Consolidate paper experiment assets by task and run (151-300)

evaluations/flappy/flappy_fix_latency_0_200ep_7k2steps_single_baseline/eval/post_train/step_4000.json

@@ -0,0 +1,240 @@
+{
+  "per_latency": {
+    "flappy/latency_0": {
+      "latency": 0,
+      "num_episodes": 50,
+      "mean_reward": 444.6000052243471,
+      "mean_length": 3600.0,
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+      "decoded_action_hist": {},
+      "fixed_episode_seeds": true,
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+  "aggregate": {
+    "stage": "post_train",
+    "step": 4000,
+    "task": "flappy",
+    "model_alias": "openvla",
+    "fixed_episode_seeds": true,
+    "eval_seed": 42,
+    "total_episodes": 50,
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+}

evaluations/flappy/flappy_fix_latency_0_200ep_7k2steps_single_baseline/hydra/.hydra/hydra.yaml

@@ -0,0 +1,369 @@
+hydra:
+  run:
+    dir: ${run_root_dir}/${run_id}/hydra
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - model=openvla
+    - env=flappy
+    - init=bridge
+    - mode=single
+    - ++framework.qwenvl.base_vlm=playground/Pretrained_models/Qwen3-VL-4B-Instruct
+    - ++framework.qwenvl.attn_implementation=flash_attention_2
+    - ++framework.qwenvl.enable_gradient_checkpointing=true
+    - ++framework.action_model.state_dim=7
+    - ++framework.action_model.loss_type=discrete_ce
+    - ++framework.action_model.action_horizon=1
+    - ++framework.action_model.future_action_window_size=0
+    - ++framework.action_model.past_action_window_size=0
+    - ++framework.action_model.action_dim=7
+    - ++framework.action_model.action_env_dim=2
+    - ++framework.kv_memory.enabled=false
+    - ++framework.kv_memory.window=4
+    - ++framework.kv_memory.rollout_len=8
+    - ++framework.kv_memory.packed_train=false
+    - ++framework.kv_memory.rebased_sink=true
+    - ++framework.name=QwenOFT
+    - ++datasets.vla_data.dataset_py=lerobot_datasets
+    - ++datasets.vla_data.include_state=true
+    - ++datasets.vla_data.data_root_dir=playground/Datasets/rl_games
+    - ++datasets.vla_data.data_mix=flappy_train__bridge
+    - ++datasets.vla_data.eval_data_mix=flappy_train__bridge__val
+    - ++datasets.vla_data.custom_mixtures_path=null
+    - ++datasets.vla_data.action_type=discrete
+    - ++datasets.vla_data.sequential_step_sampling=false
+    - ++datasets.vla_data.eval_sequential_step_sampling=null
+    - ++datasets.vla_data.num_workers=8
+    - ++datasets.vla_data.eval_num_workers=8
+    - ++datasets.vla_data.prefetch_factor=4
+    - ++datasets.vla_data.persistent_workers=true
+    - ++datasets.vla_data.pin_memory=true
+    - ++datasets.vla_data.shuffle=true
+    - ++datasets.vla_data.action_balance.enabled=false
+    - ++datasets.vla_data.action_balance.strategy=balanced_epoch
+    - ++datasets.vla_data.action_balance.action_key=action_id
+    - ++datasets.vla_data.action_balance.target_flap_fraction=0.3
+    - ++datasets.vla_data.action_balance.noop_id=0
+    - ++datasets.vla_data.action_balance.flap_id=1
+    - ++datasets.vla_data.latency_curriculum.enabled=false
+    - ++datasets.vla_data.latency_curriculum.strategy=exclusive
+    - ++datasets.vla_data.latency_curriculum.latencies=null
+    - ++datasets.vla_data.latency_curriculum.phase_steps=null
+    - ++datasets.vla_data.latency_curriculum.phase_distributions=null
+    - ++datasets.vla_data.latency_curriculum.new_latency_passes=1.0
+    - ++datasets.vla_data.latency_curriculum.replay_passes=0.25
+    - ++datasets.vla_data.latency_curriculum.target_total_passes=2.0
+    - ++datasets.vla_data.latency_curriculum.final_equalization=true
+    - ++datasets.vla_data.latency_curriculum.step_budget_mode=auto
+    - ++datasets.vla_data.latency_curriculum.eval_at_phase_end=false
+    - ++datasets.vla_data.latency_curriculum.save_at_phase_end=false
+    - ++datasets.vla_data.latency_curriculum.computed_plan=null
+    - ++datasets.vla_data.per_device_batch_size=4
+    - ++datasets.vla_data.load_all_data_for_training=true
+    - ++datasets.vla_data.num_obs_frames=1
+    - ++datasets.vla_data.image_mode=single
+    - ++datasets.vla_data.prompt_mode=raw
+    - ++datasets.vla_data.stitch_grid=[2,2]
+    - ++datasets.vla_data.obs_image_size=null
+    - ++datasets.vla_data.video_backend=torchvision_av
+    - ++dataset.source_hf=
+    - ++dataset.config_name=null
+    - ++dataset.source_subdir=null
+    - ++dataset.converted_name=flappy_train
+    - ++dataset.single_source_hf=
