diff --git a/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/README.md b/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/README.md index 1f0f424abaef23c9f8004e59b996339807e531bb..5039714bbf891ee0ed9f611bd42bb8f905e0ce63 100644 --- a/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/README.md +++ b/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/README.md @@ -1,8 +1,8 @@ -# Asterix qwenoft zero-latency H8 VLA +# Asterix qwenoft zero-trained H8 VLA Current RGB and eight binary decision-history windows; action horizon one. Initialized from the pinned Qwen3-VL-4B backbone and random action head. - Training: 5000 steps, seed 42, global batch 128 - W&B: https://wandb.ai/saberrr-zju/starvla_tasks/runs/aa718e0f -- Evaluation: 100 episodes, seeds 1000000–1000099, GPU simulator, parallel 32, capacity 1, 60/15 Hz, 7200 raw-frame cap, zero latency -- Mean raw return: 5803.5 +- Evaluation: 100 episodes, seeds 1000000–1000099, GPU simulator, parallel 32, capacity 1, 60/15 Hz, 7200 raw-frame cap, profile latency +- Mean raw return: 374.5 diff --git a/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/eval_profile.json b/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/eval_profile.json new file mode 100644 index 0000000000000000000000000000000000000000..e7a94f04ef8b93ac445b5daf0ceca4d761b5ed9f --- /dev/null +++ b/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/eval_profile.json @@ -0,0 +1,217 @@ +{ + "checkpoint_path": 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117.33100237801729, "p99_latency_ms": 122.89112642159435, "return_raw": null, "survival_steps": 1373} diff --git a/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/evaluation_profile/eval_config.yaml b/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/evaluation_profile/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0148665c4b4d20f32b22064e182d97d47367e438 --- /dev/null +++ b/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/evaluation_profile/eval_config.yaml @@ -0,0 +1,165 @@ +experiment: + name: asterix-qwenoft-hist8-zero-s42-v1-step5000-history01-profile-par32 + seed: 1000000 +backend: + type: sample_factory + algo: APPO + device: cuda + train_dir: results/sample_factory + restart_behavior: resume + run_mode: eval + extra_args: + - --encoder_conv_architecture + - convnet_simple +executor: + mode: simulated + simulated_worker_capacity: 1 + simulated_inference_pool: true + inference_devices: + - cuda:0 + - cuda:1 + inference_batch_size: 16 +env: + name: gymnasium + task_name: 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-qwenoft/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-qwenoft-hist8-zero-s42-v1/checkpoints/model.pt + model_config_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/asterix-qwenoft-hist8-zero-s42-v1/config.yaml + task_manifest_path: /home/ubuntu/codex/atari-hist8-20260924/outputs/tasks/atari_hist8_v1/bundles/asterix-qwenoft-hist8-zero-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-qwenoft-hist8-zero-s42-v1/zero_to_profile + video: + enabled: false + num_bins: 1 + save_step_records: true + save_action_records: true + save_latency_records: true + wandb_project: null + wandb_group: null + wandb_job_type: null + wandb_tags: '' diff --git a/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/evaluation_profile/provenance.json b/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/evaluation_profile/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..2f677ba8574312972d1d8ec8133584127a6664d0 --- /dev/null +++ b/zero-latency/asterix/vla/starvla-qwenoft-h1/asterix-qwenoft-hist8-zero-s42-v1/evaluation_profile/provenance.json @@ -0,0 +1,46 @@ +{ + "collection": { + "episodes": 300, + "filter_preset": "none", + "history": "decision_v1", + "history_decisions": 8, + "history_source": "teacher_transport", + "max_episode_raw_frames": 7200, + "rollout_overrides": { + "env_fps": 60, + "fixed_latency_ms": 0.0, + "latency_type": "fixed", + "obs_fps": 15, + "seed": 42 + }, + "student_image_frames": 1, + "teacher_checkpoint": "best_000024112_12345344_reward_5614.500.pth", + "teacher_path": "zero-latency/asterix/small-policy/sample-factory-hist8-cpu15m-s0-v1", + "teacher_repo": "latency-sensitive-bench/benchmark-models", + "teacher_revision": 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