Publish hist8 profile flappy qwenoft step5000

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/README.md

@@ -0,0 +1,35 @@
+# flappy / qwenoft — hist8 profile training
+
+Run `flappy-qwenoft-hist8-scratch-s42-v2`; final optimizer step **5000**, seed **42**. [W&B](https://wandb.ai/saberrr-zju/starvla_tasks/runs/126a7fee).
+
+Checkpoint SHA256: `c6c1f36ab709d596a9123d395377d43fa57d6e9e4b8399778f3b374ca501f883`.
+
+## Model and inputs
+
+Full StarVLA state dict in `checkpoints/model.pt` (original evaluated bytes). Initialize the matching Qwen model with `config.yaml` and `dataset_statistics.json`. Base: `Qwen/Qwen3-VL-4B-Instruct@ebb281ec70b05090aa6165b016eac8ec08e71b17`; model-specific action head trained from random initialization.
+
+One current RGB image, eight prior causal decision histories (24 raw 0/1 values), action horizon 1. `h1` in this repository path is the action horizon; `hist8` is input history. Pass history as `transport`, preserve all-zero reset, and use identity state normalization. Prompt and action order are in `task_contract.json` and `manifest.json`.
+
+Training: 2 GPUs, bf16/ZeRO-2, batch 64 per rank, accumulation 1, global batch 128; 16 dataloader workers per rank and prefetch 4. Backbone LR 3e-6, action head 1e-4; other groups retain the recorded configuration. Warmup 100, cosine min_lr_rate 1/30, 5000 steps. Full historical training configuration and code snapshot are included.
+
+## Formal evaluation
+
+| Environment | Episodes | Return mean ± std | Mean raw frames |
+|---|---:|---:|---:|
+| profile | 100 | 373.7790 ± 126.8270 | 3030.62 |
+
+Seeds 1,000,000–1,000,099; parallel 32; capacity 1; FPS/decision Hz 10/10; max 3600 raw frames. Zero-trained models have both zero and profile evaluations; profile-trained models have the matching profile evaluation. `profiles/profile.json` is the exact model-specific latency profile, with SHA in provenance.
+
+Each `evaluations/<condition>/` contains the evaluated config, 100 episode records, action audit including raw-score summaries, verification, provenance and evaluator code snapshot. Evaluation configs retain original machine paths as execution evidence; replace checkpoint, model-config, backbone, profile and output paths when replaying locally. Deadly Corridor requires 160×120 RGB with HUD, no crosshair, weapon enabled, decals/particles disabled before resizing.
+
+These are one-training-seed results. Architectures use different latency profiles. Zero/profile training also uses different teachers and collected data, so their score difference is not an isolated learning-rate ablation.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2"
+repo = snapshot_download("latency-sensitive-bench/benchmark-models", allow_patterns=[prefix + "/**"])
+```
+
+Use a pinned repository commit for reproduction. Preserve the original checkpoint SHA above. Optimizer/RNG resume state remains in the source training archive; this publication contains the inference checkpoint.

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/bundle.complete.json

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+{
+  "checkpoint_sha256": "c6c1f36ab709d596a9123d395377d43fa57d6e9e4b8399778f3b374ca501f883",
+  "training_step": 5000
+}

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/checkpoint.sha256

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+c6c1f36ab709d596a9123d395377d43fa57d6e9e4b8399778f3b374ca501f883  checkpoints/model.pt

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/checkpoints/model.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c6c1f36ab709d596a9123d395377d43fa57d6e9e4b8399778f3b374ca501f883
+size 9785137569

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/collection_quality_report.json

@@ -0,0 +1,30 @@
+{
+  "episodes": 200,
+  "train_episodes": 180,
+  "val_episodes": 20,
+  "train_labels": 1926907,
+  "val_labels": 232543,
+  "raw_frames_quantiles": [
+    68.0,
+    1908.4,
+    11734.0,
+    18000.0,
+    18000.0
+  ],
+  "return_quantiles": [
+    6.600000098347664,
+    234.6500027678907,
+    1451.3000170215964,
+    2229.3000261113048,
+    2229.3000261113048
+  ],
+  "termination_reasons": {
+    "terminated": 142,
+    "horizon": 58
+  },
+  "action_id_counts": {
+    "0": 1896714,
+    "1": 262736
+  },
+  "previous_decision_admitted_fraction": 0.997527382192891
+}