+    - ++dataset.mixed_source_hf=
+    - ++dataset.single_converted_name=flappy_train
+    - ++dataset.mixed_converted_name=flappy_mixed_latency_train
+    - ++dataset.single_latency_filter=null
+    - ++dataset.mixed_latency_filter=null
+    - ++dataset.force_download=false
+    - ++dataset.setup_force=false
+    - ++dataset.skip_verification=false
+    - ++dataset.target_latency_unit=raw_frames
+    - ++dataset.verify_rows=200
+    - ++dataset.max_episodes=null
+    - ++dataset.episodes_per_latency=null
+    - ++dataset.latency_filter=null
+    - ++dataset.debug_subset.enabled=false
+    - ++dataset.debug_subset.max_episodes=5
+    - ++dataset.debug_subset.suffix=debug
+    - ++base_model.repo_id=Qwen/Qwen3-VL-4B-Instruct
+    - ++initialization.checkpoint_local_dir=playground/Pretrained_models/Qwen3VL-OFT-Bridge-RT-1
+    - ++initialization.checkpoint_hf_repo_id=StarVLA/Qwen3VL-OFT-Bridge-RT-1
+    - ++initialization.checkpoint_filename=checkpoints/steps_5000_pytorch_model.pt
+    - ++trainer.max_train_steps=4000
+    - ++trainer.num_warmup_steps=100
+    - ++trainer.save_interval=500
+    - ++trainer.eval_interval=250
+    - ++trainer.eval_num_batches=50
+    - ++trainer.per_latency_eval_num_batches=null
+    - ++trainer.eval_action_classification=false
+    - ++trainer.eval_action_classification_interval=null
+    - ++trainer.cc_f1_tolerance=1
+    - ++trainer.learning_rate.base=2e-05
+    - ++trainer.learning_rate.qwen_vl_interface=1e-05
+    - ++trainer.learning_rate.action_model=0.0001
+    - ++trainer.lr_scheduler_type=cosine_with_min_lr
+    - ++trainer.scheduler_specific_kwargs.min_lr=1e-06
+    - ++trainer.freeze_modules=
+    - ++trainer.freeze_vit=false
+    - ++trainer.freeze_tied_embedding=false
+    - ++trainer.freeze_llm_layers=[]
+    - ++trainer.loss_scale.vla=1.0
+    - ++trainer.loss_scale.vlm=0.1
+    - ++trainer.max_grad_norm=1.0
+    - ++trainer.weight_decay=0.0
+    - ++trainer.logging_frequency=1
+    - ++trainer.profile_timing.enabled=false
+    - ++trainer.profile_timing.log_interval=10
+    - ++trainer.gradient_clipping=1.0
+    - ++trainer.gradient_accumulation_steps=16
+    - ++trainer.distributed_backend=deepspeed
+    - ++trainer.is_resume=false
+    - ++trainer.pretrained_checkpoint=null
+    - ++trainer.resume_step=0
+    - ++trainer.reload_modules=null
+    - ++trainer.optimizer.name=AdamW
+    - ++trainer.optimizer.betas=[0.9,0.95]
+    - ++trainer.optimizer.eps=1e-08
+    - ++trainer.optimizer.weight_decay=1e-08
+    - ++trainer.optimizer.fused=true
+    - ++trainer.save_format=pt
+    - ++workspace_dir=WORKSPACE_DIR
+    - ++run_root_dir=results/Checkpoints
+    - ++seed=42
+    - ++auth.env_file=null
+    - ++auth.hf_token_env=HF_TOKEN
+    - ++auth.wandb_api_key_env=WANDB_API_KEY
+    - ++paths.run_root_dir=/pfs/users/lxy/latency-sensitive-bench/results/checkpoints/jitter_destructiveness/real_profile/vla
+    - ++paths.dataset_local_dir=data/jitter_destructiveness/real_profile/latency0/flappy_fix_latency_0_200ep_7k2steps
+    - ++paths.dataset_cache_dir=null
+    - ++paths.base_model_dir=playground/Pretrained_models/Qwen3-VL-4B-Instruct
+    - ++paths.accelerate_config=starVLA/config/deepseeds/deepspeed_zero2.yaml
+    - ++rl_games.model_alias=openvla
+    - ++rl_games.env_eval.image_size=224
+    - ++rl_games.env_eval.frameskip=1
+    - ++rl_games.env_eval.image_transform=raw_rgb
+    - ++rl_games.env_eval.prompt_mode=raw
+    - ++rl_games.env_eval.ghost_trail.history_frames=5
+    - ++rl_games.env_eval.ghost_trail.gamma=1.3
+    - ++rl_games.env_eval.ghost_trail.min_alpha=35
+    - ++rl_games.env_eval.ghost_trail.scroll_px_per_step=4.0
+    - ++rl_games.env_eval.ghost_trail.ground_fraction=0.22
+    - ++rl_games.env_eval.seed=42
+    - ++rl_games.env_eval.fixed_episode_seeds=true
+    - ++rl_games.env_eval.latency_seed_stride=0
+    - ++rl_games.env_eval.task_seed_stride=0
+    - ++rl_games.env_eval.task_description=
+    - ++rl_games.env_eval.eval_parallel_envs=5
+    - ++rl_games.env_eval.action_chunk_execution.enabled=false
+    - ++rl_games.env_eval.action_chunk_execution.chunk_size=null
+    - ++rl_games.env_eval.enabled=true
+    - ++rl_games.env_eval.eval_backend=latency_bench
+    - ++rl_games.env_eval.distributed_mode=rank_sharded
+    - ++rl_games.env_eval.vectorized.enabled=false
+    - ++rl_games.env_eval.vectorized.batch_size=1
+    - ++rl_games.env_eval.latency.prompt_map_path=null
+    - ++rl_games.env_eval.latency.mode=single
