diff --git a/zero-latency/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/README.md b/zero-latency/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/README.md index f43dd9fcbba9f936f9f1f088627f18d59f7ba26d..f6bacef8167ea4a1e3926f6ebe2592a6b7af3e9b 100644 --- a/zero-latency/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/README.md +++ b/zero-latency/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/README.md @@ -1,8 +1,8 @@ -# Atlantis qwengr00t zero-latency H8 VLA +# Atlantis qwengr00t zero-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/60bc68a7 -- Evaluation: 100 episodes, seeds 1000000–1000099, GPU simulator, parallel 32, capacity 1, 60/15 Hz, 7200 raw-frame cap, zero latency -- Mean raw return: 39662.0 +- Evaluation: 100 episodes, seeds 1000000–1000099, GPU simulator, parallel 32, capacity 1, 60/15 Hz, 7200 raw-frame cap, profile latency +- Mean raw return: 8167.0 diff --git a/zero-latency/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/eval_profile.json b/zero-latency/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/eval_profile.json new file mode 100644 index 0000000000000000000000000000000000000000..a6c7ade252373724adbab5e76f079ce64599ae9b --- /dev/null +++ b/zero-latency/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/eval_profile.json @@ -0,0 +1,217 @@ +{ + 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"p90_latency_ms": 220.395981194682, "p99_latency_ms": 227.23749574629463, "return_raw": null, "survival_steps": 3314} diff --git a/zero-latency/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/evaluation_profile/eval_config.yaml b/zero-latency/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/evaluation_profile/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..664be805bbe0510ed6bab9b28ce0a78e19cab30a --- /dev/null +++ b/zero-latency/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/evaluation_profile/eval_config.yaml @@ -0,0 +1,149 @@ +experiment: + name: atlantis-qwengr00t-hist8-zero-s42-v1-step5000-history01-profile-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: atlantis + env_id: LatencyBench/Atlantis-v0 + registration_imports: + - latency_bench.envs.gymnasium_atlantis + make_kwargs: + 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 + 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 + fire: 1 + rightfire: 2 + leftfire: 3 + action_order: + - noop + - fire + - rightfire + - leftfire + base_prompt: 'Defend Atlantis by firing at descending enemies. Choose exactly one + action from: noop, fire, rightfire, leftfire.' + obs_resize: + - 224 + - 224 + gpu_env_device: auto + noop_max: 30 + action_history_decisions: 8 +latency: + method: temporal + profile_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_configs/atlantis-qwengr00t/profile/profile.json + profile_worker_slot: 0 + seed: 271828 + add_latency_info: false +scheduler: + hold_policy: hold + ordering_policy: issue_order_fifo +policy: + type: starvla + actions: + - noop + - fire + - rightfire + - leftfire + checkpoint_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/atlantis-qwengr00t-hist8-zero-s42-v1/checkpoints/model.pt + model_config_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/atlantis-qwengr00t-hist8-zero-s42-v1/config.yaml + task_manifest_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/atlantis-qwengr00t-hist8-zero-s42-v1/manifest.json + device: cuda:0 + unnorm_key: new_embodiment + prompt_mode: latency_neutral + 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: atlantis_gpu_batched + eval_raw_reward: true +logging: + output_dir: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/evals/atlantis-qwengr00t-hist8-zero-s42-v1/zero_to_profile + 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/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/evaluation_profile/provenance.json b/zero-latency/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/evaluation_profile/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..6cdbb602bbbf9a54f045932b3ae3c4dd204bce81 --- /dev/null +++ b/zero-latency/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-zero-s42-v1/evaluation_profile/provenance.json @@ -0,0 +1,46 @@ +{ + "collection": { + "episodes": 200, + "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_000026560_13598720_reward_675769.000.pth", + "teacher_path": "zero-latency/atlantis/small-policy/sample-factory-hist8-cpu15m-s0-v1", + "teacher_repo": "latency-sensitive-bench/benchmark-models", + "teacher_revision": 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