diff --git a/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/README.md b/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/README.md index 5d3a8d61d4afcf3cba9abbbd6df91696b84a73b5..9a8036455d6be236534ee265923682d65eb3e986 100644 --- a/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/README.md +++ b/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/README.md @@ -4,4 +4,5 @@ Current RGB and eight binary decision-history windows; action horizon one. Initi - Training: 5000 steps, seed 42, global batch 128 - W&B: https://wandb.ai/saberrr-zju/starvla_tasks/runs/0c35d237 -- Formal profile evaluation: pending. +- Evaluation: 100 episodes, seeds 1000000–1000099, GPU simulator, parallel 32, capacity 1, 60/15 Hz, 7200 raw-frame cap, profile latency +- Mean raw return: 28488.0 diff --git a/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/eval_profile.json b/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/eval_profile.json new file mode 100644 index 0000000000000000000000000000000000000000..900675b4dd0b6ad80edb161bb48763fccc1b1751 --- /dev/null +++ b/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/eval_profile.json @@ -0,0 +1,217 @@ +{ + "checkpoint_path": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/atlantis-qwengr00t-hist8-profile-s42-v1/checkpoints/model.pt", + "experiment_name": 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"env_id": "LatencyBench/Atlantis-v0", "episode_seed": 1000099, "final_is_true_episode_end": false, "final_lives": 0, "frame_ms": 16.666666666666668, "gpu_class": "1x-rtx3090", "idle_worker_count": 1, "in_flight_count": 0, "inference_worker_count": 1, "instance_id": "instance_d907cdaf680040e0", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 15.0, "output_dir": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/evals/atlantis-qwengr00t-hist8-profile-s42-v1/profile_to_profile", "policy_id": "starvla", "profile_ref": null, "run_name": "atlantis-qwengr00t-hist8-profile-s42-v1-step5000-history01-profile-par32", "simulated_worker_capacity": 1, "soft_reset_count": 0, "source_profile_path": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/teacher_configs/atlantis-qwengr00t/profile/profile.json", "source_run_id": "20260924T112532341532Z", "submitted_observation_frames": 450, "workload_id": "atlantis"}, "num_actions": 450, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 220.57663363357392, "p99_latency_ms": 232.77093610036974, "return_raw": null, "survival_steps": 7200} diff --git a/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/evaluation_profile/eval_config.yaml b/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/evaluation_profile/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9ad131720a842769f797111002fbd08dd4271d46 --- /dev/null +++ b/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/evaluation_profile/eval_config.yaml @@ -0,0 +1,149 @@ +experiment: + name: atlantis-qwengr00t-hist8-profile-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-profile-s42-v1/checkpoints/model.pt + model_config_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/atlantis-qwengr00t-hist8-profile-s42-v1/config.yaml + task_manifest_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/atlantis-qwengr00t-hist8-profile-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-profile-s42-v1/profile_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/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/evaluation_profile/provenance.json b/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/evaluation_profile/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..21bc82bf6ae5dfd1c11f8242473a08971e20f409 --- /dev/null +++ b/latency-aware/atlantis/vla/starvla-qwengr00t-h1/atlantis-qwengr00t-hist8-profile-s42-v1/evaluation_profile/provenance.json @@ -0,0 +1,46 @@ +{ + "collection": { + "teacher_repo": "latency-sensitive-bench/benchmark-models", + "teacher_revision": "de60cabd0f3b7484773374f83be46a777657f74a", + "teacher_path": "latency-aware/atlantis/small-policy/sample-factory-qwengr00t-hist8-cpu15m-s0-v1", + "teacher_checkpoint": "best_000023744_12156928_reward_270836.000.pth", + "teacher_sha256": "8289271b5da29b9cfaf30017f86c457e1a1ed0edd9f998a9f5844354015f0238", + "profile_path": "/home/ubuntu/codex/atari-hist8-20260924/results/profiling/profiles/qwengr00t/1x-rtx3090/atlantis/instance_d907cdaf680040e0/profile.json", + "profile_sha256": 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