Publish hist8 profile flappy qwenpi_v3 step5000

latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/README.md

@@ -0,0 +1,35 @@
+# flappy / qwenpi_v3 — hist8 profile training
+
+Run `flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6`; final optimizer step **5000**, seed **42**. [W&B](https://wandb.ai/saberrr-zju/starvla_tasks/runs/7660c2a2).
+
+Checkpoint SHA256: `314aa15602db143a58011fff17fa4d1fcdbabf8f32135870ceff61877e5e6cce`.
+
+## 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 | 344.4830 ± 145.2504 | 2794.21 |
+
+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-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6"
+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-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/bundle.complete.json

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+{
+  "checkpoint_sha256": "314aa15602db143a58011fff17fa4d1fcdbabf8f32135870ceff61877e5e6cce",
+  "training_step": 5000
+}

latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/checkpoint.sha256

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latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/checkpoints/model.pt

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+size 10922651805

latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/collection_quality_report.json

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+{
+  "episodes": 200,
+  "train_episodes": 180,
+  "val_episodes": 20,
+  "train_labels": 1776607,
+  "val_labels": 194543,
+  "raw_frames_quantiles": [
+    53.0,
+    1133.0000000000002,
+    9205.5,
+    18000.0,
+    18000.0
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+  "return_quantiles": [
+    4.200000077486038,
+    138.12000164389613,
+    1138.1500133536756,
+    2229.3000261113048,
+    2229.3000261113048
+  ],
+  "termination_reasons": {
+    "terminated": 143,
+    "horizon": 57
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+  "action_id_counts": {
+    "0": 1257343,
+    "1": 713807
+  },
+  "previous_decision_admitted_fraction": 0.4279560617976103
+}

latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/config.full.yaml

@@ -0,0 +1,297 @@
+framework:
+  name: QwenPI_v3
+  qwenvl:
+    base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2560
+    num_vl_layers: 36
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: LayerwiseFM
+    action_dim: 2
+    state_dim: 24
+    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: true
+      norm_type: ada_norm
+      positional_embeddings: null
+      attention_head_dim: 64
+      output_dim: 1024
+      num_layers: 36
+      input_embedding_dim: 1024
+      cross_attention_dim: 1024
+      num_attention_heads: 16
+    loss_type: l1
+    future_action_window_size: 0
+    past_action_window_size: 0
+    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/qwenpi_v3
+    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/qwenpi_v3/_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: 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
+  hist8_diagnostics:
+    steps:
+    - 0
+    - 500
+    - 1000
+    - 2500
+    - 5000
+    sample_count: 2048
+    noise_seeds:
+    - 1729
+    - 1730
+    - 1731
+    - 1732
+    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: pi-0.5
+  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: pi05
+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-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6
+output_dir: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/train/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6
+config_yaml: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/train/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/train.yaml
+is_debug: false
+version_id: '0.21'
+wandb_name: flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6
+wandb_group: decision-history-vla-h8-v2
+wandb_tags:
+- flappy
+- qwenpi_v3
+- hist8-v2
+- history01
+- scratch
+- profile-latency
+training_latency_condition: profile-latency

latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/config.yaml

@@ -0,0 +1,57 @@
+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
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: LayerwiseFM
+    action_dim: 2
+    state_dim: 24
+    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: true
+      norm_type: ada_norm
+      positional_embeddings: null
+      attention_head_dim: 64
+      output_dim: 1024
+      num_layers: 36
+      input_embedding_dim: 1024
+      cross_attention_dim: 1024
+      num_attention_heads: 16
+    loss_type: l1
+    future_action_window_size: 0
+    past_action_window_size: 0
+    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

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latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/eval_profile.json

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+{
+  "job_id": "eval_v2__flappy-qwenpi_v3-hist8-scratch-s42-v2",
+  "eval_protocol_version": "hist8-history01-par32-v3",
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+  "checkpoint_sha256": "314aa15602db143a58011fff17fa4d1fcdbabf8f32135870ceff61877e5e6cce",
+  "profile_sha256": "be2cd7a2a7fdf40c5c967d0c3cc16b912969d0ac0b4acc785aac3d0e4133df30",
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latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/evaluations/profile/action_audit.json

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latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/evaluations/profile/eval_config.yaml