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/config.full.yaml

@@ -0,0 +1,271 @@
+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: 2
+    state_dim: 24
+    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: 2
+  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/hist8-vla-20260923/outputs/tasks/decision_history_vla_hist8/data/flappy/qwenoft
+    data_mix: lerobot
+    eval_data_mix: lerobot__val
+    custom_mixtures_path: /home/ubuntu/codex/hist8-vla-20260923/outputs/tasks/decision_history_vla_hist8/data/flappy/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: ''
+  config_name: null
+  source_subdir: null
+  converted_name: flappy_train
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: flappy_train
+  mixed_converted_name: flappy_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: true
+  pretrained_checkpoint: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/train/flappy-qwenoft-hist8-scratch-s42-v2/checkpoints/steps_2347_state
+  resume_step: 2347
+  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
+  hist8_diagnostics:
+    steps:
+    - 0
+    - 500
+    - 1000
+    - 2500
+    - 5000
+    sample_count: 2048
+    noise_seeds:
+    - 1729
+    sample_seed: 42
+    batch_size: 8
+    bootstrap_repeats: 4000
+workspace_dir: WORKSPACE_DIR
+run_root_dir: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/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: 1
+    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: ''
+    eval_parallel_envs: 5
+    action_chunk_execution:
+      enabled: false
+      chunk_size: null
+    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
+      num_episodes: 5
+      max_steps_per_episode: 3600
+  task: flappy
+  initialization_mode: scratch
+  action_carrier: native
+model: openvla
+env: flappy
+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: flappy-qwenoft-hist8-scratch-s42-v2
+output_dir: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/train/flappy-qwenoft-hist8-scratch-s42-v2
+config_yaml: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/train/flappy-qwenoft-hist8-scratch-s42-v2/train.yaml
+is_debug: false
+version_id: '0.21'
+wandb_name: flappy-qwenoft-hist8-scratch-s42-v2
+wandb_group: decision-history-vla-h8-v2
+wandb_tags:
+- flappy
+- qwenoft
+- hist8-v2
+- history01
+- scratch
+- profile-latency
+training_latency_condition: profile-latency

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/config.yaml

@@ -0,0 +1,34 @@
+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: 2
+    state_dim: 24
+    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: 2
+  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_flappy
+trainer:
+  pretrained_checkpoint: null

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/dataset_statistics.json

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+{
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+}

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/eval_profile.json

@@ -0,0 +1,41 @@
+{
+  "job_id": "eval_v2__flappy-qwenoft-hist8-scratch-s42-v2",
+  "eval_protocol_version": "hist8-history01-par32-v3",
+  "training_step": 5000,
+  "checkpoint_sha256": "c6c1f36ab709d596a9123d395377d43fa57d6e9e4b8399778f3b374ca501f883",
+  "profile_sha256": "c266cba7ebac05c7e37bc83f1f16fe4b27dab97942ff43290e6c41514f6e39fc",
+  "mean_return": 373.7790043977648,
+  "std_return": 126.82699726383991,
+  "mean_length": 3030.62,
+  "episodes": 100,
+  "parallel_envs": 32,
+  "max_episode_raw_frames": 3600,
+  "issued_actions": 302228,
+  "top_action": "noop",
+  "largest_action_fraction": 0.8740189525788478,
+  "unique_action_values": 2,
+  "episode_final_done": 34,
+  "episodes_at_frame_cap": 66,
+  "checks": {
+    "100_exact_seeds": true,
+    "checkpoint_sha": true,
+    "bundle_step": true,
+    "profile_sha": true,
+    "binary_history": true,
+    "raw_score_means_match": true,
+    "action_counts_match": true,
+    "action_total_match": true,
+    "summary_returns_match": true,
+    "summary_lengths_match": true,
+    "100_final_steps": true,
+    "final_step_lengths_match": true,
+    "parallel_capacity_horizon": true,
+    "fps_history": true,
+    "environment_latency_matches": true,
+    "episode_latency_protocol": true,
+    "training_recipe": true,
+    "training_dimensions": true,
+    "initialization_revision": true
+  },
+  "environment_condition": "profile"
+}

