Publish asterix qwengr00t profile-aware H8 teacher

latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/README.md

@@ -0,0 +1,7 @@
+# Asterix H8 CPU teacher for qwengr00t RTX 3090 temporal profile
+
+Fresh CPU/ALE training: 15M raw frames, seed 0, four-frame input, eight decision histories, constant LR 0.000303; GPU network updates, worker slot 0 and capacity 1.
+
+Best checkpoint at 13975552 raw frames. GPU evaluation: 100 episodes, mean raw return 1852.5, seeds 1000000–1000099, parallel 32, 60/15 Hz, 7200 raw-frame cap.
+
+[W&B](https://wandb.ai/saberrr-zju/latency-sensitive-bench/runs/asterix-qwengr00t-hist8-profile-cpu15m-s0-v1). Profile identity and both training/evaluation configs are included.

latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/action_audit.json

@@ -0,0 +1,15 @@
+{
+  "action_counts": {
+    "0": 1,
+    "1": 8,
+    "2": 1128,
+    "3": 13,
+    "4": 5,
+    "5": 11653,
+    "6": 1266,
+    "7": 2116,
+    "8": 2241
+  },
+  "episodes": 100,
+  "issued_actions": 18431
+}

latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/best_000027296_13975552_reward_1865.000.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fc78a650079a3fc14de7667d3a4750edfa4d7481762719888be571559cfa8e0
+size 18563110

latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/checkpoint.json

@@ -0,0 +1,5 @@
+{
+  "checkpoint": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers/asterix-qwengr00t-hist8-profile-cpu15m-s0-v1/checkpoint_p0/best_000027296_13975552_reward_1865.000.pth",
+  "checkpoint_sha256": "8fc78a650079a3fc14de7667d3a4750edfa4d7481762719888be571559cfa8e0",
+  "training_step": 13975552
+}

latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/config.json

@@ -0,0 +1,277 @@
+{
+  "help": false,
+  "algo": "APPO",
+  "env": "latency_gymnasium",
+  "experiment": "asterix-qwengr00t-hist8-profile-cpu15m-s0-v1",
+  "train_dir": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers",
+  "restart_behavior": "resume",
+  "device": "gpu",
+  "seed": 0,
+  "initial_model_path": null,
+  "num_policies": 1,
+  "async_rl": true,
+  "serial_mode": false,
+  "batched_sampling": false,
+  "num_batches_to_accumulate": 2,
+  "worker_num_splits": 1,
+  "policy_workers_per_policy": 1,
+  "max_policy_lag": 300,
+  "num_workers": 4,
+  "num_envs_per_worker": 16,
+  "batch_size": 1024,
+  "num_batches_per_epoch": 8,
+  "num_epochs": 2,
+  "rollout": 64,
+  "fasttd3_replay_capacity": 6553600,
+  "fasttd3_replay_batch_size": 32768,
+  "fasttd3_action_chunk_horizon": 1,
+  "fasttd3_transitions_per_update": 64,
+  "fasttd3_train_for_optimizer_steps": 10000000000,
+  "fasttd3_v_min": -250.0,
+  "fasttd3_v_max": 250.0,
+  "fasttd3_actor_action_l2": 0.0,
+  "fasttd3_compile": true,
+  "recurrence": 32,
+  "shuffle_minibatches": false,
+  "gamma": 0.99,
+  "reward_scale": 1.0,
+  "reward_clip": 1000.0,
+  "value_bootstrap": false,
+  "normalize_returns": true,
+  "exploration_loss_coeff": 0.003,
+  "value_loss_coeff": 0.5,
+  "kl_loss_coeff": 0.0,
+  "exploration_loss": "entropy",
+  "gae_lambda": 0.95,
+  "ppo_clip_ratio": 0.1,
+  "ppo_clip_value": 0.2,
+  "with_vtrace": false,
+  "vtrace_rho": 1.0,
+  "vtrace_c": 1.0,
+  "optimizer": "adam",
+  "adam_eps": 1e-06,
+  "adam_beta1": 0.9,
+  "adam_beta2": 0.999,
+  "max_grad_norm": 0.0,
+  "learning_rate": 0.000303,
+  "lr_schedule": "constant",
+  "lr_schedule_kl_threshold": 0.008,
+  "lr_adaptive_min": 1e-06,
+  "lr_adaptive_max": 0.01,
+  "obs_subtract_mean": 0.0,
+  "obs_scale": 1.0,
+  "normalize_input": true,
+  "normalize_input_keys": null,
+  "decorrelate_experience_max_seconds": 0,
+  "decorrelate_envs_on_one_worker": true,
+  "actor_worker_gpus": [],
+  "set_workers_cpu_affinity": true,
+  "force_envs_single_thread": false,
+  "default_niceness": 0,
+  "log_to_file": true,
+  "experiment_summaries_interval": 1,
+  "flush_summaries_interval": 30,
+  "stats_avg": 100,
+  "summaries_use_frameskip": true,
+  "heartbeat_interval": 20,
+  "heartbeat_reporting_interval": 180,
+  "train_for_env_steps": 15000000,
+  "train_for_seconds": 10000000000,
+  "save_every_sec": 600,
+  "keep_checkpoints": 5,
+  "load_checkpoint_kind": "latest",
+  "save_milestones_sec": -1,
+  "save_best_every_sec": 5,
+  "save_best_metric": "reward",
+  "save_best_after": 100000,
+  "benchmark": false,
+  "encoder_mlp_layers": [
+    512,
+    512
+  ],
+  "encoder_conv_architecture": "convnet_simple",
+  "encoder_conv_mlp_layers": [
+    512
+  ],
+  "use_rnn": false,
+  "rnn_size": 512,
+  "rnn_type": "gru",
+  "rnn_num_layers": 1,
+  "decoder_mlp_layers": [],
+  "nonlinearity": "elu",
+  "policy_initialization": "orthogonal",
+  "policy_init_gain": 1.0,
+  "actor_critic_share_weights": true,
+  "adaptive_stddev": false,
+  "continuous_tanh_scale": 0.0,
+  "initial_stddev": 1.0,
+  "use_env_info_cache": false,
+  "env_gpu_actions": false,
+  "env_gpu_observations": true,
+  "env_frameskip": 1,
+  "env_framestack": 1,
+  "pixel_format": "CHW",
+  "use_record_episode_statistics": false,
+  "episode_counter": false,
+  "with_wandb": true,
+  "wandb_user": null,
+  "wandb_project": "latency-sensitive-bench",
+  "wandb_group": "asterix",
+  "wandb_job_type": "sample_factory",
+  "wandb_tags": [
+    "atari-hist8-v1",
+    "profile",
+    "qwengr00t"
+  ],
+  "wandb_dir": "/home/ubuntu/codex/atari-hist8-20260924/wandb",
+  "with_pbt": false,
+  "pbt_mix_policies_in_one_env": true,
+  "pbt_period_env_steps": 5000000,
+  "pbt_start_mutation": 20000000,
+  "pbt_replace_fraction": 0.3,