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+experiment:
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+  seed: 1000000
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+  gym_id: FlappyBird-v0
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+  render_mode: rgb_array
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+  checkpoint_path: /mnt/ssd/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/checkpoints/model.pt
+  model_config_path: /mnt/ssd/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/config.yaml
+  device: cuda:0
+  unnorm_key: new_embodiment
+  prompt_mode: latency_neutral
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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
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+  eval_deterministic: true
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+logging:
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+  save_step_records: true
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latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/evaluations/profile/provenance.json

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+{
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latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/evaluations/profile/resolved_config.yaml

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+experiment:
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+  seed: 1000000
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+  simulated_inference_pool: true
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+  observation_mode: image
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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
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+  save_step_records: true
+  save_action_records: true
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+  video:
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+  simulated_pipeline_profile: false

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latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/evaluations/profile/verification.json

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+    "batch_size": 4096,
+    "batched_sampling": true,
+    "benchmark": false,
+    "bird_color": "yellow",
+    "cli_args": {
+      "action_history_decisions": 8,
+      "actor_worker_gpus": [
+        0
+      ],
+      "add_latency_info": false,
+      "algo": "APPO",
+      "async_rl": true,
+      "audio_on": false,
+      "background": "day",
+      "batch_size": 4096,
+      "batched_sampling": true,
+      "bird_color": "yellow",
+      "debug": false,
+      "debug_timelimit_diagnostics": false,
+      "device": "gpu",
+      "env": "latency_flappy",
+      "env_fps": 10.0,
+      "env_gpu_actions": true,
+      "env_gpu_observations": true,
+      "episode_metrics_path": "results/checkpoints/flappy/decision_history_temporal_25m_seed42/flappy_profile_pi05_rtx3090_temporal_hist8_capacity1_obs10_seed42/episode_metrics.jsonl",
+      "eval_deterministic": true,
+      "eval_episodes": 100,
+      "eval_max_steps": 18000,
+      "eval_parallel_envs": 100,
+      "experiment": "flappy_profile_pi05_rtx3090_temporal_hist8_capacity1_obs10_seed42",
+      "experiment_summaries_interval": 1,
+      "frame_stack": 4,
+      "gae_lambda": 0.95,
+      "gamma": 0.99,
+      "gpu_render_batch_size": 128,
+      "gpu_render_device": "auto",
+      "gpu_render_profile": false,
+      "gpu_render_profile_interval": 200,
+      "gym_id": "FlappyBird-v0",
+      "hold_policy": "one_frame_then_noop",
+      "include_transport_history": false,
+      "keep_checkpoints": 5,
+      "latency_profile_path": "results/profiling/profiles/pi05/1x-rtx3090/flappy/instance_a5037b165aa0cedc/profile.json",
+      "latency_profile_worker_slot": 0,
+      "latency_seed": 42,
+      "latency_type": "profile_sample",
+      "learning_rate": 0.00025,
+      "lr_schedule": "linear_decay",
+      "mask_unadmitted_actor": false,
