diff --git a/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/README.md b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/README.md new file mode 100644 index 0000000000000000000000000000000000000000..ce088eab8d8f85f5fadef9113794a299b10b7881 --- /dev/null +++ b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/README.md @@ -0,0 +1,36 @@ +# flappy / qwenpi_v3 — hist8 zero training + +Run `flappy-qwenpi_v3-hist8-zero-scratch-s42-v2`; final optimizer step **5000**, seed **42**. [W&B](https://wandb.ai/saberrr-zju/starvla_tasks/runs/9be1cc91). + +Checkpoint SHA256: `f6bf2adb10f48fba4c66564bf278966aad004231ef354b10ffb1a6b7e513fc60`. + +## Model and inputs + +Full StarVLA state dict in `checkpoints/model.pt` (original evaluated bytes). Initialize the matching Qwen model with `config.yaml` and `dataset_statistics.json`. Base: `Qwen/Qwen3-VL-4B-Instruct@ebb281ec70b05090aa6165b016eac8ec08e71b17`; model-specific action head trained from random initialization. + +One current RGB image, eight prior causal decision histories (24 raw 0/1 values), action horizon 1. `h1` in this repository path is the action horizon; `hist8` is input history. Pass history as `transport`, preserve all-zero reset, and use identity state normalization. Prompt and action order are in `task_contract.json` and `manifest.json`. + +Training: 2 GPUs, bf16/ZeRO-2, batch 64 per rank, accumulation 1, global batch 128; 16 dataloader workers per rank and prefetch 4. Backbone LR 3e-6, action head 1e-4; other groups retain the recorded configuration. Warmup 100, cosine min_lr_rate 1/30, 5000 steps. Full historical training configuration and code snapshot are included. + +## Formal evaluation + +| Environment | Episodes | Return mean ± std | Mean raw frames | +|---|---:|---:|---:| +| profile | 100 | 5.5820 ± 1.9567 | 62.50 | +| zero | 100 | 408.7170 ± 88.4673 | 3311.57 | + +Seeds 1,000,000–1,000,099; parallel 32; capacity 1; FPS/decision Hz 10/10; max 3600 raw frames. Zero-trained models have both zero and profile evaluations; profile-trained models have the matching profile evaluation. `profiles/profile.json` is the exact model-specific latency profile, with SHA in provenance. + +Each `evaluations//` contains the evaluated config, 100 episode records, action audit including raw-score summaries, verification, provenance and evaluator code snapshot. Evaluation configs retain original machine paths as execution evidence; replace checkpoint, model-config, backbone, profile and output paths when replaying locally. Deadly Corridor requires 160×120 RGB with HUD, no crosshair, weapon enabled, decals/particles disabled before resizing. + +These are one-training-seed results. Architectures use different latency profiles. Zero/profile training also uses different teachers and collected data, so their score difference is not an isolated learning-rate ablation. + +## Download + +```python +from huggingface_hub import snapshot_download +prefix = "zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2" +repo = snapshot_download("latency-sensitive-bench/benchmark-models", allow_patterns=[prefix + "/**"]) +``` + +Use a pinned repository commit for reproduction. Preserve the original checkpoint SHA above. Optimizer/RNG resume state remains in the source training archive; this publication contains the inference checkpoint. diff --git a/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/bundle.complete.json b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/bundle.complete.json new file mode 100644 index 0000000000000000000000000000000000000000..91a07fa67ba0ed63f193e0afcc25f9a32c69f745 --- /dev/null +++ b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/bundle.complete.json @@ -0,0 +1,4 @@ +{ + "checkpoint_sha256": "f6bf2adb10f48fba4c66564bf278966aad004231ef354b10ffb1a6b7e513fc60", + "training_step": 5000 +} diff --git a/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/checkpoint.sha256 b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/checkpoint.sha256 new file mode 100644 index 0000000000000000000000000000000000000000..645956598a91a6880e3c7f42137329815d4fca7e --- /dev/null +++ b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/checkpoint.sha256 @@ -0,0 +1 @@ +f6bf2adb10f48fba4c66564bf278966aad004231ef354b10ffb1a6b7e513fc60 checkpoints/model.pt diff --git a/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/checkpoints/model.pt