+    - ++rl_games.env_eval.latency.values=[0]
+    - ++rl_games.env_eval.mid_train.enabled=true
+    - ++rl_games.env_eval.mid_train.interval_steps=250
+    - ++rl_games.env_eval.mid_train.latencies=[0]
+    - ++rl_games.env_eval.mid_train.num_episodes=20
+    - ++rl_games.env_eval.mid_train.max_steps_per_episode=3600
+    - ++rl_games.env_eval.post_train.enabled=true
+    - ++rl_games.env_eval.post_train.latencies=[0]
+    - ++rl_games.env_eval.post_train.num_episodes=50
+    - ++rl_games.env_eval.post_train.max_steps_per_episode=3600
+    - ++rl_games.task=flappy
+    - ++rl_games.initialization_mode=bridge
+    - ++rl_games.action_carrier=bridge
+    - ++bridge_base_model.repo_id.openvla=Qwen/Qwen3-VL-4B-Instruct
+    - ++bridge_base_model.repo_id.pi0=StarVLA/Qwen2.5-VL-3B-Instruct-Action
+    - ++bridge_base_model.repo_id.pi05=Qwen/Qwen3-VL-4B-Instruct
+    - ++bridge_base_model.repo_id.gr00t=Qwen/Qwen3-VL-4B-Instruct
+    - ++bridge_base_model.local_dir.openvla=playground/Pretrained_models/Qwen3-VL-4B-Instruct
+    - ++bridge_base_model.local_dir.pi0=playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action
+    - ++bridge_base_model.local_dir.pi05=playground/Pretrained_models/Qwen3-VL-4B-Instruct
+    - ++bridge_base_model.local_dir.gr00t=playground/Pretrained_models/Qwen3-VL-4B-Instruct
+    - ++checkpoint.load=none
+    - ++checkpoint.hf_repo_id=null
+    - ++checkpoint.save_best_model=false
+    - ++checkpoint.save_final_model=true
+    - ++checkpoint.save_pt_file=false
+    - ++checkpoint.save_training_state=true
+    - ++checkpoint.save_safetensors_file=true
+    - ++checkpoint.local.keep_last_n=1
+    - ++checkpoint.sync.enabled=false
+    - ++checkpoint.sync.repo_id=null
+    - ++checkpoint.sync.keep_last_n=0
+    - ++checkpoint.sync.sync_every_n_checkpoints=1
+    - ++checkpoint.sync.resume_policy=local_latest
+    - ++run_id=flappy_fix_latency_0_200ep_7k2steps_single_baseline
+    - ++output_dir=null
+    - ++config_yaml=null
+    - ++is_debug=false
+    - ++version_id=0.21
+    - ++run_root_dir=/pfs/users/lxy/latency-sensitive-bench/results/checkpoints/jitter_destructiveness/real_profile/vla
+    - ++trainer.is_resume=false
+    - ++trainer.pretrained_checkpoint=/pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/playground/Pretrained_models/Qwen3VL-OFT-Bridge-RT-1/checkpoints/steps_5000_pytorch_model.pt
+    - ++trainer.resume_step=0
+    - ++datasets.vla_data.data_root_dir=/pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/data/jitter_destructiveness/real_profile/latency0/flappy_fix_latency_0_200ep_7k2steps
+    - ++datasets.vla_data.data_mix=flappy_train__bridge
+    - ++datasets.vla_data.eval_data_mix=flappy_train__bridge__val
+    - ++framework.qwenvl.base_vlm=/pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/playground/Pretrained_models/Qwen3-VL-4B-Instruct
+    - ++rl_games.env_eval.latency.prompt_map_path=/pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/data/jitter_destructiveness/real_profile/latency0/flappy_fix_latency_0_200ep_7k2steps/flappy_train__bridge/latency_prompt_map.json
+  job:
+    name: train_starvla_hydra
+    chdir: false
+    override_dirname: ++auth.env_file=null,++auth.hf_token_env=HF_TOKEN,++auth.wandb_api_key_env=WANDB_API_KEY,++base_model.repo_id=Qwen/Qwen3-VL-4B-Instruct,++bridge_base_model.local_dir.gr00t=playground/Pretrained_models/Qwen3-VL-4B-Instruct,++bridge_base_model.local_dir.openvla=playground/Pretrained_models/Qwen3-VL-4B-Instruct,++bridge_base_model.local_dir.pi05=playground/Pretrained_models/Qwen3-VL-4B-Instruct,++bridge_base_model.local_dir.pi0=playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action,++bridge_base_model.repo_id.gr00t=Qwen/Qwen3-VL-4B-Instruct,++bridge_base_model.repo_id.openvla=Qwen/Qwen3-VL-4B-Instruct,++bridge_base_model.repo_id.pi05=Qwen/Qwen3-VL-4B-Instruct,++bridge_base_model.repo_id.pi0=StarVLA/Qwen2.5-VL-3B-Instruct-Action,++checkpoint.hf_repo_id=null,++checkpoint.load=none,++checkpoint.local.keep_last_n=1,++checkpoint.save_best_model=false,++checkpoint.save_final_model=true,++checkpoint.save_pt_file=false,++checkpoint.save_safetensors_file=true,++checkpoint.save_training_state=true,++checkpoint.sync.enabled=false,++checkpoint.sync.keep_last_n=0,++checkpoint.sync.repo_id=null,++checkpoint.sync.resume_policy=local_latest,++checkpoint.sync.sync_every_n_checkpoints=1,++config_yaml=null,++dataset.config_name=null,++dataset.converted_name=flappy_train,++dataset.debug_subset.enabled