diff --git a/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/README.md b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/README.md index ad97e9f41040fff2be6f177da910996db347cc87..4ed07c4051ba22136e67fae3f8e486a7368057cf 100644 --- a/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/README.md +++ b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-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/f9d438a5 -- 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: 1015.0 diff --git a/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/eval_profile.json b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/eval_profile.json new file mode 100644 index 0000000000000000000000000000000000000000..ee24305cd63aeffefe17156b6a3023912da4b83c --- /dev/null +++ b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-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/asterix-qwenpi_v3-hist8-profile-s42-v1/checkpoints/model.pt", + "experiment_name": 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a/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/evaluation_profile/episode_metrics.jsonl b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/evaluation_profile/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..127fcf77ef036656f5580915f87d6c8046718f56 --- /dev/null +++ b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/evaluation_profile/episode_metrics.jsonl @@ -0,0 +1,100 @@ +{"episode_id": 0, "episode_return": 1500.0, "episode_return_env": 1500.0, "game_score": 1500.0, "mean_latency_ms": 320.3469965560645, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/asterix-qwenpi_v3-hist8-profile-s42-v1/checkpoints/model.pt", "config_name": "asterix-qwenpi_v3-hist8-profile-s42-v1-step5000-history01-profile-par32", "dropped_observation_count": 541, 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"checkpoint_path": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/asterix-qwenpi_v3-hist8-profile-s42-v1/checkpoints/model.pt", "config_name": "asterix-qwenpi_v3-hist8-profile-s42-v1-step5000-history01-profile-par32", "dropped_observation_count": 392, "env_fps": 60.0, "env_id": "LatencyBench/Asterix-v0", "episode_seed": 1000099, "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": "qwenpi_v3", "obs_fps": 15.0, "output_dir": "/home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/evals/asterix-qwenpi_v3-hist8-profile-s42-v1/profile_to_profile", "policy_id": "starvla", "profile_ref": null, "run_name": "asterix-qwenpi_v3-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/asterix-qwenpi_v3/profile/profile.json", "source_run_id": "20260924T124905574960Z", "submitted_observation_frames": 94, "workload_id": "asterix"}, "num_actions": 94, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 336.0738731983523, "p99_latency_ms": 348.4442741553777, "return_raw": null, "survival_steps": 1944} diff --git a/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/evaluation_profile/eval_config.yaml b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/evaluation_profile/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..954eb0ef8f427e540d6a132a96c47657c5d26718 --- /dev/null +++ b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/evaluation_profile/eval_config.yaml @@ -0,0 +1,165 @@ +experiment: + name: asterix-qwenpi_v3-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: 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: 1 + 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.' + 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/asterix-qwenpi_v3/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 + - up + - right + - left + - down + - upright + - upleft + - downright + - downleft + checkpoint_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/asterix-qwenpi_v3-hist8-profile-s42-v1/checkpoints/model.pt + model_config_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/asterix-qwenpi_v3-hist8-profile-s42-v1/config.yaml + task_manifest_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/asterix-qwenpi_v3-hist8-profile-s42-v1/manifest.json + device: cuda:0 + unnorm_key: new_embodiment + prompt_mode: latency_neutral + action_layout: discrete_9 + 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: asterix_gpu_batched + eval_raw_reward: true +logging: + output_dir: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/evals/asterix-qwenpi_v3-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/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/evaluation_profile/provenance.json