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/evaluations/profile/action_audit.json

@@ -0,0 +1,125 @@
+{
+  "eval_protocol_version": "hist8-history01-par32-v3",
+  "history_encoding": "binary_0_1",
+  "episodes": 100,
+  "episode_seeds": [
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latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/evaluations/profile/eval_config.yaml

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+experiment:
+  name: flappy-qwenoft-hist8-scratch-s42-v2-step5000-history01-profile-par32
+  seed: 1000000
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+  simulated_inference_pool: true
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+  profile_worker_slot: 0
+  seed: 271828
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+  checkpoint_path: /mnt/ssd/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenoft-hist8-scratch-s42-v2/checkpoints/model.pt
+  model_config_path: /mnt/ssd/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenoft-hist8-scratch-s42-v2/config.yaml
+  device: cuda:0
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+  latency_bench_env_backend: flappy_gpu_batched
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+  eval_deterministic: true
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+  save_step_records: true
+  save_action_records: true
+  save_latency_records: true
+  video:
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latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/evaluations/profile/provenance.json

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latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/evaluations/profile/resolved_config.yaml

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+experiment:
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+  inference_devices:
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+  checkpoint_path: /mnt/ssd/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenoft-hist8-scratch-s42-v2/checkpoints/model.pt
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+  device: cuda:0
+  unnorm_key: new_embodiment
+  prompt_mode: latency_neutral
+  actions:
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+  - flap
+  backbone_path: /mnt/ssd/codex/hist8-vla-20260923/backbone/Qwen3-VL-4B-Instruct
+  worker_python_executable: /mnt/ssd/miniconda3/envs/starvla_rl_games_openvla/bin/python3.10
+  state_source: transport
+  action_prefix:
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+  save_step_records: true
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latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/evaluations/profile/summary.json

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latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/evaluations/profile/verification.json

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+}

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/manifest.json

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latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/profiles/latency_distribution.json

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latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/profiles/profile.json

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+{
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latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/provenance.json

@@ -0,0 +1,69 @@
+{
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latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/rollout_metadata.json