+  "pbt_mutation_rate": 0.15,
+  "pbt_replace_reward_gap": 0.1,
+  "pbt_replace_reward_gap_absolute": 1e-06,
+  "pbt_optimize_gamma": false,
+  "pbt_target_objective": "true_objective",
+  "pbt_perturb_min": 1.1,
+  "pbt_perturb_max": 1.5,
+  "gym_task_name": "asterix",
+  "gym_env_id": "LatencyBench/Asterix-v0",
+  "gym_make_kwargs_json": "{\"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}}",
+  "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_asterix\"]",
+  "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_labels_json": "[\"noop\", \"up\", \"right\", \"left\", \"down\", \"upright\", \"upleft\", \"downright\", \"downleft\"]",
+  "gym_action_values_json": "[0, 1, 2, 3, 4, 5, 6, 7, 8]",
+  "gym_noop_action_id": 0,
+  "gym_noop_action_json": "\"noop\"",
+  "gym_base_prompt": "Collect useful objects and avoid lyres. Choose exactly one action from: noop, up, right, left, down, upright, upleft, downright, downleft.",
+  "gym_state_labels_json": "",
+  "env_fps": 60.0,
+  "obs_fps": 15.0,
+  "frame_stack": 4,
+  "action_history_decisions": 8,
+  "simulator": "cpu",
+  "gpu_env_device": "auto",
+  "gpu_env_batch_size": 1,
+  "noop_max": null,
+  "terminal_on_life_loss": null,
+  "clip_reward": null,
+  "max_episode_steps": null,
+  "export_env_raw_rgb_frames": false,
+  "mode": "train",
+  "latency_type": "profile_sample",
+  "fixed_latency_ms": null,
+  "mean_latency_ms": null,
+  "std_latency_ms": null,
+  "min_latency_ms": null,
+  "max_latency_ms": null,
+  "latency_seed": 0,
+  "latency_profile_path": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_configs/asterix-qwengr00t/profile/profile.json",
+  "latency_profile_worker_slot": 0,
+  "simulated_worker_capacity": 1,
+  "add_latency_info": false,
+  "max_pending_actions": null,
+  "hold_last_chunk_action": false,
+  "hold_policy": "hold",
+  "ordering_policy": "issue_order_fifo",
+  "eval_episodes": 5,
+  "eval_parallel_envs": 1,
+  "eval_latency_raw_frame_values": null,
+  "eval_max_steps": 5000,
+  "eval_deterministic": true,
+  "eval_raw_reward": false,
+  "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",
+  "ppo": null,
+  "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment asterix-qwengr00t-hist8-profile-cpu15m-s0-v1 --train_dir /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers --restart_behavior resume --device gpu --seed 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 --train_for_env_steps 15000000 --num_workers 4 --num_envs_per_worker 16 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 32 --num_epochs 2 --num_batches_per_epoch 8 --worker_num_splits 1 --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 1e-06 --obs_scale 1.0 --save_every_sec 600 --keep_checkpoints 5 --stats_avg 100 --experiment_summaries_interval 1 --async_rl True --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --with_vtrace False --latency-type profile_sample --latency-seed 0 --latency-profile-path /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_configs/asterix-qwengr00t/profile/profile.json --latency-profile-worker-slot 0 --simulated-worker-capacity 1 --add-latency-info False --eval-episodes 5 --eval-parallel-envs 1 --eval-max-steps 5000 --eval-deterministic True --with_wandb True --wandb_project latency-sensitive-bench --wandb_group asterix --wandb_job_type sample_factory --wandb_tags atari-hist8-v1 profile qwengr00t --encoder_conv_architecture convnet_simple --gym-task-name asterix --gym-env-id LatencyBench/Asterix-v0 --gym-make-kwargs-json {\"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}} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_asterix\"] --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-noop-action-json \"noop\" --gym-action-labels-json [\"noop\", \"up\", \"right\", \"left\", \"down\", \"upright\", \"upleft\", \"downright\", \"downleft\"] --gym-action-values-json [0, 1, 2, 3, 4, 5, 6, 7, 8] --gym-noop-action-id 0 --gym-base-prompt Collect useful objects and avoid lyres. Choose exactly one action from: noop, up, right, left, down, upright, upleft, downright, downleft. --env-fps 60 --obs-fps 15 --frame-stack 4 --action-history-decisions 8 --simulator cpu --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+  "cli_args": {
