diff --git a/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/README.md b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/README.md new file mode 100644 index 0000000000000000000000000000000000000000..a5e8f139daf74a185f1c93a17fe80e9db29ff455 --- /dev/null +++ b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/README.md @@ -0,0 +1,7 @@ +# Asterix qwengr00t 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/946c608a +- Formal profile evaluation: pending. diff --git a/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/bundle.complete.json b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/bundle.complete.json new file mode 100644 index 0000000000000000000000000000000000000000..ec346a0f72553dd60ed25d9c32c6b09a83868852 --- /dev/null +++ b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/bundle.complete.json @@ -0,0 +1,4 @@ +{ + "checkpoint_sha256": "a192db0f4f9707271e453150467a4d833c29479f3e6f6f8031039e84dab8afcf", + "training_step": 5000 +} diff --git a/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/checkpoint.sha256 b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/checkpoint.sha256 new file mode 100644 index 0000000000000000000000000000000000000000..c0f7b09a3c01b06f142aad4810b02843efdca709 --- /dev/null +++ b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/checkpoint.sha256 @@ -0,0 +1 @@ +a192db0f4f9707271e453150467a4d833c29479f3e6f6f8031039e84dab8afcf checkpoints/model.pt diff --git a/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/checkpoints/model.pt b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..b52471b9179bc0a49297a6f50472accc8c363cde --- /dev/null +++ b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a192db0f4f9707271e453150467a4d833c29479f3e6f6f8031039e84dab8afcf +size 9977115427 diff --git a/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/collection_quality_report.json b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/collection_quality_report.json new file mode 100644 index 0000000000000000000000000000000000000000..be1e498b48b94960c7265c61d900cdf43a3b2ff4 --- /dev/null +++ b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/collection_quality_report.json @@ -0,0 +1,36 @@ +{ + "episodes": 550, + "train_episodes": 495, + "val_episodes": 55, + "train_labels": 345402, + "val_labels": 36335, + "raw_frames_quantiles": [ + 852.0, + 1543.6, + 2734.0, + 4098.0, + 5960.0 + ], + "return_quantiles": [ + 350.0, + 850.0, + 1700.0, + 2600.0, + 5200.0 + ], + "termination_reasons": { + "terminated": 550 + }, + "action_id_counts": { + "0": 17625, + "1": 68422, + "2": 11821, + "3": 75908, + "4": 48979, + "5": 106122, + "6": 18818, + "7": 17251, + "8": 16791 + }, + "previous_decision_admitted_fraction": 0.25025250074110605 +} diff --git a/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/config.full.yaml b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/config.full.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c877c2fb681f54af5fdad42605ac8cd6e5fa1143 --- /dev/null +++ b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/config.full.yaml @@ -0,0 +1,285 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: true + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 9 + state_dim: 136 + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 8 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + num_inference_timesteps: 4 + num_target_vision_tokens: 32 + diffusion_model_cfg: + cross_attention_dim: 2560 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + num_layers: 16 + output_dim: 1024 + positional_embeddings: null + attention_head_dim: 64 + loss_type: l1 + future_action_window_size: 0 + past_action_window_size: 0 + action_env_dim: 9 + 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/asterix/qwengr00t + data_mix: lerobot + eval_data_mix: lerobot__val + custom_mixtures_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/data_profile/asterix/qwengr00t/_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: asterix_train + single_source_hf: latency-sensitive-bench/memory-rollouts + mixed_source_hf: latency-sensitive-bench/memory-rollouts + single_converted_name: asterix_train + mixed_converted_name: asterix_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: gr00t + 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: 'Collect useful objects and avoid lyres. Choose exactly one + action from: noop, up, right, left, down, upright, upleft, downright, downleft.' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + asterix: + action_layout: discrete_9 + atari: + env_id: ALE/Asterix-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: asterix + initialization_mode: scratch + action_carrier: native +model: gr00t +env: asterix +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: asterix-qwengr00t-hist8-profile-s42-v1 +output_dir: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/train/asterix-qwengr00t-hist8-profile-s42-v1 +config_yaml: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/train/asterix-qwengr00t-hist8-profile-s42-v1/train.yaml +is_debug: false +version_id: '0.21' +wandb_name: asterix-qwengr00t-hist8-profile-s42-v1 +wandb_group: decision-history-vla-h8-v2 +wandb_tags: +- asterix +- qwengr00t +- hist8-v2 +- history01 +- scratch +- profile-latency +training_latency_condition: profile-latency diff --git a/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/config.yaml b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8eb130545d8fb2aa72d5038834bd211933a9ba9f --- /dev/null +++ b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/config.yaml @@ -0,0 +1,60 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: Qwen/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + vl_hidden_dim: 2048 + enable_gradient_checkpointing: true + action_model: + action_model_type: DiT-B + action_hidden_dim: 1024 + hidden_size: 1024 + add_pos_embed: true + max_seq_len: 1024 + action_dim: 9 + state_dim: 136 + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 8 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + num_inference_timesteps: 4 + num_target_vision_tokens: 32 + diffusion_model_cfg: + cross_attention_dim: 2560 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + num_layers: 16 + output_dim: 1024 + positional_embeddings: null + attention_head_dim: 64 + loss_type: l1 + future_action_window_size: 0 + past_action_window_size: 0 + action_env_dim: 9 + 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_asterix +trainer: + pretrained_checkpoint: null +backbone: + repo_id: Qwen/Qwen3-VL-4B-Instruct + revision: ebb281ec70b05090aa6165b016eac8ec08e71b17 +rl_games: + env_eval: + image_size: 224 diff --git a/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/dataset_statistics.json b/latency-aware/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-profile-s42-v1/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..3764119a06e61fc5b7fbdb8498742c4c8f4c5aed --- /dev/null +++ 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Choose exactly one action from: noop, up, right, left, down, upright, upleft, downright, downleft.", + "checkpoint_config": { + "action_history_decisions": 8, + "actor_critic_share_weights": true, + "actor_worker_gpus": [], + "adam_beta1": 0.9, + "adam_beta2": 0.999, + "adam_eps": 1e-06, + "adaptive_stddev": false, + "add_latency_info": false, + "algo": "APPO", + "async_rl": true, + "batch_size": 1024, + "batched_sampling": false, + "benchmark": false, + "cli_args": { + "action_history_decisions": 8, + "adam_eps": 1e-06, + "adaptive_stddev": false, + "add_latency_info": false, + "algo": "APPO", + "async_rl": true, + "batch_size": 1024, + "device": "gpu", + "encoder_conv_architecture": "convnet_simple", + "env": "latency_gymnasium", + "env_fps": 60.0, + "episode_metrics_path": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers/asterix-qwengr00t-hist8-profile-cpu15m-s0-v1/episode_metrics.jsonl", + "eval_deterministic": true, + "eval_episodes": 5, + "eval_max_steps": 5000, + "eval_parallel_envs": 1, + "experiment": "asterix-qwengr00t-hist8-profile-cpu15m-s0-v1", + "experiment_summaries_interval": 1, + "exploration_loss": "entropy", + "exploration_loss_coeff": 0.003, + "frame_stack": 4, + "gae_lambda": 0.95, + "gamma": 0.99, + "gym_action_labels_json": "[\"noop\", \"up\", \"right\", \"left\", \"down\", \"upright\", \"upleft\", \"downright\", \"downleft\"]", + "gym_action_space_json": "{\"type\": \"discrete\", \"labels\": [\"noop\", \"up\", \"right\", \"left\", \"down\", \"upright\", \"upleft\", \"downright\", \"downleft\"], \"values\": [0, 1, 2, 3, 4, 5, 6, 7, 8]}", + "gym_action_values_json": "[0, 1, 2, 3, 4, 5, 6, 7, 8]", + "gym_base_prompt": "Collect useful objects and avoid lyres. 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