+      "max_grad_norm": 0.5,
+      "max_policy_lag": 400,
+      "mode": "train",
+      "normalize_input": true,
+      "normalize_obs": true,
+      "normalize_returns": true,
+      "num_batches_per_epoch": 8,
+      "num_envs_per_worker": 1,
+      "num_epochs": 8,
+      "num_policies": 1,
+      "num_workers": 2,
+      "obs_fps": 10.0,
+      "obs_resize": "84,84",
+      "ordering_policy": "latest_ready",
+      "output_dir": "outputs/tasks/flappy/decision_history_temporal_25m_seed42/train/profile/pi05_rtx3090_temporal_hist8_capacity1/obs10/seed_42",
+      "pipe_color": "green",
+      "pipe_gap": 100,
+      "ppo_clip_ratio": 0.1,
+      "ppo_clip_value": 0.2,
+      "recurrence": 1,
+      "restart_behavior": "resume",
+      "rollout": 128,
+      "save_every_sec": 600,
+      "seed": 42,
+      "simulated_worker_capacity": 1,
+      "simulator": "gpu",
+      "stats_avg": 100,
+      "train_dir": "results/checkpoints/flappy/decision_history_temporal_25m_seed42",
+      "train_for_env_steps": 25000000,
+      "use_gpu_render": true,
+      "use_lidar": false,
+      "use_rnn": false,
+      "value_loss_coeff": 0.5,
+      "wandb_group": "flappy-obs10-pi05_rtx3090_temporal_hist8_capacity1",
+      "wandb_job_type": "flappy_decision_history_temporal",
+      "wandb_project": "starvla_tasks",
+      "wandb_tags": [
+        "flappy_decision_history_temporal_25m_seed42",
+        "flappy",
+        "profile",
+        "temporal",
+        "pi05_rtx3090_temporal_hist8_capacity1",
+        "obs10",
+        "seed42"
+      ],
+      "wandb_unique_id": "flappy-obs10-pi05_rtx3090_temporal_hist8_capacity1-s42",
+      "with_wandb": true,
+      "worker_num_splits": 1,
+      "zero_worker_busy_bit": false
+    },
+    "command_line": "--mode train --algo APPO --env latency_flappy --experiment flappy_profile_pi05_rtx3090_temporal_hist8_capacity1_obs10_seed42 --train_dir results/checkpoints/flappy/decision_history_temporal_25m_seed42 --restart_behavior resume --device gpu --actor_worker_gpus 0 --env_gpu_observations True --env_gpu_actions True --gpu-render-batch-size 128 --seed 42 --episode_metrics_path results/checkpoints/flappy/decision_history_temporal_25m_seed42/flappy_profile_pi05_rtx3090_temporal_hist8_capacity1_obs10_seed42/episode_metrics.jsonl --train_for_env_steps 25000000 --num_workers 2 --num_envs_per_worker 1 --num_policies 1 --batch_size 4096 --rollout 128 --recurrence 1 --num_epochs 8 --num_batches_per_epoch 8 --worker_num_splits 1 --max_policy_lag 400 --learning_rate 0.00025 --lr_schedule linear_decay --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.1 --ppo_clip_value 0.2 --value_loss_coeff 0.5 --max_grad_norm 0.5 --save_every_sec 600 --keep_checkpoints 5 --stats_avg 100 --experiment_summaries_interval 1 --batched_sampling True --async_rl True --use_rnn False --normalize_returns True --normalize_input True --latency-type profile_sample --latency-seed 42 --latency-profile-path results/profiling/profiles/pi05/1x-rtx3090/flappy/instance_a5037b165aa0cedc/profile.json --latency-profile-worker-slot 0 --simulated-worker-capacity 1 --add-latency-info False --eval-episodes 100 --eval-parallel-envs 100 --eval-max-steps 18000 --eval-deterministic True --with_wandb True --wandb_project starvla_tasks --wandb_group flappy-obs10-pi05_rtx3090_temporal_hist8_capacity1 --wandb_job_type flappy_decision_history_temporal --wandb_tags flappy_decision_history_temporal_25m_seed42 flappy profile temporal pi05_rtx3090_temporal_hist8_capacity1 obs10 seed42 --gym_id FlappyBird-v0 --env-fps 10 --obs-fps 10.0 --use_lidar False --normalize_obs True --audio_on False --obs_resize 84,84 --use-gpu-render True --simulator gpu --gpu-render-device auto --gpu-render-profile False --gpu-render-profile-interval 200 --mask-unadmitted-actor False --include-transport-history False --zero-worker-busy-bit False --action-history-decisions 8 --pipe_gap 100 --bird_color yellow --pipe_color green --background day --frame_stack 4 --debug False --debug-timelimit-diagnostics False --hold-policy one_frame_then_noop --ordering-policy latest_ready",