=false,++dataset.debug_subset.max_episodes=5,++dataset.debug_subset.suffix=debug,++dataset.episodes_per_latency=null,++dataset.force_download=false,++dataset.latency_filter=null,++dataset.max_episodes=null,++dataset.mixed_converted_name=flappy_mixed_latency_train,++dataset.mixed_latency_filter=null,++dataset.mixed_source_hf=,++dataset.setup_force=false,++dataset.single_converted_name=flappy_train,++dataset.single_latency_filter=null,++dataset.single_source_hf=,++dataset.skip_verification=false,++dataset.source_hf=,++dataset.source_subdir=null,++dataset.target_latency_unit=raw_frames,++dataset.verify_rows=200,++datasets.vla_data.action_balance.action_key=action_id,++datasets.vla_data.action_balance.enabled=false,++datasets.vla_data.action_balance.flap_id=1,++datasets.vla_data.action_balance.noop_id=0,++datasets.vla_data.action_balance.strategy=balanced_epoch,++datasets.vla_data.action_balance.target_flap_fraction=0.3,++datasets.vla_data.action_type=discrete,++datasets.vla_data.custom_mixtures_path=null,++datasets.vla_data.data_mix=flappy_train__bridge,++datasets.vla_data.data_mix=flappy_train__bridge,++datasets.vla_data.data_root_dir=/pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/data/jitter_destructiveness/real_profile/latency0/flappy_fix_latency_0_200ep_7k2steps,++datasets.vla_data.data_root_dir=playground/Datasets/rl_games,++datasets.vla_data.dataset_py=lerobot_datasets,++datasets.vla_data.eval_data_mix=flappy_train__bridge__val,++datasets.vla_data.eval_data_mix=flappy_train__bridge__val,++datasets.vla_data.eval_num_workers=8,++datasets.vla_data.eval_sequential_step_sampling=null,++datasets.vla_data.image_mode=single,++datasets.vla_data.include_state=true,++datasets.vla_data.latency_curriculum.computed_plan=null,++datasets.vla_data.latency_curriculum.enabled=false,++datasets.vla_data.latency_curriculum.eval_at_phase_end=false,++datasets.vla_data.latency_curriculum.final_equalization=true,++datasets.vla_data.latency_curriculum.latencies=null,++datasets.vla_data.latency_curriculum.new_latency_passes=1.0,++datasets.vla_data.latency_curriculum.phase_distributions=null,++datasets.vla_data.latency_curriculum.phase_steps=null,++datasets.vla_data.latency_curriculum.replay_passes=0.25,++datasets.vla_data.latency_curriculum.save_at_phase_end=false,++datasets.vla_data.latency_curriculum.step_budget_mode=auto,++datasets.vla_data.latency_curriculum.strategy=exclusive,++datasets.vla_data.latency_curriculum.target_total_passes=2.0,++datasets.vla_data.load_all_data_for_training=true,++datasets.vla_data.num_obs_frames=1,++datasets.vla_data.num_workers=8,++datasets.vla_data.obs_image_size=null,++datasets.vla_data.per_device_batch_size=4,++datasets.vla_data.persistent_workers=true,++datasets.vla_data.pin_memory=true,++datasets.vla_data.prefetch_factor=4,++datasets.vla_data.prompt_mode=raw,++datasets.vla_data.sequential_step_sampling=false,++datasets.vla_data.shuffle=true,++datasets.vla_data.stitch_grid=[2,2],++datasets.vla_data.video_backend=torchvision_av,++framework.action_model.action_dim=7,++framework.action_model.action_env_dim=2,++framework.action_model.action_horizon=1,++framework.action_model.future_action_window_size=0,++framework.action_model.loss_type=discrete_ce,++framework.action_model.past_action_window_size=0,++framework.action_model.state_dim=7,++framework.kv_memory.enabled=false,++framework.kv_memory.packed_train=false,++framework.kv_memory.rebased_sink=true,++framework.kv_memory.rollout_len=8,++framework.kv_memory.window=4,++framework.name=QwenOFT,++framework.qwenvl.attn_implementation=flash_attention_2,++framework.qwenvl.base_vlm=/pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/playground/Pretrained_models/Qwen3-VL-4B-Instruct,++framework.qwenvl.base_vlm=playground/Pretrained_models/Qwen3-VL-4B-Instruct,++framework.qwenvl.enable_gradient_checkpointing=true,++initialization.checkpoint_filename=checkpoints/steps_5000_pytorch_model.pt,++initialization.checkpoint_hf_repo_id=StarVLA/Qwen3VL-OFT-Bridge-RT-1,++initialization.checkpoint_local_dir=playground/Pretrained_models/Qwen3VL-OFT-Bridge-RT-1,++is_debug=false,++output_dir=null,++paths.accelerate_config=starVLA/config/deepseeds/deepspeed_zero2.yaml,++paths.base_model_dir=playground/Pretrained_models/Qwen3-VL-4B-Instruct,++paths.dataset_cache_dir=null,++paths.dataset_local_dir=data/jitter_destructiveness/real_profile/latency0/flappy_fix_latency_0_200ep_7k2steps,++paths.run_root_dir=/pfs/users/lxy/latency-sensitive-bench/results