b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/evaluation_profile/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..f016fea7a703527624259e2c93298a369bde5c22 --- /dev/null +++ b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/evaluation_profile/provenance.json @@ -0,0 +1,46 @@ +{ + "collection": { + "teacher_repo": "latency-sensitive-bench/benchmark-models", + "teacher_revision": "e90f33e9f069a205f56b8d2e1e64e08d879cd821", + "teacher_path": "latency-aware/asterix/small-policy/sample-factory-qwenpi_v3-hist8-cpu15m-s0-v1", + "teacher_checkpoint": "best_000029248_14974976_reward_1149.500.pth", + "teacher_sha256": "a33ccc8e9f4921d176a6c257dab1b3f9b824d5db99b1908b4e73a201453f216f", + "profile_path": "/home/ubuntu/codex/atari-hist8-20260924/results/profiling/profiles/qwenpi_v3/1x-rtx3090/asterix/instance_d907cdaf680040e0/profile.json", + "profile_sha256": "a5acfbb259cc3431bcce9dedef862a1e3895bf81659aa3c1707fa54c277852fc", + "profile_repo": "latency-sensitive-bench/profiles", + "profile_revision": "36f784f257aabf73721d5edd63abc7b3dee1a272", + "rollout_overrides": { + "latency_profile_path": "/home/ubuntu/codex/atari-hist8-20260924/results/profiling/profiles/qwenpi_v3/1x-rtx3090/asterix/instance_d907cdaf680040e0/profile.json", + "seed": 42, + "simulator": "gpu", + "probe_envs": 256, + "replay_envs": 256, + "policy_inference_batch_size": 256, + "max_episode_raw_frames": 7200 + }, + "episodes": 800, + "filter_preset": "none", + "history": "decision_v1" + }, + "training_run_id": "asterix-qwenpi_v3-hist8-profile-s42-v1", + "training_step": 5000, + "global_batch": 128, + "base_model": "Qwen/Qwen3-VL-4B-Instruct", + "wandb_run_id": "f9d438a5", + "checkpoint_sha256": "19fc503b7ab9158c445f92258e489da35d2a73a87c12e3e7954a7e0f51ea75eb", + "eval_protocol_version": "hist8-history01-sf-render-v4", + "history_encoding": "binary_0_1", + "episodes": 100, + "env_condition": "profile", + "parallel_envs": 32, + "max_episode_raw_frames": 7200, + "inference_devices": [ + "cuda:0", + "cuda:1" + ], + "episode_seeds": [ + 1000000, + 1000099 + ], + "profile_sha256": "a5acfbb259cc3431bcce9dedef862a1e3895bf81659aa3c1707fa54c277852fc" +} diff --git a/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/profile_publication.json b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/profile_publication.json new file mode 100644 index 0000000000000000000000000000000000000000..322d3261745de01fbf917753f8250044984bbc73 --- /dev/null +++ b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/profile_publication.json @@ -0,0 +1,29 @@ +{ + "model": "qwenpi_v3", + "model_publication": { + "checkpoint_sha256": "381d1ed73a6f3949cb1880d6f1feb18db13068aeb6db39a7974ae9fb1fba0f56", + "episodes": 100, + "mean_return": 5758.5, + "model": "qwenpi_v3", + "path": "zero-latency/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-zero-s42-v1", + "repo_id": "latency-sensitive-bench/benchmark-models", + "revision": "2c66bf8b40bf9dc6fd9b9ea26ccd9fb082f3b883", + "run_id": "asterix-qwenpi_v3-hist8-zero-s42-v1", + "task": "asterix", + "training_status": "complete", + "zero_evaluation_status": "complete", + "zero_mean_return": 5758.5 + }, + "profile": { + "GPU_CLASS": "1x-rtx3090", + "INSTANCE_ID": "instance_d907cdaf680040e0", + "PROFILE_PATH": "results/profiling/profiles/qwenpi_v3/1x-rtx3090/asterix/instance_d907cdaf680040e0/profile.json", + "PROFILE_REF": "qwenpi_v3/1x-rtx3090/asterix/instance_d907cdaf680040e0", + "RUN_ID": "20260924T124905574960Z" + }, + "profile_path": "profiles/qwenpi_v3/1x-rtx3090/asterix/instance_d907cdaf680040e0/profile.json", + "profile_repo": "latency-sensitive-bench/profiles", + "profile_revision": "36f784f257aabf73721d5edd63abc7b3dee1a272", + "profile_sha256": "a5acfbb259cc3431bcce9dedef862a1e3895bf81659aa3c1707fa54c277852fc", + "task": "asterix" +} diff --git a/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/publication_status.json b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/publication_status.json index e3aff23d77ff0cf95cb909817f368fee3dc0e3b2..d02f480240382b25f5cfc499c128847ccd8cb8c0 100644 --- a/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/publication_status.json +++ b/latency-aware/asterix/vla/starvla-qwenpi_v3-h1/asterix-qwenpi_v3-hist8-profile-s42-v1/publication_status.json @@ -1,4 +1,7 @@ { - "profile_evaluation_status": "pending", + "episodes": 100, + "mean_return": 1015.0, + "profile_evaluation_status": "complete", + "profile_mean_return": 1015.0, "training_status": "complete" }