diff --git a/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/README.md b/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/README.md new file mode 100644 index 0000000000000000000000000000000000000000..a84d6c5639a9e7fbe7afaffeb6920177273d562e --- /dev/null +++ b/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. diff --git a/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/action_audit.json b/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/action_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..fbcf18cdfd882fa01df30f099ce5f5f3e97b7208 --- /dev/null +++ b/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 +} diff --git a/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/best_000027296_13975552_reward_1865.000.pth b/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/best_000027296_13975552_reward_1865.000.pth new file mode 100644 index 0000000000000000000000000000000000000000..4c961f1fb4fa9bb85dd9fedba4f27a69d3218dd2 --- /dev/null +++ b/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 diff --git a/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/checkpoint.json b/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/checkpoint.json new file mode 100644 index 0000000000000000000000000000000000000000..489207a6c6b1d38e85c3ceafa062c20fb34e9681 --- /dev/null +++ b/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 +} diff --git a/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/config.json b/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/config.json new file mode 100644 index 0000000000000000000000000000000000000000..eac83a86a38cb773f3fc7a7789efdfd32842414c --- /dev/null +++ b/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" +} \ No newline at end of file diff --git a/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/episode_metrics.jsonl b/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e24cb82d003913b728647e53753bf6fb9913c2d1 --- /dev/null +++ b/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/episode_metrics.jsonl @@ -0,0 +1,100 @@ +{"episode_id": 0, "episode_return": 1200.0, "episode_return_env": 1200.0, "game_score": 1200.0, "mean_latency_ms": 216.02964870266797, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_kind": "best", "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", "config_name": "asterix-qwengr00t-hist8-profile-cpu15m-s0-v1", "dropped_observation_count": 378, "env_fps": 60.0, "env_id": "LatencyBench/Asterix-v0", "episode_seed": 1000000, "final_is_true_episode_end": true, "final_lives": 0, "frame_ms": 16.666666666666668, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_d907cdaf680040e0", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 15.0, "output_dir": 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"submitted_observation_frames": 113, "workload_id": "asterix"}, "num_actions": 113, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 225.74248112195804, "p99_latency_ms": 229.92995409853498, "return_raw": null, "survival_steps": 1797} diff --git a/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/eval.yaml b/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/eval.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc444a20fcf7ccecf191dd30761ac0a35897d294 --- /dev/null +++ b/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 + 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: [] + eval_raw_reward: true + episode_seed_offset: 0 + latency_bench_env_backend: asterix_gpu_batched +logging: + output_dir: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_evals/asterix-qwengr00t-hist8-profile-cpu15m-s0-v1 + video: + enabled: 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"zero-latency/asterix/small-policy/sample-factory-hist8-cpu15m-s0-v1" + }, + "zero_teacher_revision": "dfaeecb84cd6b5dfcc3adc0935d0ae86d0b504d2" +} diff --git a/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/train.yaml b/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/train.yaml new file mode 100644 index 0000000000000000000000000000000000000000..57a5174d2a1a9e0304e555bdb59ef1026d70ebd0 --- /dev/null +++ b/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 diff --git a/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/zero_teacher_config.json b/latency-aware/asterix/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1/zero_teacher_config.json new file mode 100644 index 0000000000000000000000000000000000000000..72c2ba5a62522a2d7dd23548310f40aec723c59b --- /dev/null +++ b/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", + "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": null, + "wandb_dir": "/mnt/ssd/codex/atari-zero-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": "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" +} \ No newline at end of file