/checkpoints/jitter_destructiveness/real_profile/vla,++rl_games.action_carrier=bridge,++rl_games.env_eval.action_chunk_execution.chunk_size=null,++rl_games.env_eval.action_chunk_execution.enabled=false,++rl_games.env_eval.distributed_mode=rank_sharded,++rl_games.env_eval.enabled=true,++rl_games.env_eval.eval_backend=latency_bench,++rl_games.env_eval.eval_parallel_envs=5,++rl_games.env_eval.fixed_episode_seeds=true,++rl_games.env_eval.frameskip=1,++rl_games.env_eval.ghost_trail.gamma=1.3,++rl_games.env_eval.ghost_trail.ground_fraction=0.22,++rl_games.env_eval.ghost_trail.history_frames=5,++rl_games.env_eval.ghost_trail.min_alpha=35,++rl_games.env_eval.ghost_trail.scroll_px_per_step=4.0,++rl_games.env_eval.image_size=224,++rl_games.env_eval.image_transform=raw_rgb,++rl_games.env_eval.latency.mode=single,++rl_games.env_eval.latency.prompt_map_path=/pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/data/jitter_destructiveness/real_profile/latency0/flappy_fix_latency_0_200ep_7k2steps/flappy_train__bridge/latency_prompt_map.json,++rl_games.env_eval.latency.prompt_map_path=null,++rl_games.env_eval.latency.values=[0],++rl_games.env_eval.latency_seed_stride=0,++rl_games.env_eval.mid_train.enabled=true,++rl_games.env_eval.mid_train.interval_steps=250,++rl_games.env_eval.mid_train.latencies=[0],++rl_games.env_eval.mid_train.max_steps_per_episode=3600,++rl_games.env_eval.mid_train.num_episodes=20,++rl_games.env_eval.post_train.enabled=true,++rl_games.env_eval.post_train.latencies=[0],++rl_games.env_eval.post_train.max_steps_per_episode=3600,++rl_games.env_eval.post_train.num_episodes=50,++rl_games.env_eval.prompt_mode=raw,++rl_games.env_eval.seed=42,++rl_games.env_eval.task_description=,++rl_games.env_eval.task_seed_stride=0,++rl_games.env_eval.vectorized.batch_size=1,++rl_games.env_eval.vectorized.enabled=false,++rl_games.initialization_mode=bridge,++rl_games.model_alias=openvla,++rl_games.task=flappy,++run_id=flappy_fix_latency_0_200ep_7k2steps_single_baseline,++run_root_dir=/pfs/users/lxy/latency-sensitive-bench/results/checkpoints/jitter_destructiveness/real_profile/vla,++run_root_dir=results/Checkpoints,++seed=42,++trainer.cc_f1_tolerance=1,++trainer.distributed_backend=deepspeed,++trainer.eval_action_classification=false,++trainer.eval_action_classification_interval=null,++trainer.eval_interval=250,++trainer.eval_num_batches=50,++trainer.freeze_llm_layers=[],++trainer.freeze_modules=,++trainer.freeze_tied_embedding=false,++trainer.freeze_vit=false,++trainer.gradient_accumulation_steps=16,++trainer.gradient_clipping=1.0,++trainer.is_resume=false,++trainer.is_resume=false,++trainer.learning_rate.action_model=0.0001,++trainer.learning_rate.base=2e-05,++trainer.learning_rate.qwen_vl_interface=1e-05,++trainer.logging_frequency=1,++trainer.loss_scale.vla=1.0,++trainer.loss_scale.vlm=0.1,++trainer.lr_scheduler_type=cosine_with_min_lr,++trainer.max_grad_norm=1.0,++trainer.max_train_steps=4000,++trainer.num_warmup_steps=100,++trainer.optimizer.betas=[0.9,0.95],++trainer.optimizer.eps=1e-08,++trainer.optimizer.fused=true,++trainer.optimizer.name=AdamW,++trainer.optimizer.weight_decay=1e-08,++trainer.per_latency_eval_num_batches=null,++trainer.pretrained_checkpoint=/pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/playground/Pretrained_models/Qwen3VL-OFT-Bridge-RT-1/checkpoints/steps_5000_pytorch_model.pt,++trainer.pretrained_checkpoint=null,++trainer.profile_timing.enabled=false,++trainer.profile_timing.log_interval=10,++trainer.reload_modules=null,++trainer.resume_step=0,++trainer.resume_step=0,++trainer.save_format=pt,++trainer.save_interval=500,++trainer.scheduler_specific_kwargs.min_lr=1e-06,++trainer.weight_decay=0.0,++version_id=0.21,++workspace_dir=WORKSPACE_DIR,env=flappy,init=bridge,mode=single,model=openvla
+    id: ???
+    num: ???
+    config_name: train
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.5
+    version_base: '1.1'
+    cwd: /pfs/users/lxy/latency-sensitive-bench/third_party/starVLA
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/examples/rl_games/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /pfs/users/lxy/latency-sensitive-bench/results/checkpoints/jitter_destructiveness/real_profile/vla/flappy_fix_latency_0_200ep_7k2steps_single_baseline/hydra
+    choices:
+      cross_task_setup: null
+      checkpoint: default
+      mode: single
+      init: bridge
+      env: flappy
+      model: openvla
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

