diff --git a/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/README.md b/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/README.md index 67870e57b8f17b3bce7b2c5cd2a5c0cbd5896000..4aecc2ca371624ea9c7e1ea33ecfef63fc1dcd67 100644 --- a/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/README.md +++ b/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/README.md @@ -4,4 +4,5 @@ Current RGB and eight binary decision-history windows; action horizon one. Initi - Training: 5000 steps, seed 42, global batch 128 - W&B: https://wandb.ai/saberrr-zju/starvla_tasks/runs/42b8e7f3 -- Formal zero evaluation: pending. +- Evaluation: 100 episodes, seeds 1000000–1000099, GPU simulator, parallel 32, capacity 1, 60/15 Hz, 7200 raw-frame cap, zero latency +- Mean raw return: 5714.0 diff --git a/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/eval_l0.json b/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/eval_l0.json new file mode 100644 index 0000000000000000000000000000000000000000..45c0a130a4a420c0084150e3e084ea7f13d85e53 --- /dev/null +++ b/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/eval_l0.json @@ -0,0 +1,216 @@ +{ + "checkpoint_path": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/asterix-qwengr00t-hist8-zero-s42-v1/checkpoints/model.pt", + "experiment_name": 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a/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/evaluation/eval_config.yaml b/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/evaluation/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bc26b38b74aa8e2da2ecb16a498bf32879c51902 --- /dev/null +++ b/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/evaluation/eval_config.yaml @@ -0,0 +1,161 @@ +experiment: + name: asterix-qwengr00t-hist8-zero-s42-v1-step5000-history01-zero-par32 + seed: 1000000 +backend: + type: sample_factory + algo: APPO + device: cuda + train_dir: results/sample_factory + restart_behavior: resume + run_mode: eval + extra_args: + - --encoder_conv_architecture + - convnet_simple +executor: + mode: simulated + simulated_worker_capacity: 1 + simulated_inference_pool: true + inference_devices: + - cuda:0 + - cuda:1 + inference_batch_size: 16 +env: + name: gymnasium + task_name: asterix + env_id: LatencyBench/Asterix-v0 + registration_imports: + - latency_bench.envs.gymnasium_asterix + make_kwargs: + base_env_id: ALE/Asterix-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 + env_fps: 60 + obs_fps: 15 + frame_stack: 1 + simulator: gpu + terminal_on_life_loss: false + clip_reward: false + noop_action: noop + action_map: + noop: 0 + up: 1 + right: 2 + left: 3 + down: 4 + upright: 5 + upleft: 6 + downright: 7 + downleft: 8 + action_order: + - noop + - up + - right + - left + - down + - upright + - upleft + - downright + - downleft + base_prompt: 'Collect useful objects and avoid lyres. Choose exactly one action + from: noop, up, right, left, down, upright, upleft, downright, downleft.' + obs_resize: + - 224 + - 224 + gpu_env_device: auto + noop_max: 30 + action_history_decisions: 8 +latency: + method: zero +scheduler: + hold_policy: hold + ordering_policy: issue_order_fifo +policy: + type: starvla + actions: + - noop + - up + - right + - left + - down + - upright + - upleft + - downright + - downleft + checkpoint_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/asterix-qwengr00t-hist8-zero-s42-v1/checkpoints/model.pt + model_config_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/asterix-qwengr00t-hist8-zero-s42-v1/config.yaml + task_manifest_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/asterix-qwengr00t-hist8-zero-s42-v1/manifest.json + device: cuda:0 + unnorm_key: new_embodiment + prompt_mode: latency_neutral + action_layout: discrete_9 + backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 + worker_python_executable: /home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/bin/python3.10 + state_source: transport +training: + train_for_env_steps: 1000000 + num_workers: 4 + num_envs_per_worker: 16 + worker_num_splits: 1 + num_policies: 1 + batch_size: 1024 + rollout: 64 + recurrence: 32 + num_epochs: 2 + num_batches_per_epoch: 8 + 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: 1.0e-06 + obs_scale: 1.0 + adaptive_stddev: false + with_vtrace: false + async_rl: true + use_rnn: false + normalize_input: true + normalize_returns: true + stats_avg: 100 + experiment_summaries_interval: 1 + save_every_sec: 600 + keep_checkpoints: 5 +evaluation: + eval_interval_steps: null + eval_episodes: 100 + eval_parallel_envs: 32 + eval_max_steps: 7200 + eval_deterministic: true + eval_suites: + fixed: [] + normal: [] + uniform: [] + latency_bench_env_backend: asterix_gpu_batched + eval_raw_reward: true +logging: + output_dir: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/evals/asterix-qwengr00t-hist8-zero-s42-v1/zero_to_zero + video: + enabled: false + num_bins: 1 + save_step_records: true + save_action_records: true + save_latency_records: true + wandb_project: null + wandb_group: null + wandb_job_type: null + wandb_tags: '' diff --git a/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/evaluation/provenance.json b/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/evaluation/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..5d82a495f43eb515ca1fd009773997443add5bc2 --- /dev/null +++ b/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/evaluation/provenance.json @@ -0,0 +1,46 @@ +{ + "collection": { + "episodes": 300, + "filter_preset": "none", + "history": "decision_v1", + "history_decisions": 8, + "history_source": "teacher_transport", + "max_episode_raw_frames": 7200, + "rollout_overrides": { + "env_fps": 60, + "fixed_latency_ms": 0.0, + "latency_type": "fixed", + "obs_fps": 15, + "seed": 42 + }, + "student_image_frames": 1, + "teacher_checkpoint": "best_000024112_12345344_reward_5614.500.pth", + "teacher_path": "zero-latency/asterix/small-policy/sample-factory-hist8-cpu15m-s0-v1", + "teacher_repo": "latency-sensitive-bench/benchmark-models", + "teacher_revision": "dfaeecb84cd6b5dfcc3adc0935d0ae86d0b504d2", + "teacher_sha256": "0fe54ff4b3a2ccec438aca789f1a9f86fcef7cda44cda5156e3b774262c50beb", + "train_labels": 337557, + "training_latency_condition": "zero" + }, + "training_run_id": "asterix-qwengr00t-hist8-zero-s42-v1", + "training_step": 5000, + "global_batch": 128, + "base_model": "Qwen/Qwen3-VL-4B-Instruct", + "wandb_run_id": "42b8e7f3", + "checkpoint_sha256": "7b3541140bd2d00d39eca98c8788b773e594884a623ae20d7b9e4dd7b45337f5", + "eval_protocol_version": "hist8-history01-sf-render-v4", + "history_encoding": "binary_0_1", + "episodes": 100, + "env_condition": "zero", + "parallel_envs": 32, + "max_episode_raw_frames": 7200, + "inference_devices": [ + "cuda:0", + "cuda:1" + ], + "episode_seeds": [ + 1000000, + 1000099 + ], + "profile_sha256": null +} diff --git a/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/publication_status.json b/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/publication_status.json index 3370b975b6ba702dbad3e267cec096eaab882dda..5bc42c215b513766a8f5986a715c57d20200b072 100644 --- a/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/publication_status.json +++ b/zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1/publication_status.json @@ -1,4 +1,7 @@ { + "episodes": 100, + "mean_return": 5714.0, "training_status": "complete", - "zero_evaluation_status": "pending" + "zero_evaluation_status": "complete", + "zero_mean_return": 5714.0 }