoft --encoder_conv_architecture convnet_simple --gym-task-name atlantis --gym-env-id LatencyBench/Atlantis-v0 --gym-make-kwargs-json {\"base_env_id\": \"ALE/Atlantis-v5\", \"render_mode\": \"rgb_array\", \"screen_size\": 84, \"noop_max\": 30, \"base_make_kwargs\": {\"obs_type\": \"rgb\", \"frameskip\": 1, \"repeat_action_probability\": 0.0, \"full_action_space\": false, \"mode\": 0, \"difficulty\": 0, \"max_num_frames_per_episode\": 108000}} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_atlantis\"] --gym-action-space-json {\"type\": \"discrete\", \"labels\": [\"noop\", \"fire\", \"rightfire\", \"leftfire\"], \"values\": [0, 1, 2, 3]} --gym-noop-action-json \"noop\" --gym-action-labels-json [\"noop\", \"fire\", \"rightfire\", \"leftfire\"] --gym-action-values-json [0, 1, 2, 3] --gym-noop-action-id 0 --gym-base-prompt Defend Atlantis by firing at descending enemies. Choose exactly one action from: noop, fire, rightfire, leftfire. --env-fps 60 --obs-fps 15 --frame-stack 4 --action-history-decisions 8 --simulator cpu --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+    "continuous_tanh_scale": 0.0,
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+    "decorrelate_envs_on_one_worker": true,
+    "decorrelate_experience_max_seconds": 0,
+    "default_niceness": 0,
+    "device": "gpu",
+    "encoder_conv_architecture": "convnet_simple",
+    "encoder_conv_mlp_layers": [
+      512
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+    "encoder_mlp_layers": [
+      512,
+      512
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+    "env": "latency_gymnasium",
+    "env_fps": 60.0,
+    "env_frameskip": 1,
+    "env_framestack": 1,
+    "env_gpu_actions": false,
+    "env_gpu_observations": true,
+    "episode_counter": false,
+    "episode_metrics_path": "/mnt/ssd/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers/atlantis-qwenoft-hist8-profile-cpu15m-s0-v1/episode_metrics.jsonl",
+    "eval_deterministic": true,
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+    "experiment_summaries_interval": 1,
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+    "export_env_raw_rgb_frames": false,
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+    "train_dir": "/mnt/ssd/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers",
+    "train_for_env_steps": 15000000,
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+    "use_record_episode_statistics": false,
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+    "wandb_group": "atlantis",
+    "wandb_job_type": "sample_factory",
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+      "atari-hist8-v1",
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+      "qwenoft"
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+    "with_wandb": true,
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+  "checkpoint_path": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/data_profile/atlantis/qwenoft/teacher_runtime/best_000028336_14508032_reward_587110.000.pth",
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+      "rightfire",
+      "leftfire"
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+      1,
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+      3
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+    "env_id": "LatencyBench/Atlantis-v0",
+    "frame_stack": 4,
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+    "demon_attack_ghost_trail": " You can see the recent motion of the ship, missiles, and demons in the image. Use it to make your decision.",
+    "flappy_ghost_trail": " You can see the past motion of the bird in the image. Use it to make your decision."
+  },
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+  "latency_override": null,
+  "latency_source": "checkpoint",
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+  "max_steps_unit": "raw_frame",
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+  "obs_fps": 15.0,
+  "obs_stride_raw_frames": 4,
+  "profile_seed_by_reset": "env_reset_seed",
+  "prompt_source": "sample_factory_checkpoint:gym_base_prompt",
+  "replay_num_envs": 256,
+  "reward_field": "raw_reward",
+  "reward_semantics": "raw_reward",
+  "rows_unit": "decision_step",
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+  "split_seed": 0,
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+}

latency-aware/atlantis/vla/starvla-qwenoft-h1/atlantis-qwenoft-hist8-profile-s42-v1/run_metadata.json

@@ -0,0 +1,18 @@
+{
+  "training_run_id": "atlantis-qwenoft-hist8-profile-s42-v1",
+  "wandb_run_id": "7ea15469",
+  "recipe_version": "hist8-v2",
+  "history_encoding": "binary_0_1",
+  "training_condition": "profile",
+  "initialization_seed": 42,
+  "vlm_lr": 3e-06,
+  "max_train_steps": 5000,
+  "stop_after_steps": null,
+  "num_workers_per_rank": 16,
+  "eval_num_workers_per_rank": 16,
+  "prefetch_factor": 4,
+  "base_model_revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17",
+  "dataset_dir": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/data_profile/atlantis/qwenoft/lerobot",
+  "dataset_manifest_sha256": "ffbdce34933d89bd9a9a2ee741dfe0efcd8a6e29fc083fa1a671a8fe519cab78",
+  "code_snapshot_sha256": "367828f71037ae36a88393b78c9865059d86ef23c6a9a7e15230a6478355b96d"
+}