evaluations/flappy/flappy_fix_latency_0_200ep_7k2steps_single_baseline/hydra/.hydra/overrides.yaml

@@ -0,0 +1,209 @@
+- model=openvla
+- env=flappy
+- init=bridge
+- mode=single
+- ++framework.qwenvl.base_vlm=playground/Pretrained_models/Qwen3-VL-4B-Instruct
+- ++framework.qwenvl.attn_implementation=flash_attention_2
+- ++framework.qwenvl.enable_gradient_checkpointing=true
+- ++framework.action_model.state_dim=7
+- ++framework.action_model.loss_type=discrete_ce
+- ++framework.action_model.action_horizon=1
+- ++framework.action_model.future_action_window_size=0
+- ++framework.action_model.past_action_window_size=0
+- ++framework.action_model.action_dim=7
+- ++framework.action_model.action_env_dim=2
+- ++framework.kv_memory.enabled=false
+- ++framework.kv_memory.window=4
+- ++framework.kv_memory.rollout_len=8
+- ++framework.kv_memory.packed_train=false
+- ++framework.kv_memory.rebased_sink=true
+- ++framework.name=QwenOFT
+- ++datasets.vla_data.dataset_py=lerobot_datasets
+- ++datasets.vla_data.include_state=true
+- ++datasets.vla_data.data_root_dir=playground/Datasets/rl_games
+- ++datasets.vla_data.data_mix=flappy_train__bridge
+- ++datasets.vla_data.eval_data_mix=flappy_train__bridge__val
+- ++datasets.vla_data.custom_mixtures_path=null
+- ++datasets.vla_data.action_type=discrete
+- ++datasets.vla_data.sequential_step_sampling=false
+- ++datasets.vla_data.eval_sequential_step_sampling=null
+- ++datasets.vla_data.num_workers=8
+- ++datasets.vla_data.eval_num_workers=8
+- ++datasets.vla_data.prefetch_factor=4
+- ++datasets.vla_data.persistent_workers=true
+- ++datasets.vla_data.pin_memory=true
+- ++datasets.vla_data.shuffle=true
+- ++datasets.vla_data.action_balance.enabled=false
+- ++datasets.vla_data.action_balance.strategy=balanced_epoch
+- ++datasets.vla_data.action_balance.action_key=action_id
+- ++datasets.vla_data.action_balance.target_flap_fraction=0.3
+- ++datasets.vla_data.action_balance.noop_id=0
+- ++datasets.vla_data.action_balance.flap_id=1
+- ++datasets.vla_data.latency_curriculum.enabled=false
+- ++datasets.vla_data.latency_curriculum.strategy=exclusive
+- ++datasets.vla_data.latency_curriculum.latencies=null
+- ++datasets.vla_data.latency_curriculum.phase_steps=null
+- ++datasets.vla_data.latency_curriculum.phase_distributions=null
+- ++datasets.vla_data.latency_curriculum.new_latency_passes=1.0
+- ++datasets.vla_data.latency_curriculum.replay_passes=0.25
+- ++datasets.vla_data.latency_curriculum.target_total_passes=2.0
+- ++datasets.vla_data.latency_curriculum.final_equalization=true
+- ++datasets.vla_data.latency_curriculum.step_budget_mode=auto
+- ++datasets.vla_data.latency_curriculum.eval_at_phase_end=false
+- ++datasets.vla_data.latency_curriculum.save_at_phase_end=false
+- ++datasets.vla_data.latency_curriculum.computed_plan=null
+- ++datasets.vla_data.per_device_batch_size=4
+- ++datasets.vla_data.load_all_data_for_training=true
+- ++datasets.vla_data.num_obs_frames=1
+- ++datasets.vla_data.image_mode=single
+- ++datasets.vla_data.prompt_mode=raw
+- ++datasets.vla_data.stitch_grid=[2,2]
+- ++datasets.vla_data.obs_image_size=null
+- ++datasets.vla_data.video_backend=torchvision_av
+- ++dataset.source_hf=
+- ++dataset.config_name=null
+- ++dataset.source_subdir=null
+- ++dataset.converted_name=flappy_train
+- ++dataset.single_source_hf=
+- ++dataset.mixed_source_hf=
+- ++dataset.single_converted_name=flappy_train
+- ++dataset.mixed_converted_name=flappy_mixed_latency_train
+- ++dataset.single_latency_filter=null
+- ++dataset.mixed_latency_filter=null
+- ++dataset.force_download=false
+- ++dataset.setup_force=false
+- ++dataset.skip_verification=false
+- ++dataset.target_latency_unit=raw_frames
+- ++dataset.verify_rows=200
+- ++dataset.max_episodes=null
+- ++dataset.episodes_per_latency=null
+- ++dataset.latency_filter=null