b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/checkpoints/model.pt new file mode 100644 index 0000000000000000000000000000000000000000..c5f8cb074fb94e2e194ddd711fcf55afb216e85d --- /dev/null +++ b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/checkpoints/model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6bf2adb10f48fba4c66564bf278966aad004231ef354b10ffb1a6b7e513fc60 +size 10922651805 diff --git a/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/collection_quality_report.json b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/collection_quality_report.json new file mode 100644 index 0000000000000000000000000000000000000000..dad1afaf1c97d3384823949c803c8478c9970b69 --- /dev/null +++ b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/collection_quality_report.json @@ -0,0 +1,30 @@ +{ + "episodes": 200, + "train_episodes": 180, + "val_episodes": 20, + "train_labels": 647783, + "val_labels": 70375, + "raw_frames_quantiles": [ + 1975.0, + 3600.0, + 3600.0, + 3600.0, + 3600.0 + ], + "return_quantiles": [ + 242.3000028654933, + 444.6000052243471, + 444.6000052243471, + 444.6000052243471, + 444.6000052243471 + ], + "termination_reasons": { + "horizon": 198, + "terminated": 2 + }, + "action_id_counts": { + "0": 658426, + "1": 59732 + }, + "previous_decision_admitted_fraction": 1.0 +} diff --git a/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/config.full.yaml b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/config.full.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a241d50c9063e8fe0c4457e3b8128b0acaa3a2a2 --- /dev/null +++ b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/config.full.yaml @@ -0,0 +1,297 @@ +framework: + name: QwenPI_v3 + qwenvl: + base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 + attn_implementation: flash_attention_2 + vl_hidden_dim: 2560 + num_vl_layers: 36 + enable_gradient_checkpointing: true + action_model: + action_model_type: LayerwiseFM + action_dim: 2 + state_dim: 24 + state_encoding: continuous_projector + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 2 + num_inference_timesteps: 4 + add_pos_embed: true + max_seq_len: 1024 + num_target_vision_tokens: 32 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + diffusion_model_cfg: + action_dit_hidden_dim: 1024 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + positional_embeddings: null + attention_head_dim: 64 + output_dim: 1024 + num_layers: 36 + input_embedding_dim: 1024 + cross_attention_dim: 1024 + num_attention_heads: 16 + loss_type: l1 + future_action_window_size: 0 + past_action_window_size: 0 + action_env_dim: 2 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +datasets: + vla_data: + dataset_py: lerobot_datasets + include_state: true + data_root_dir: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/data_zero/flappy + data_mix: lerobot + eval_data_mix: lerobot__val + custom_mixtures_path: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/data_zero/flappy/_generated_mixtures/lerobot.json + action_type: discrete + sequential_step_sampling: false + eval_sequential_step_sampling: null + num_workers: 16 + eval_num_workers: 16 + prefetch_factor: 4 + persistent_workers: true + pin_memory: true + shuffle: true + action_balance: + enabled: false + strategy: balanced_epoch + action_key: action_id + target_flap_fraction: 0.3 + noop_id: 0 + flap_id: 1 + latency_curriculum: + enabled: false + strategy: exclusive + latencies: null + phase_steps: null + phase_distributions: null + new_latency_passes: 1.0 + replay_passes: 0.25 + target_total_passes: 2.0 + final_equalization: true + step_budget_mode: auto + eval_at_phase_end: false + save_at_phase_end: false + computed_plan: null + per_device_batch_size: 64 + load_all_data_for_training: true + num_obs_frames: 1 + image_mode: single + prompt_mode: raw + stitch_grid: + - 2 + - 2 + obs_image_size: null + video_backend: torchvision_av +dataset: + source_hf: '' + config_name: null + source_subdir: null + converted_name: flappy_train + single_source_hf: '' + mixed_source_hf: '' + single_converted_name: flappy_train + mixed_converted_name: flappy_mixed_latency_train + single_latency_filter: null + mixed_latency_filter: null + force_download: false + setup_force: false + skip_verification: false + target_latency_unit: observation_steps + verify_rows: 200 + max_episodes: null + episodes_per_latency: null + latency_filter: null + debug_subset: + enabled: false + max_episodes: 5 + suffix: debug +base_model: + repo_id: Qwen/Qwen3-VL-4B-Instruct +initialization: + checkpoint_local_dir: null + checkpoint_hf_repo_id: null + checkpoint_filename: null +trainer: + max_train_steps: 5000 + num_warmup_steps: 100 + save_interval: 500 + eval_interval: 500 + eval_num_batches: 50 + per_latency_eval_num_batches: null + eval_action_classification: false + eval_action_classification_interval: null + cc_f1_tolerance: 1 + learning_rate: + base: 3.0e-05 + qwen_vl_interface: 3.0e-06 + action_model: 0.0001 + lr_scheduler_type: cosine_with_min_lr + scheduler_specific_kwargs: + min_lr_rate: 0.03333333333333333 + freeze_modules: '' + freeze_vit: false + freeze_tied_embedding: false + freeze_llm_layers: [] + loss_scale: + vla: 1.0 + vlm: 0.0 + max_grad_norm: 1.0 + weight_decay: 0.0 + logging_frequency: 1 + profile_timing: + enabled: false + log_interval: 10 + gradient_clipping: 1.0 + gradient_accumulation_steps: 1 + distributed_backend: deepspeed + is_resume: false + pretrained_checkpoint: null + resume_step: 0 + reload_modules: null + optimizer: + name: AdamW + betas: + - 0.9 + - 0.95 + eps: 1.0e-08 + weight_decay: 1.0e-08 + fused: true + save_format: pt + hist8_diagnostics: + steps: + - 0 + - 500 + - 1000 + - 2500 + - 5000 + sample_count: 2048 + noise_seeds: + - 1729 + - 1730 + - 1731 + - 1732 + sample_seed: 42 + batch_size: 8 + bootstrap_repeats: 4000 +workspace_dir: WORKSPACE_DIR +run_root_dir: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/train +seed: 42 +wandb_entity: saberrr-zju +wandb_project: starvla_tasks +auth: + env_file: null + hf_token_env: HF_TOKEN + wandb_api_key_env: WANDB_API_KEY +paths: + run_root_dir: results/Checkpoints + dataset_local_dir: playground/Datasets/rl_games + dataset_cache_dir: null + base_model_dir: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 + accelerate_config: starVLA/config/deepseeds/deepspeed_zero2.yaml +launch: + use_accelerate: true + gpus: null + num_processes: 1 + dry_run: false +conda: + enabled: true + env_name: null +rl_games: + model_alias: pi-0.5 + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw + ghost_trail: + history_frames: 5 + gamma: 1.3 + min_alpha: 35 + scroll_px_per_step: 4.0 + ground_fraction: 0.22 + seed: 42 + fixed_episode_seeds: true + latency_seed_stride: 0 + task_seed_stride: 0 + task_description: '' + eval_parallel_envs: 5 + action_chunk_execution: + enabled: false + chunk_size: null + enabled: false + eval_backend: latency_bench + distributed_mode: none + vectorized: + enabled: false + batch_size: 1 + latency: + prompt_map_path: null + mode: single + values: + - 0 + mid_train: + enabled: false + interval_steps: 100 + latencies: + - 0 + num_episodes: 5 + max_steps_per_episode: 3600 + post_train: + enabled: false + latencies: + - 0 + - 1 + - 2 + - 3 + - 4 + num_episodes: 5 + max_steps_per_episode: 3600 + task: flappy + initialization_mode: scratch + action_carrier: native +model: pi05 +env: flappy +init: scratch +mode: single +checkpoint: + load: none + hf_repo_id: null + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: true + save_safetensors_file: false + local: + keep_last_n: 2 + sync: + enabled: false + repo_id: null + keep_last_n: 0 + sync_every_n_checkpoints: 1 + resume_policy: local_latest +run_id: flappy-qwenpi_v3-hist8-zero-scratch-s42-v2 +output_dir: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/train/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2 +config_yaml: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/train/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/train.yaml +is_debug: false +version_id: '0.21' +wandb_name: flappy-qwenpi_v3-hist8-zero-scratch-s42-v2 +wandb_group: decision-history-vla-h8-v2 +wandb_tags: +- flappy +- qwenpi_v3 +- hist8-v2 +- history01 +- scratch +- zero-latency +training_latency_condition: zero-latency diff --git a/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/config.yaml b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b820b521cec6357762136fd78f4189045ba136a9 --- /dev/null +++ b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/config.yaml @@ -0,0 +1,57 @@ +framework: + name: QwenPI_v3 + qwenvl: + base_vlm: Qwen/Qwen3-VL-4B-Instruct + attn_implementation: flash_attention_2 + vl_hidden_dim: 2560 + num_vl_layers: 36 + enable_gradient_checkpointing: true + action_model: + action_model_type: LayerwiseFM + action_dim: 2 + state_dim: 24 + state_encoding: continuous_projector + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 2 + num_inference_timesteps: 4 + add_pos_embed: true + max_seq_len: 1024 + num_target_vision_tokens: 32 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + diffusion_model_cfg: + action_dit_hidden_dim: 1024 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + positional_embeddings: null + attention_head_dim: 64 + output_dim: 1024 + num_layers: 36 + input_embedding_dim: 1024 + cross_attention_dim: 1024 + num_attention_heads: 16 + loss_type: l1 + future_action_window_size: 0 + past_action_window_size: 0 + action_env_dim: 2 + kv_memory: + enabled: false + window: 4 + rollout_len: 8 + packed_train: false + rebased_sink: true +version_id: '0.21' +datasets: + vla_data: + include_state: true + obs_image_size: null + image_mode: single + num_obs_frames: 1 + robot_type: rl_games_flappy +trainer: + pretrained_checkpoint: null diff --git a/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/dataset_statistics.json b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..67bb101ff937454737cf217c8d213c84ceb3d52f --- /dev/null +++ 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b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/evaluations/profile/eval_config.yaml @@ -0,0 +1,76 @@ +experiment: + name: flappy-qwenpi_v3-hist8-zero-scratch-s42-v2-step5000-history01-profile-par32 + seed: 1000000 +backend: + run_mode: eval +executor: + mode: simulated + simulated_worker_capacity: 1 + simulated_inference_pool: true + inference_devices: + - cuda:0 + - cuda:1 + inference_batch_size: 16 +env: + name: flappy + gym_id: FlappyBird-v0 + env_fps: 10 + obs_fps: 10 + render_mode: rgb_array + observation_mode: image + use_lidar: false + normalize_obs: true + audio_on: false + frame_stack: 1 + obs_resize: + - 224 + - 224 + simulator: gpu + use_gpu_render: false + gpu_render_device: auto + gpu_render_profile: false + gpu_render_profile_interval: 200 + noop_action: noop + action_map: + noop: 0 + flap: 1 + oneshot_actions: + - flap + action_history_decisions: 8 +latency: + method: temporal + profile_path: /home/ubuntu/codex/hist8-vla-20260923/results/profiling/profiles/pi05/1x-rtx3090/flappy/instance_a5037b165aa0cedc/profile.json + profile_worker_slot: 0 + seed: 271828 + add_latency_info: false +scheduler: + hold_policy: one_frame_then_noop + ordering_policy: latest_ready +policy: + type: starvla + checkpoint_path: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/checkpoints/model.pt + model_config_path: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/config.yaml + device: cuda:0 + unnorm_key: new_embodiment + prompt_mode: latency_neutral + actions: + - noop + - flap + 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 +evaluation: + eval_episodes: 100 + eval_parallel_envs: 32 + latency_bench_env_backend: flappy_gpu_batched + eval_latency_values: null + eval_max_steps: 3600 + eval_deterministic: true + eval_raw_reward: true +logging: + output_dir: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/evals/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/to_profile + save_step_records: true + save_action_records: true + save_latency_records: true + video: + enabled: false diff --git a/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/evaluations/profile/provenance.json b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/evaluations/profile/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..77c6de7d32f03085eef68e9962097676d746acba --- /dev/null +++ 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"flappy-qwenpi_v3-hist8-zero-scratch-s42-v2", + "training_step": 5000, + "global_batch": 128, + "base_model": "Qwen/Qwen3-VL-4B-Instruct", + "wandb_run_id": "9be1cc91", + "checkpoint_sha256": "f6bf2adb10f48fba4c66564bf278966aad004231ef354b10ffb1a6b7e513fc60", + "eval_protocol_version": "hist8-history01-par32-v3", + "history_encoding": "binary_0_1", + "episodes": 100, + "env_condition": "profile", + "parallel_envs": 32, + "max_episode_raw_frames": 3600, + "inference_devices": [ + "cuda:0", + "cuda:1" + ], + "episode_seeds": [ + 1000000, + 1000099 + ], + "profile_sha256": "be2cd7a2a7fdf40c5c967d0c3cc16b912969d0ac0b4acc785aac3d0e4133df30" +} diff --git a/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/evaluations/profile/resolved_config.yaml