+    "continuous_tanh_scale": 0.0,
+    "debug": false,
+    "debug_timelimit_diagnostics": false,
+    "decoder_mlp_layers": [],
+    "decorrelate_envs_on_one_worker": true,
+    "decorrelate_experience_max_seconds": 0,
+    "default_niceness": 0,
+    "device": "gpu",
+    "encoder_conv_architecture": "convnet_atari",
+    "encoder_conv_mlp_layers": [
+      512
+    ],
+    "encoder_mlp_layers": [
+      512,
+      512
+    ],
+    "env": "latency_flappy",
+    "env_fps": 10.0,
+    "env_frameskip": 1,
+    "env_framestack": 1,
+    "env_gpu_actions": true,
+    "env_gpu_observations": true,
+    "episode_counter": false,
+    "episode_metrics_path": "results/checkpoints/flappy/decision_history_temporal_25m_seed42/flappy_profile_pi05_rtx3090_temporal_hist8_capacity1_obs10_seed42/episode_metrics.jsonl",
+    "eval_deterministic": true,
+    "eval_env_frameskip": 1,
+    "eval_episodes": 100,
+    "eval_latency_raw_frame_values": "0,1,2,3,4,5",
+    "eval_max_steps": 18000,
+    "eval_parallel_envs": 100,
+    "eval_raw_reward": false,
+    "experiment": "flappy_profile_pi05_rtx3090_temporal_hist8_capacity1_obs10_seed42",
+    "experiment_summaries_interval": 1,
+    "exploration_loss": "entropy",
+    "exploration_loss_coeff": 0.003,
+    "fasttd3_action_chunk_horizon": 1,
+    "fasttd3_actor_action_l2": 0.0,
+    "fasttd3_compile": true,
+    "fasttd3_replay_batch_size": 32768,
+    "fasttd3_replay_capacity": 6553600,
+    "fasttd3_train_for_optimizer_steps": 10000000000,
+    "fasttd3_transitions_per_update": 64,
+    "fasttd3_v_max": 250.0,
+    "fasttd3_v_min": -250.0,
+    "fixed_latency_ms": null,
+    "flush_summaries_interval": 30,
+    "force_envs_single_thread": false,
+    "frame_stack": 4,
+    "gae_lambda": 0.95,
+    "gamma": 0.99,
+    "git_hash": "unknown",
+    "git_repo_name": "not a git repository",
+    "gpu_render_batch_size": 128,
+    "gpu_render_device": "auto",
+    "gpu_render_profile": false,
+    "gpu_render_profile_interval": 200,
+    "gym_id": "FlappyBird-v0",
+    "heartbeat_interval": 20,
+    "heartbeat_reporting_interval": 180,
+    "help": false,
+    "hold_policy": "one_frame_then_noop",
+    "include_transport_history": false,
+    "initial_model_path": null,
+    "initial_stddev": 1.0,
+    "keep_checkpoints": 5,
+    "kl_loss_coeff": 0.0,
+    "latency_profile_path": "results/profiling/profiles/pi05/1x-rtx3090/flappy/instance_a5037b165aa0cedc/profile.json",
+    "latency_profile_worker_slot": 0,
+    "latency_seed": 42,
+    "latency_type": "profile_sample",
+    "learning_rate": 0.00025,
+    "load_checkpoint_kind": "latest",
+    "log_to_file": true,
+    "lr_adaptive_max": 0.01,
+    "lr_adaptive_min": 1e-06,
+    "lr_schedule": "linear_decay",
+    "lr_schedule_kl_threshold": 0.008,
+    "lr_schedule_min_lr": 0.0,
+    "mask_unadmitted_actor": false,
+    "max_episode_steps": 0,
+    "max_grad_norm": 0.5,
+    "max_latency_ms": null,
+    "max_pending_actions": null,
+    "max_policy_lag": 400,
+    "mean_latency_ms": null,
+    "min_latency_ms": null,
+    "mode": "train",
+    "nonlinearity": "elu",
+    "normalize_input": true,
+    "normalize_input_keys": null,
+    "normalize_obs": true,
+    "normalize_returns": true,
+    "num_batches_per_epoch": 8,
+    "num_batches_to_accumulate": 2,
+    "num_envs_per_worker": 1,
+    "num_epochs": 8,
+    "num_policies": 1,
+    "num_workers": 2,
+    "obs_fps": 10.0,
+    "obs_resize": "84,84",
+    "obs_scale": 255.0,
+    "obs_subtract_mean": 0.0,
+    "optimizer": "adam",
+    "ordering_policy": "latest_ready",
+    "output_dir": "outputs/tasks/flappy/decision_history_temporal_25m_seed42/train/profile/pi05_rtx3090_temporal_hist8_capacity1/obs10/seed_42",
+    "pbt_mix_policies_in_one_env": true,
+    "pbt_mutation_rate": 0.15,
+    "pbt_optimize_gamma": false,
+    "pbt_period_env_steps": 5000000,
+    "pbt_perturb_max": 1.5,