+- ++dataset.debug_subset.enabled=false
+- ++dataset.debug_subset.max_episodes=5
+- ++dataset.debug_subset.suffix=debug
+- ++base_model.repo_id=Qwen/Qwen3-VL-4B-Instruct
+- ++initialization.checkpoint_local_dir=playground/Pretrained_models/Qwen3VL-OFT-Bridge-RT-1
+- ++initialization.checkpoint_hf_repo_id=StarVLA/Qwen3VL-OFT-Bridge-RT-1
+- ++initialization.checkpoint_filename=checkpoints/steps_5000_pytorch_model.pt
+- ++trainer.max_train_steps=4000
+- ++trainer.num_warmup_steps=100
+- ++trainer.save_interval=500
+- ++trainer.eval_interval=250
+- ++trainer.eval_num_batches=50
+- ++trainer.per_latency_eval_num_batches=null
+- ++trainer.eval_action_classification=false
+- ++trainer.eval_action_classification_interval=null
+- ++trainer.cc_f1_tolerance=1
+- ++trainer.learning_rate.base=2e-05
+- ++trainer.learning_rate.qwen_vl_interface=1e-05
+- ++trainer.learning_rate.action_model=0.0001
+- ++trainer.lr_scheduler_type=cosine_with_min_lr
+- ++trainer.scheduler_specific_kwargs.min_lr=1e-06
+- ++trainer.freeze_modules=
+- ++trainer.freeze_vit=false
+- ++trainer.freeze_tied_embedding=false
+- ++trainer.freeze_llm_layers=[]
+- ++trainer.loss_scale.vla=1.0
+- ++trainer.loss_scale.vlm=0.1
+- ++trainer.max_grad_norm=1.0
+- ++trainer.weight_decay=0.0
+- ++trainer.logging_frequency=1
+- ++trainer.profile_timing.enabled=false
+- ++trainer.profile_timing.log_interval=10
+- ++trainer.gradient_clipping=1.0
+- ++trainer.gradient_accumulation_steps=16
+- ++trainer.distributed_backend=deepspeed
+- ++trainer.is_resume=false
+- ++trainer.pretrained_checkpoint=null
+- ++trainer.resume_step=0
+- ++trainer.reload_modules=null
+- ++trainer.optimizer.name=AdamW
+- ++trainer.optimizer.betas=[0.9,0.95]
+- ++trainer.optimizer.eps=1e-08
+- ++trainer.optimizer.weight_decay=1e-08
+- ++trainer.optimizer.fused=true
+- ++trainer.save_format=pt
+- ++workspace_dir=WORKSPACE_DIR
+- ++run_root_dir=results/Checkpoints
+- ++seed=42
+- ++auth.env_file=null
+- ++auth.hf_token_env=HF_TOKEN
+- ++auth.wandb_api_key_env=WANDB_API_KEY
+- ++paths.run_root_dir=/pfs/users/lxy/latency-sensitive-bench/results/checkpoints/jitter_destructiveness/real_profile/vla
+- ++paths.dataset_local_dir=data/jitter_destructiveness/real_profile/latency0/flappy_fix_latency_0_200ep_7k2steps
+- ++paths.dataset_cache_dir=null
+- ++paths.base_model_dir=playground/Pretrained_models/Qwen3-VL-4B-Instruct
+- ++paths.accelerate_config=starVLA/config/deepseeds/deepspeed_zero2.yaml
+- ++rl_games.model_alias=openvla
+- ++rl_games.env_eval.image_size=224
+- ++rl_games.env_eval.frameskip=1
+- ++rl_games.env_eval.image_transform=raw_rgb
+- ++rl_games.env_eval.prompt_mode=raw
+- ++rl_games.env_eval.ghost_trail.history_frames=5
+- ++rl_games.env_eval.ghost_trail.gamma=1.3
+- ++rl_games.env_eval.ghost_trail.min_alpha=35
+- ++rl_games.env_eval.ghost_trail.scroll_px_per_step=4.0
+- ++rl_games.env_eval.ghost_trail.ground_fraction=0.22
+- ++rl_games.env_eval.seed=42
+- ++rl_games.env_eval.fixed_episode_seeds=true
+- ++rl_games.env_eval.latency_seed_stride=0
+- ++rl_games.env_eval.task_seed_stride=0
+- ++rl_games.env_eval.task_description=
+- ++rl_games.env_eval.eval_parallel_envs=5
+- ++rl_games.env_eval.action_chunk_execution.enabled=false
+- ++rl_games.env_eval.action_chunk_execution.chunk_size=null
+- ++rl_games.env_eval.enabled=true
+- ++rl_games.env_eval.eval_backend=latency_bench
+- ++rl_games.env_eval.distributed_mode=rank_sharded
+- ++rl_games.env_eval.vectorized.enabled=false
+- ++rl_games.env_eval.vectorized.batch_size=1
+- ++rl_games.env_eval.latency.prompt_map_path=null
+- ++rl_games.env_eval.latency.mode=single
+- ++rl_games.env_eval.latency.values=[0]
+- ++rl_games.env_eval.mid_train.enabled=true
+- ++rl_games.env_eval.mid_train.interval_steps=250
+- ++rl_games.env_eval.mid_train.latencies=[0]