+    "algo": "APPO",
+    "env": "latency_gymnasium",
+    "experiment": "asterix-qwengr00t-hist8-profile-cpu15m-s0-v1",
+    "train_dir": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers",
+    "restart_behavior": "resume",
+    "device": "gpu",
+    "seed": 0,
+    "num_policies": 1,
+    "async_rl": true,
+    "worker_num_splits": 1,
+    "max_policy_lag": 300,
+    "num_workers": 4,
+    "num_envs_per_worker": 16,
+    "batch_size": 1024,
+    "num_batches_per_epoch": 8,
+    "num_epochs": 2,
+    "rollout": 64,
+    "recurrence": 32,
+    "gamma": 0.99,
+    "normalize_returns": true,
+    "exploration_loss_coeff": 0.003,
+    "value_loss_coeff": 0.5,
+    "exploration_loss": "entropy",
+    "gae_lambda": 0.95,
+    "ppo_clip_ratio": 0.1,
+    "ppo_clip_value": 0.2,
+    "with_vtrace": false,
+    "adam_eps": 1e-06,
+    "max_grad_norm": 0.0,
+    "learning_rate": 0.000303,
+    "lr_schedule": "constant",
+    "obs_scale": 1.0,
+    "normalize_input": true,
+    "experiment_summaries_interval": 1,
+    "stats_avg": 100,
+    "train_for_env_steps": 15000000,
+    "save_every_sec": 600,
+    "keep_checkpoints": 5,
+    "encoder_conv_architecture": "convnet_simple",
+    "use_rnn": false,
+    "nonlinearity": "elu",
+    "adaptive_stddev": false,
+    "use_env_info_cache": false,
+    "with_wandb": true,
+    "wandb_project": "latency-sensitive-bench",
+    "wandb_group": "asterix",
+    "wandb_job_type": "sample_factory",
+    "wandb_tags": [
+      "atari-hist8-v1",
+      "profile",
+      "qwengr00t"
+    ],
+    "gym_task_name": "asterix",
+    "gym_env_id": "LatencyBench/Asterix-v0",
+    "gym_make_kwargs_json": "{\"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}}",
+    "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_asterix\"]",
+    "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_labels_json": "[\"noop\", \"up\", \"right\", \"left\", \"down\", \"upright\", \"upleft\", \"downright\", \"downleft\"]",
+    "gym_action_values_json": "[0, 1, 2, 3, 4, 5, 6, 7, 8]",
+    "gym_noop_action_id": 0,
+    "gym_noop_action_json": "\"noop\"",
+    "gym_base_prompt": "Collect useful objects and avoid lyres. Choose exactly one action from: noop, up, right, left, down, upright, upleft, downright, downleft.",
+    "env_fps": 60.0,
+    "obs_fps": 15.0,
+    "frame_stack": 4,
+    "action_history_decisions": 8,
+    "simulator": "cpu",
+    "mode": "train",
+    "latency_type": "profile_sample",
+    "latency_seed": 0,
+    "latency_profile_path": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_configs/asterix-qwengr00t/profile/profile.json",
+    "latency_profile_worker_slot": 0,
+    "simulated_worker_capacity": 1,
+    "add_latency_info": false,
+    "hold_policy": "hold",
+    "ordering_policy": "issue_order_fifo",
+    "eval_episodes": 5,
+    "eval_parallel_envs": 1,
+    "eval_max_steps": 5000,
+    "eval_deterministic": true,
+    "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",
+    "output_dir": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_logs/asterix-qwengr00t-hist8-profile-cpu15m-s0-v1",
+    "wandb_unique_id": "asterix-qwengr00t-hist8-profile-cpu15m-s0-v1"
+  },
+  "git_hash": "unknown",
+  "git_repo_name": "not a git repository",
+  "eval_env_frameskip": 1,
+  "output_dir": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_logs/asterix-qwengr00t-hist8-profile-cpu15m-s0-v1",
+  "wandb_unique_id": "asterix-qwengr00t-hist8-profile-cpu15m-s0-v1"
+}

latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/eval.yaml

@@ -0,0 +1,147 @@
+experiment:
+  name: asterix-qwengr00t-hist8-profile-cpu15m-s0-v1
+  seed: 1000000
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers
+  restart_behavior: resume
+  run_mode: eval
+  extra_args:
+  - --encoder_conv_architecture
+  - convnet_simple
+executor:
+  mode: simulated
+  simulated_worker_capacity: 1
+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: 4
+  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.'
+  action_history_decisions: 8
+  gpu_env_device: cuda:0
+  noop_max: 30
+latency:
+  method: temporal
+  profile_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_configs/asterix-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: gymnasium_sf
+  checkpoint_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers/asterix-qwengr00t-hist8-profile-cpu15m-s0-v1/checkpoint_p0/best_000027296_13975552_reward_1865.000.pth
+  checkpoint_kind: best
+  device: cuda:0
+  deterministic: true
+training:
+  train_for_env_steps: 15000000
+  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
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latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/profile/profile.json

@@ -0,0 +1,67 @@
+{
+  "burst_model_path": "latency_burst_model.json",
+  "distribution_path": "latency_distribution.json",
+  "env_fps": 60,
+  "frame_ms": 16.666666666666668,
+  "gpu_class": "1x-rtx3090",
+  "instance_id": "instance_d907cdaf680040e0",
+  "latency_kind": "observation_to_action_latency",
+  "latency_method": "temporal",
+  "model_id": "qwengr00t",
+  "n_admitted_observations": 3603,
+  "n_capacity_drops": 10758,
+  "n_observation_attempts": 14361,
+  "per_slot_summary": {
+    "0": {
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+      "mean_observation_to_action_latency_ms": 216.59862126426137,
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+      "p95_observation_to_action_latency_ms": 228.23943430036306,
+      "p95_worker_service_time_ms": 227.21063539907337,
+      "p99_worker_service_time_ms": 255.35448560491204
+    }
+  },
+  "provenance": {
+    "base_config": "configs/experiments/asterix/starvla_profile_hist8.yaml",
+    "checkpoint_kind": "best",
+    "model_artifact": {
+      "checkpoint": "checkpoints/model.pt",
+      "model_config": "config.yaml",
+      "path_in_repo": "zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1",
+      "repo_id": "latency-sensitive-bench/benchmark-models",
+      "revision": "d445334970ab7e110c3cacb5c8b790d3df20e1ec",
+      "source": "hf"
+    },
+    "session_ids": [
+      0,
+      1,
+      2,
+      3,
+      4
+    ]
+  },
+  "sample_model_type": "hidden_regime",
+  "source_run_id": "20260924T122426657466Z",
+  "summary": {
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+    "max_ms": 313.90352299809456,
+    "mean_effective_frames": 12.995917275855682,
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+    "n_samples": 3603,
+    "p50_frames": 13.070472540110348,
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+    "prob_latency_gt_2_frames": 1.0,
+    "prob_latency_gt_3_frames": 1.0,
+    "std_ms": 10.658891651013453
+  },
+  "visualization_path": "latency_profile.png",
+  "workload_id": "asterix"
+}

latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/provenance.json

@@ -0,0 +1,52 @@
+{
+  "best_checkpoint_env_steps": 13975552,
+  "checkpoint": "best_000027296_13975552_reward_1865.000.pth",
+  "checkpoint_sha256": "8fc78a650079a3fc14de7667d3a4750edfa4d7481762719888be571559cfa8e0",
+  "episodes": 100,
+  "final_env_steps": 15007744,
+  "initialization": "scratch",
+  "mean_return": 1852.5,
+  "model": "qwengr00t",
+  "profile_publication": {
+    "model": "qwengr00t",
+    "model_publication": {
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+      "episodes": 100,
+      "mean_return": 5714.0,
+      "model": "qwengr00t",
+      "path": "zero-latency/asterix/vla/starvla-qwengr00t-h1/asterix-qwengr00t-hist8-zero-s42-v1",
+      "repo_id": "latency-sensitive-bench/benchmark-models",
+      "revision": "d445334970ab7e110c3cacb5c8b790d3df20e1ec",
+      "run_id": "asterix-qwengr00t-hist8-zero-s42-v1",
+      "task": "asterix",
+      "training_status": "complete",
+      "zero_evaluation_status": "complete",
+      "zero_mean_return": 5714.0
+    },
+    "profile": {
+      "GPU_CLASS": "1x-rtx3090",
+      "INSTANCE_ID": "instance_d907cdaf680040e0",
+      "PROFILE_PATH": "results/profiling/profiles/qwengr00t/1x-rtx3090/asterix/instance_d907cdaf680040e0/profile.json",
+      "PROFILE_REF": "qwengr00t/1x-rtx3090/asterix/instance_d907cdaf680040e0",
+      "RUN_ID": "20260924T122426657466Z"
+    },
+    "profile_path": "profiles/qwengr00t/1x-rtx3090/asterix/instance_d907cdaf680040e0/profile.json",
+    "profile_repo": "latency-sensitive-bench/profiles",
+    "profile_revision": "15001405a402e30b7706476bc92aea45a61bb193",
+    "profile_sha256": "5e104064d718ac51ce56aefac5318a155fd099f5c714ff8f0bc4985509639fd1",
+    "task": "asterix"
+  },
+  "run_id": "asterix-qwengr00t-hist8-profile-cpu15m-s0-v1",
+  "task": "asterix",
+  "wandb_readback": {
+    "eval_corrected/profile_sample/profile_sample/mean_return": 1852.5
+  },
+  "zero_teacher": {
+    "checkpoint": "best_000024112_12345344_reward_5614.500.pth",
+    "checkpoint_sha256": "0fe54ff4b3a2ccec438aca789f1a9f86fcef7cda44cda5156e3b774262c50beb",
+    "env_fps": 60,
+    "obs_fps": 15,
+    "path": "zero-latency/asterix/small-policy/sample-factory-hist8-cpu15m-s0-v1"
+  },
+  "zero_teacher_revision": "dfaeecb84cd6b5dfcc3adc0935d0ae86d0b504d2"
+}

latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/train.yaml

@@ -0,0 +1,149 @@
+experiment:
+  name: asterix-qwengr00t-hist8-profile-cpu15m-s0-v1
+  seed: 0
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teachers
+  restart_behavior: resume
+  run_mode: train
+  extra_args:
+  - --encoder_conv_architecture
+  - convnet_simple
+executor:
+  mode: simulated
+  simulated_worker_capacity: 1
+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: 4
+  simulator: cpu
+  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.'
+  action_history_decisions: 8
+latency:
+  method: temporal
+  profile_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_configs/asterix-qwengr00t/profile/profile.json
+  profile_worker_slot: 0
+  seed: 0
+  add_latency_info: false
+scheduler:
+  hold_policy: hold
+  ordering_policy: issue_order_fifo
+policy:
+  type: random
+  actions:
+  - noop
+  - up
+  - right
+  - left
+  - down
+  - upright
+  - upleft
+  - downright
+  - downleft
+training:
+  train_for_env_steps: 15000000
+  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: 5
+  eval_parallel_envs: 1
+  eval_max_steps: 5000
+  eval_deterministic: true
+  eval_suites:
+    fixed:
+    - - 0
+    normal: []
+    uniform: []
+logging:
+  output_dir: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_logs/asterix-qwengr00t-hist8-profile-cpu15m-s0-v1
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: false
+  save_action_records: false
+  save_latency_records: false
+  wandb_project: latency-sensitive-bench
+  wandb_group: asterix
+  wandb_job_type: sample_factory
+  wandb_tags:
+  - atari-hist8-v1
+  - profile
+  - qwengr00t
+  wandb_entity: saberrr-zju
+  wandb_name: asterix-qwengr00t-hist8-profile-cpu15m-s0-v1

latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/zero_teacher_config.json