+    "pbt_perturb_min": 1.1,
+    "pbt_replace_fraction": 0.3,
+    "pbt_replace_reward_gap": 0.1,
+    "pbt_replace_reward_gap_absolute": 1e-06,
+    "pbt_start_mutation": 20000000,
+    "pbt_target_objective": "true_objective",
+    "pipe_color": "green",
+    "pipe_gap": 100,
+    "pixel_format": "CHW",
+    "policy_init_gain": 1.0,
+    "policy_initialization": "orthogonal",
+    "policy_workers_per_policy": 1,
+    "ppo_clip_ratio": 0.1,
+    "ppo_clip_value": 0.2,
+    "recurrence": 1,
+    "restart_behavior": "resume",
+    "reward_clip": 1000.0,
+    "reward_scale": 1.0,
+    "rnn_num_layers": 1,
+    "rnn_size": 512,
+    "rnn_type": "gru",
+    "rollout": 128,
+    "save_best_after": 100000,
+    "save_best_every_sec": 5,
+    "save_best_metric": "reward",
+    "save_every_sec": 600,
+    "save_milestones_sec": -1,
+    "score_limit": -1,
+    "screen_size": "",
+    "seed": 42,
+    "serial_mode": false,
+    "set_workers_cpu_affinity": true,
+    "shuffle_minibatches": false,
+    "simulated_worker_capacity": 1,
+    "simulator": "gpu",
+    "stats_avg": 100,
+    "std_latency_ms": null,
+    "summaries_use_frameskip": true,
+    "train_dir": "results/checkpoints/flappy/decision_history_temporal_25m_seed42",
+    "train_for_env_steps": 25000000,
+    "train_for_seconds": 10000000000,
+    "use_env_info_cache": false,
+    "use_gpu_render": true,
+    "use_lidar": false,
+    "use_record_episode_statistics": false,
+    "use_rnn": false,
+    "value_bootstrap": false,
+    "value_loss_coeff": 0.5,
+    "vtrace_c": 1.0,
+    "vtrace_rho": 1.0,
+    "wandb_dir": "/mnt/ssd/latency-sensitive-bench/wandb",
+    "wandb_group": "flappy-obs10-pi05_rtx3090_temporal_hist8_capacity1",
+    "wandb_job_type": "flappy_decision_history_temporal",
+    "wandb_project": "starvla_tasks",
+    "wandb_tags": [
+      "flappy_decision_history_temporal_25m_seed42",
+      "flappy",
+      "profile",
+      "temporal",
+      "pi05_rtx3090_temporal_hist8_capacity1",
+      "obs10",
+      "seed42"
+    ],
+    "wandb_unique_id": "flappy-obs10-pi05_rtx3090_temporal_hist8_capacity1-s42",
+    "wandb_user": null,
+    "with_pbt": false,
+    "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/qwenpi_v3/models/latency-aware/flappy/small-policy/sample-factory-pi05-rtx3090-temporal-hist8-capacity1-s42-v1",
+  "checkpoint_path": "/home/ubuntu/codex/hist8-vla-20260923/outputs/tasks/decision_history_vla_hist8/data/flappy/qwenpi_v3/models/latency-aware/flappy/small-policy/sample-factory-pi05-rtx3090-temporal-hist8-capacity1-s42-v1/best_000045712_23429120_reward_1021.035.pth",
+  "checkpoint_train_step": 45712,
+  "config_source": "/home/ubuntu/codex/hist8-vla-20260923/outputs/tasks/decision_history_vla_hist8/data/flappy/qwenpi_v3/models/latency-aware/flappy/small-policy/sample-factory-pi05-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": 1776607,
+    "train_rows_before_row_filter": 1776607,
+    "val_rows_after_row_filter": 194543,
+    "val_rows_before_row_filter": 194543
+  },
+  "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": 1971150,
+  "train_episodes": 180,
+  "train_rows": 1776607,
+  "val_episodes": 20,
+  "val_fraction": 0.1,
+  "val_rows": 194543
+}

latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/run_metadata.json

@@ -0,0 +1,18 @@
+{
+  "training_run_id": "flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6",
+  "wandb_run_id": "7660c2a2",
+  "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/hist8-vla-20260923/outputs/tasks/decision_history_vla_hist8/data/flappy/qwenpi_v3/lerobot",
+  "dataset_manifest_sha256": "e3c3cdc668186e0dfb2053cbe3df4e3927dae4ea0a89161e3482a5c1c7fc22d7",
+  "code_snapshot_sha256": "4fdfd05c7faaa60fb697f4d2bd169b94979d9626b8ebe52ac01b9b6a6faecf8d"
+}

latency-aware/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-scratch-s42-v2-vlm3e-6/task_contract.json

@@ -0,0 +1,43 @@
+{
+  "task": "flappy",
+  "model": "qwenpi_v3",
+  "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"
+  }
+}