+- ++rl_games.env_eval.mid_train.num_episodes=20
+- ++rl_games.env_eval.mid_train.max_steps_per_episode=3600
+- ++rl_games.env_eval.post_train.enabled=true
+- ++rl_games.env_eval.post_train.latencies=[0]
+- ++rl_games.env_eval.post_train.num_episodes=50
+- ++rl_games.env_eval.post_train.max_steps_per_episode=3600
+- ++rl_games.task=flappy
+- ++rl_games.initialization_mode=bridge
+- ++rl_games.action_carrier=bridge
+- ++bridge_base_model.repo_id.openvla=Qwen/Qwen3-VL-4B-Instruct
+- ++bridge_base_model.repo_id.pi0=StarVLA/Qwen2.5-VL-3B-Instruct-Action
+- ++bridge_base_model.repo_id.pi05=Qwen/Qwen3-VL-4B-Instruct
+- ++bridge_base_model.repo_id.gr00t=Qwen/Qwen3-VL-4B-Instruct
+- ++bridge_base_model.local_dir.openvla=playground/Pretrained_models/Qwen3-VL-4B-Instruct
+- ++bridge_base_model.local_dir.pi0=playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action
+- ++bridge_base_model.local_dir.pi05=playground/Pretrained_models/Qwen3-VL-4B-Instruct
+- ++bridge_base_model.local_dir.gr00t=playground/Pretrained_models/Qwen3-VL-4B-Instruct
+- ++checkpoint.load=none
+- ++checkpoint.hf_repo_id=null
+- ++checkpoint.save_best_model=false
+- ++checkpoint.save_final_model=true
+- ++checkpoint.save_pt_file=false
+- ++checkpoint.save_training_state=true
+- ++checkpoint.save_safetensors_file=true
+- ++checkpoint.local.keep_last_n=1
+- ++checkpoint.sync.enabled=false
+- ++checkpoint.sync.repo_id=null
+- ++checkpoint.sync.keep_last_n=0
+- ++checkpoint.sync.sync_every_n_checkpoints=1
+- ++checkpoint.sync.resume_policy=local_latest
+- ++run_id=flappy_fix_latency_0_200ep_7k2steps_single_baseline
+- ++output_dir=null
+- ++config_yaml=null
+- ++is_debug=false
+- ++version_id=0.21
+- ++run_root_dir=/pfs/users/lxy/latency-sensitive-bench/results/checkpoints/jitter_destructiveness/real_profile/vla
+- ++trainer.is_resume=false
+- ++trainer.pretrained_checkpoint=/pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/playground/Pretrained_models/Qwen3VL-OFT-Bridge-RT-1/checkpoints/steps_5000_pytorch_model.pt
+- ++trainer.resume_step=0
+- ++datasets.vla_data.data_root_dir=/pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/data/jitter_destructiveness/real_profile/latency0/flappy_fix_latency_0_200ep_7k2steps
+- ++datasets.vla_data.data_mix=flappy_train__bridge
+- ++datasets.vla_data.eval_data_mix=flappy_train__bridge__val
+- ++framework.qwenvl.base_vlm=/pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/playground/Pretrained_models/Qwen3-VL-4B-Instruct
+- ++rl_games.env_eval.latency.prompt_map_path=/pfs/users/lxy/latency-sensitive-bench/third_party/starVLA/data/jitter_destructiveness/real_profile/latency0/flappy_fix_latency_0_200ep_7k2steps/flappy_train__bridge/latency_prompt_map.json

evaluations/flappy/flappy_fix_latency_0_200ep_7k2steps_single_baseline/latency_bench_eval/mid_train/step_1000/_progress/rank_0.json

@@ -0,0 +1 @@
+{"completed": 10}

evaluations/flappy/flappy_fix_latency_0_200ep_7k2steps_single_baseline/latency_bench_eval/mid_train/step_1000/_progress/rank_1.json

@@ -0,0 +1 @@
+{"completed": 10}

evaluations/flappy/flappy_fix_latency_0_200ep_7k2steps_single_baseline/latency_bench_eval/mid_train/step_1000/flappy/latency_0/episode_metrics.jsonl

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evaluations/flappy/flappy_fix_latency_0_200ep_7k2steps_single_baseline/latency_bench_eval/mid_train/step_1250/_progress/rank_0.json

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evaluations/flappy/flappy_fix_latency_0_200ep_7k2steps_single_baseline/latency_bench_eval/mid_train/step_1250/_progress/rank_1.json

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evaluations/flappy/flappy_fix_latency_0_200ep_7k2steps_single_baseline/latency_bench_eval/mid_train/step_1250/flappy/latency_0/episode_metrics.jsonl

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