@@ -0,0 +1,263 @@
+{
+  "help": false,
+  "algo": "APPO",
+  "env": "latency_gymnasium",
+  "experiment": "asterix_sf_zero_latency_hist8_cpu15m_seed0",
+  "train_dir": "results/checkpoints/atari_zero_hist8_cpu15m",
+  "restart_behavior": "resume",
+  "device": "gpu",
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+  "initial_model_path": null,
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+  "num_batches_per_epoch": 8,
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+  "pixel_format": "CHW",
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+  "wandb_dir": "/mnt/ssd/codex/atari-zero-hist8-20260924/wandb",
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+  "gym_task_name": "asterix",
+  "gym_env_id": "LatencyBench/Asterix-v0",
+  "gym_make_kwargs_json": "{\"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}}",
+  "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_asterix\"]",
+  "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_labels_json": "[\"noop\", \"up\", \"right\", \"left\", \"down\", \"upright\", \"upleft\", \"downright\", \"downleft\"]",
+  "gym_action_values_json": "[0, 1, 2, 3, 4, 5, 6, 7, 8]",
+  "gym_noop_action_id": 0,
+  "gym_noop_action_json": "\"noop\"",
+  "gym_base_prompt": "Collect useful objects and avoid lyres. Choose exactly one action from: noop, up, right, left, down, upright, upleft, downright, downleft.",
+  "gym_state_labels_json": "",
+  "env_fps": 60.0,
+  "obs_fps": 15.0,
+  "frame_stack": 4,
+  "action_history_decisions": 8,
+  "simulator": "cpu",
+  "gpu_env_device": "auto",
+  "gpu_env_batch_size": 1,
+  "noop_max": null,
+  "terminal_on_life_loss": null,
+  "clip_reward": null,
+  "max_episode_steps": null,
+  "export_env_raw_rgb_frames": false,
+  "mode": "train",
+  "latency_type": "zero",
+  "fixed_latency_ms": null,
+  "mean_latency_ms": null,
+  "std_latency_ms": null,
+  "min_latency_ms": null,
+  "max_latency_ms": null,
+  "latency_seed": null,
+  "latency_profile_path": null,
+  "latency_profile_worker_slot": null,
+  "simulated_worker_capacity": null,
+  "add_latency_info": false,
+  "max_pending_actions": null,
+  "hold_last_chunk_action": false,
+  "hold_policy": "hold",
+  "ordering_policy": "issue_order_fifo",
+  "eval_episodes": 5,
+  "eval_parallel_envs": 1,
+  "eval_latency_raw_frame_values": null,
+  "eval_max_steps": 5000,
+  "eval_deterministic": true,
+  "eval_raw_reward": false,
+  "episode_metrics_path": "results/checkpoints/atari_zero_hist8_cpu15m/asterix_sf_zero_latency_hist8_cpu15m_seed0/episode_metrics.jsonl",
+  "ppo": null,
+  "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment asterix_sf_zero_latency_hist8_cpu15m_seed0 --train_dir results/checkpoints/atari_zero_hist8_cpu15m --restart_behavior resume --device gpu --seed 0 --episode_metrics_path results/checkpoints/atari_zero_hist8_cpu15m/asterix_sf_zero_latency_hist8_cpu15m_seed0/episode_metrics.jsonl --train_for_env_steps 15000000 --num_workers 4 --num_envs_per_worker 16 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 32 --num_epochs 2 --num_batches_per_epoch 8 --worker_num_splits 1 --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 1e-06 --obs_scale 1.0 --save_every_sec 600 --keep_checkpoints 5 --stats_avg 100 --experiment_summaries_interval 1 --async_rl True --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --with_vtrace False --latency-type zero --add-latency-info False --eval-episodes 5 --eval-parallel-envs 1 --eval-max-steps 5000 --eval-deterministic True --with_wandb True --wandb_project latency-sensitive-bench --wandb_group asterix --wandb_job_type sample_factory --encoder_conv_architecture convnet_simple --gym-task-name asterix --gym-env-id LatencyBench/Asterix-v0 --gym-make-kwargs-json {\"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}} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_asterix\"] --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-noop-action-json \"noop\" --gym-action-labels-json [\"noop\", \"up\", \"right\", \"left\", \"down\", \"upright\", \"upleft\", \"downright\", \"downleft\"] --gym-action-values-json [0, 1, 2, 3, 4, 5, 6, 7, 8] --gym-noop-action-id 0 --gym-base-prompt Collect useful objects and avoid lyres. Choose exactly one action from: noop, up, right, left, down, upright, upleft, downright, downleft. --env-fps 60 --obs-fps 15 --frame-stack 4 --action-history-decisions 8 --simulator cpu --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+  "cli_args": {
+    "algo": "APPO",
+    "env": "latency_gymnasium",
+    "experiment": "asterix_sf_zero_latency_hist8_cpu15m_seed0",
+    "train_dir": "results/checkpoints/atari_zero_hist8_cpu15m",
+    "restart_behavior": "resume",
+    "device": "gpu",
+    "seed": 0,
+    "num_policies": 1,
+    "async_rl": true,
+    "worker_num_splits": 1,
+    "max_policy_lag": 300,
+    "num_workers": 4,
+    "num_envs_per_worker": 16,
+    "batch_size": 1024,
+    "num_batches_per_epoch": 8,
+    "num_epochs": 2,
+    "rollout": 64,
+    "recurrence": 32,
+    "gamma": 0.99,
+    "normalize_returns": true,
+    "exploration_loss_coeff": 0.003,
+    "value_loss_coeff": 0.5,
+    "exploration_loss": "entropy",
+    "gae_lambda": 0.95,
+    "ppo_clip_ratio": 0.1,
+    "ppo_clip_value": 0.2,
+    "with_vtrace": false,
+    "adam_eps": 1e-06,
+    "max_grad_norm": 0.0,
+    "learning_rate": 0.000303,
+    "lr_schedule": "constant",
+    "obs_scale": 1.0,
+    "normalize_input": true,
+    "experiment_summaries_interval": 1,
+    "stats_avg": 100,
+    "train_for_env_steps": 15000000,
+    "save_every_sec": 600,
+    "keep_checkpoints": 5,
+    "encoder_conv_architecture": "convnet_simple",
+    "use_rnn": false,
+    "nonlinearity": "elu",
+    "adaptive_stddev": false,
+    "use_env_info_cache": false,
+    "with_wandb": true,
+    "wandb_project": "latency-sensitive-bench",
+    "wandb_group": "asterix",
+    "wandb_job_type": "sample_factory",
+    "gym_task_name": "asterix",
+    "gym_env_id": "LatencyBench/Asterix-v0",
+    "gym_make_kwargs_json": "{\"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}}",
+    "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_asterix\"]",
+    "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_labels_json": "[\"noop\", \"up\", \"right\", \"left\", \"down\", \"upright\", \"upleft\", \"downright\", \"downleft\"]",
+    "gym_action_values_json": "[0, 1, 2, 3, 4, 5, 6, 7, 8]",
+    "gym_noop_action_id": 0,
+    "gym_noop_action_json": "\"noop\"",
+    "gym_base_prompt": "Collect useful objects and avoid lyres. Choose exactly one action from: noop, up, right, left, down, upright, upleft, downright, downleft.",
+    "env_fps": 60.0,
+    "obs_fps": 15.0,
+    "frame_stack": 4,
+    "action_history_decisions": 8,
+    "simulator": "cpu",
+    "mode": "train",
+    "latency_type": "zero",
+    "add_latency_info": false,
+    "hold_policy": "hold",
+    "ordering_policy": "issue_order_fifo",
+    "eval_episodes": 5,
+    "eval_parallel_envs": 1,
+    "eval_max_steps": 5000,
+    "eval_deterministic": true,
+    "episode_metrics_path": "results/checkpoints/atari_zero_hist8_cpu15m/asterix_sf_zero_latency_hist8_cpu15m_seed0/episode_metrics.jsonl",
+    "output_dir": "outputs/atari_zero_hist8_cpu15m/asterix/train"
+  },
+  "git_hash": "unknown",
+  "git_repo_name": "not a git repository",
+  "eval_env_frameskip": 1,
+  "output_dir": "outputs/atari_zero_hist8_cpu15m/asterix/train",
+  "wandb_unique_id": "asterix_sf_zero_latency_hist8_cpu15m_seed0"
+}