b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/evaluations/profile/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa8bdb68adf8d34af541624ffafb5a032bf7522b --- /dev/null +++ b/zero-latency/flappy/vla/starvla-qwenpi_v3-h1/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/evaluations/profile/resolved_config.yaml @@ -0,0 +1,79 @@ +experiment: + name: flappy-qwenpi_v3-hist8-zero-scratch-s42-v2-step5000-history01-profile-par32 + seed: 1000000 +backend: + run_mode: eval +executor: + mode: simulated + simulated_worker_capacity: 1 + simulated_inference_pool: true + inference_devices: + - cuda:0 + - cuda:1 + inference_batch_size: 16 +env: + name: flappy + gym_id: FlappyBird-v0 + env_fps: 10 + obs_fps: 10 + render_mode: rgb_array + observation_mode: image + use_lidar: false + normalize_obs: true + audio_on: false + frame_stack: 1 + obs_resize: + - 224 + - 224 + simulator: gpu + use_gpu_render: false + gpu_render_device: auto + gpu_render_profile: false + gpu_render_profile_interval: 200 + noop_action: noop + action_map: + noop: 0 + flap: 1 + oneshot_actions: + - flap + action_history_decisions: 8 +latency: + method: temporal + profile_path: /home/ubuntu/codex/hist8-vla-20260923/results/profiling/profiles/pi05/1x-rtx3090/flappy/instance_a5037b165aa0cedc/profile.json + profile_worker_slot: 0 + seed: 271828 + add_latency_info: false +scheduler: + hold_policy: one_frame_then_noop + ordering_policy: latest_ready +policy: + type: starvla + checkpoint_path: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/checkpoints/model.pt + model_config_path: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/config.yaml + device: cuda:0 + unnorm_key: new_embodiment + prompt_mode: latency_neutral + actions: + - noop + - flap + backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 + worker_python_executable: 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@@ -0,0 +1,71 @@ +experiment: + name: flappy-qwenpi_v3-hist8-zero-scratch-s42-v2-step5000-history01-zero-par32 + seed: 1000000 +backend: + run_mode: eval +executor: + mode: simulated + simulated_worker_capacity: 1 + simulated_inference_pool: true + inference_devices: + - cuda:0 + inference_batch_size: 32 +env: + name: flappy + gym_id: FlappyBird-v0 + env_fps: 10 + obs_fps: 10 + render_mode: rgb_array + observation_mode: image + use_lidar: false + normalize_obs: true + audio_on: false + frame_stack: 1 + obs_resize: + - 224 + - 224 + simulator: gpu + use_gpu_render: false + gpu_render_device: auto + gpu_render_profile: false + gpu_render_profile_interval: 200 + noop_action: noop + action_map: + noop: 0 + flap: 1 + oneshot_actions: + - flap + action_history_decisions: 8 +latency: + method: zero +scheduler: + hold_policy: one_frame_then_noop + ordering_policy: latest_ready +policy: + type: starvla + checkpoint_path: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/checkpoints/model.pt + model_config_path: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/config.yaml + device: cuda:0 + unnorm_key: new_embodiment + prompt_mode: latency_neutral + actions: + - noop + - flap + 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 +evaluation: + eval_episodes: 100 + eval_parallel_envs: 32 + latency_bench_env_backend: flappy_gpu_batched + eval_latency_values: null + eval_max_steps: 3600 + eval_deterministic: true + eval_raw_reward: true +logging: + output_dir: 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+env: + name: flappy + gym_id: FlappyBird-v0 + env_fps: 10 + obs_fps: 10 + render_mode: rgb_array + observation_mode: image + use_lidar: false + normalize_obs: true + audio_on: false + frame_stack: 1 + obs_resize: + - 224 + - 224 + simulator: gpu + use_gpu_render: false + gpu_render_device: auto + gpu_render_profile: false + gpu_render_profile_interval: 200 + noop_action: noop + action_map: + noop: 0 + flap: 1 + oneshot_actions: + - flap + action_history_decisions: 8 +latency: + method: zero +scheduler: + hold_policy: one_frame_then_noop + ordering_policy: latest_ready +policy: + type: starvla + checkpoint_path: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/checkpoints/model.pt + model_config_path: /home/ubuntu/codex/hist8-vla-v2-20260923/outputs/tasks/decision_history_vla_hist8_v2/bundles/flappy-qwenpi_v3-hist8-zero-scratch-s42-v2/config.yaml + device: cuda:0 + unnorm_key: new_embodiment + 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