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+{
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+        "qwenoft_rtx3090_temporal_hist8_capacity1",
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+    "with_vtrace": false,
+    "with_wandb": true,
+    "worker_num_splits": 1,
+    "zero_worker_busy_bit": false
+  },
+  "checkpoint_experiment_dir": "/home/ubuntu/codex/hist8-vla-20260923/outputs/tasks/decision_history_vla_hist8/data/flappy/qwenoft/models/latency-aware/flappy/small-policy/sample-factory-qwenoft-rtx3090-temporal-hist8-capacity1-s42-v1",
+  "checkpoint_path": "/home/ubuntu/codex/hist8-vla-20260923/outputs/tasks/decision_history_vla_hist8/data/flappy/qwenoft/models/latency-aware/flappy/small-policy/sample-factory-qwenoft-rtx3090-temporal-hist8-capacity1-s42-v1/best_000047872_24543232_reward_1331.159.pth",
+  "checkpoint_train_step": 47872,
+  "config_source": "/home/ubuntu/codex/hist8-vla-20260923/outputs/tasks/decision_history_vla_hist8/data/flappy/qwenoft/models/latency-aware/flappy/small-policy/sample-factory-qwenoft-rtx3090-temporal-hist8-capacity1-s42-v1/config.json",
+  "context_image_count": 0,
+  "context_window": 1,
+  "env_fps": 10.0,
+  "env_name": "flappy",
+  "episode_return_field": "episode_raw_return",
+  "filter_preset": "none",
+  "filter_report": {
+    "accepted_episodes": 200,
+    "accepted_train_episodes": 180,
+    "accepted_val_episodes": 20,
+    "attempted_episodes": 200,
+    "preset": "none",
+    "rejected_episodes": 0,
+    "train_rows_after_row_filter": 1926907,
+    "train_rows_before_row_filter": 1926907,
+    "val_rows_after_row_filter": 232543,
+    "val_rows_before_row_filter": 232543
+  },
+  "frame_stack": 4,
+  "image_resolution": [
+    512,
+    288,
+    3
+  ],
+  "image_source": "env_raw_rgb",
+  "image_transform": {
+    "gamma": 1.3,
+    "ground_fraction": 0.22,
+    "history_frames": 5,
+    "image_transform": "raw_rgb",
+    "min_alpha": 35,
+    "scroll_px_per_step": 4.0
+  },
+  "image_transform_prompt_contexts": {
+    "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."
+  },
+  "latency_override": null,
+  "latency_source": "checkpoint",
+  "max_episodes": 200,
+  "max_steps_per_episode": 18000,
+  "max_steps_unit": "raw_frame",
+  "num_envs": 256,
+  "obs_fps": 10.0,
+  "obs_stride_raw_frames": 1,
+  "profile_seed_by_reset": "env_reset_seed",
+  "prompt_source": "sample_factory_checkpoint:base_prompt",
+  "replay_num_envs": 256,
+  "reward_field": "raw_reward",
+  "reward_semantics": "raw_reward",
+  "rows_unit": "decision_step",
+  "schema_version": 2,
+  "split_seed": 0,
+  "total_episodes": 200,
+  "total_rows": 2159450,
+  "train_episodes": 180,
+  "train_rows": 1926907,
+  "val_episodes": 20,
+  "val_fraction": 0.1,
+  "val_rows": 232543
+}

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/run_metadata.json

@@ -0,0 +1,17 @@
+{
+  "training_run_id": "flappy-qwenoft-hist8-scratch-s42-v2",
+  "wandb_run_id": "126a7fee",
+  "recipe_version": "hist8-v2",
+  "history_encoding": "binary_0_1",
+  "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/hist8-vla-20260923/outputs/tasks/decision_history_vla_hist8/data/flappy/qwenoft/lerobot",
+  "dataset_manifest_sha256": "45f979c7b04ec3c46ad7e6fa10891dcc29d4819219bbd67ca141a84e8aaa9a31",
+  "code_snapshot_sha256": "a87288eda53e8a6c45adf04e81f1236d5829d8eb2fe145e0e001310d6a9ebbbe"
+}

latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/task_contract.json

@@ -0,0 +1,43 @@
+{
+  "task": "flappy",
+  "model": "qwenoft",
+  "action_horizon": 1,
+  "image_frames": 1,
+  "state_source": "transport",
+  "state_dim": 24,
+  "history_decisions": 8,
+  "history_encoding": "binary_0_1",
+  "history_normalization": "identity",
+  "history_reset": "all_zero",
+  "history_order": "oldest_to_newest",
+  "history_entry_fields": [
+    "admission_bit",
+    "admitted_command_non_noop_bits",
+    "last_applied_action_non_noop_bits"
+  ],
+  "history_action_bit_order": [
+    "FLAP"
+  ],
+  "action_dim": 2,
+  "action_layout": "flappy_discrete",
+  "action_labels": [
+    "NOOP",
+    "FLAP"
+  ],
+  "task_prompts": [
+    "You are playing Flappy Bird. Pass through the pipe gaps and stay alive. Choose the action: NOOP, FLAP."
+  ],
+  "env_fps": 10,
+  "obs_fps": 10,
+  "evaluation": {
+    "episodes": 100,
+    "seeds": [
+      1000000,
+      1000099
+    ],
+    "parallel_envs": 32,
+    "capacity": 1,
+    "max_raw_frames": 3600,
+    "protocol_version": "hist8-history01-par32-v3"
+  }
+}