diff --git a/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/REAL_DONE b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/REAL_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/SIM_DONE b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/SIM_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/comparison.json b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/comparison.json new file mode 100644 index 0000000000000000000000000000000000000000..58e246687a382056b8b55b18adddc080f1b111ec --- /dev/null +++ b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/comparison.json @@ -0,0 +1,84 @@ +{ + "episodes_per_run": 2, + "methods": { + "fixed": { + 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a/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/eval_template.yaml b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/eval_template.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e0debe575f76123871076f256c893f905e1513cd --- /dev/null +++ b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/eval_template.yaml @@ -0,0 +1,77 @@ +experiment: + name: flappy-qwengr00t-hist8-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 + 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: temporal + 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: checkpoints/model.pt + model_config_path: config.yaml + device: cuda:0 + unnorm_key: new_embodiment + prompt_mode: latency_neutral + actions: + - noop + - flap + 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: + save_step_records: true + save_action_records: true + save_latency_records: true + video: + enabled: false +provenance: + archived_eval: + repo_id: latency-sensitive-bench/benchmark-models + repo_type: model + revision: 180da0effdaaaeacef218cf5fbaa4db41af67495 + path: latency-aware/flappy/vla/starvla-qwengr00t-h1/flappy-qwengr00t-hist8-scratch-s42-v2/evaluations/profile/eval_config.yaml diff --git a/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/execution_source.json b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/execution_source.json new file mode 100644 index 0000000000000000000000000000000000000000..2a13bfa4f276276ec3c868fff286332fc2fefe54 --- /dev/null +++ b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/execution_source.json @@ -0,0 +1,5 @@ +{ + "base": "source_snapshot.tar.gz", + "overlay": "candidate_v3.tar.gz", + "revision": "141f15ac42607a25a243d214171c149cd3908ab0" +} diff --git a/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/hardware_public.json b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/hardware_public.json new file mode 100644 index 0000000000000000000000000000000000000000..802a96acf9dafc6e575f6418617377de921f06df --- /dev/null +++ b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/hardware_public.json @@ -0,0 +1,40 @@ +{ + "driver_version": "595.71.05", + "gpu_class": "1x-a100-sxm4-80gb", + "gpus": [ + { + "name": "NVIDIA A100-SXM4-80GB", + "slot": 0 + } + ], + "instance_id": "instance_5730d73553cb4c91", + "topology_links": [], + "torch": { + "backends": { + "cuda_cudnn_sdp_enabled": true, + "cuda_flash_sdp_enabled": true, + "cuda_math_sdp_enabled": true, + "cuda_matmul_allow_tf32": false, + "cuda_mem_efficient_sdp_enabled": true, + "cudnn_allow_tf32": true, + "cudnn_benchmark": false + }, + "cuda_available": true, + "cuda_device_count": 1, + "cuda_version": "12.8", + "current_device": 0, + "current_device_name": "NVIDIA A100-SXM4-80GB", + "device_properties": [ + { + "index": 0, + "major": 8, + "minor": 0, + "multi_processor_count": 108, + "name": "NVIDIA A100-SXM4-80GB", + "total_memory": 85094825984 + } + ], + "float32_matmul_precision": "highest", + "version": "2.11.0+cu128" + } +} diff --git a/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/parallel_execution.json b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/parallel_execution.json new file mode 100644 index 0000000000000000000000000000000000000000..780b014ff2b6402adb5a99a51869f367c0427404 --- /dev/null +++ b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/parallel_execution.json @@ -0,0 +1,13 @@ +{ + "parallel_started_at": 1790877427.9045753, + "completed_runs_before_parallelism": [ + "acquisition/qwenoft/20261001T162708945369Z/real/0", + "acquisition/qwenoft/20261001T162708945369Z/real/1", + "acquisition/qwenoft/20261001T162708945369Z/real/2" + ], + "physical_gpu_by_model": { + "qwenoft": 0, + "qwengr00t": 1 + }, + "note": "Both physical GPUs active concurrently after this transition; prior complete runs retained." +} \ No newline at end of file diff --git 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b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/sim/iid/1/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03ef9c3282c0c647b40b441c8e9681e8beeb01c1 --- /dev/null +++ b/experiments/sim2real-calibration/cases/a100/flappy/qwengr00t/sim/iid/1/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 540, "episode_return": 444.60000000002566, "episode_return_env": 444.60000000002566, "game_score": 94.0, "mean_latency_ms": 129.45993570765285, "metadata": {"dropped_observation_count": 1800, "env_fps": 10.487138309637754, "episode_in_run": 0, "episode_seed": 2000540, "frame_ms": 95.35489763503863, "gpu_class": "1x-a100-sxm4-80gb", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_5730d73553cb4c91", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 10.487138309637754, "run_id": 27, "simulated_worker_capacity": 1, "source_run_id": 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0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/SIM_DONE b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/SIM_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/comparison.json b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/comparison.json new file mode 100644 index 0000000000000000000000000000000000000000..a053a819ef5f8ad76a463a98f1ff63a897ad49dd --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/comparison.json @@ -0,0 +1,84 @@ +{ + "episodes_per_run": 2, + "methods": { + "fixed": { + "mean_absolute_paired_error": 34.356000000002446, + "paired_sim_minus_real": { + "ci95_high": 27.606930198100194, + "ci95_low": -36.12693019809881, + "mean": -4.259999999999309 + }, + "simulated": { + "ci95_high": 428.45375202386117, + "ci95_low": 360.3622479761809, + "mean": 394.40800000002105 + } + }, + "iid": { + "mean_absolute_paired_error": 43.636000000002944, + "paired_sim_minus_real": { + "ci95_high": 21.050823418703118, + "ci95_low": -48.13082341870273, + "mean": -13.539999999999807 + }, + "simulated": { + "ci95_high": 421.0027541607765, + "ci95_low": 349.25324583926465, + "mean": 385.12800000002056 + } + }, + "normal": { + "mean_absolute_paired_error": 34.356000000002446, + "paired_sim_minus_real": { + "ci95_high": 27.606930198100194, + "ci95_low": -36.12693019809881, + "mean": -4.259999999999309 + }, + "simulated": { + "ci95_high": 428.45375202386117, + "ci95_low": 360.3622479761809, + "mean": 394.40800000002105 + } + }, + "temporal": { + "mean_absolute_paired_error": 64.9200000000053, + "paired_sim_minus_real": { + "ci95_high": 6.017403342723377, + "ci95_low": -75.66540334272773, + "mean": -34.82400000000217 + }, + "simulated": { + "ci95_high": 400.0834490585145, + "ci95_low": 327.6045509415219, + "mean": 363.8440000000182 + } + } + }, + "n_validation_runs": 25, + "real": { + "ci95_high": 435.1303916994911, + "ci95_low": 362.2056083005496, + "mean": 398.66800000002036 + }, + "return_field": "episode_return_env", + "statistical_unit": "run_mean", + "task_metrics": {}, + "timing": { + "fit": { + "admitted_count": 142266, + "capacity_drops": 123, + "mean_frames": 0.7652222433190442, + "mean_latency_ms": 79.36809507963547, + "mean_raw_frames": 1.0012230610265278, + "target_frame_error": 0.006480498219205821 + }, + "valid": { + "admitted_count": 161400, + "capacity_drops": 140, + "mean_frames": 0.7639796825063941, + "mean_latency_ms": 79.23921789972903, + "mean_raw_frames": 1.001096654275093, + "target_frame_error": 0.005237937406555759 + } + } +} diff --git a/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/eval_template.yaml b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/eval_template.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3aa22e74e6dbae37e41cd5831062a8447082bd1c --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/eval_template.yaml @@ -0,0 +1,78 @@ +experiment: + name: flappy-qwenoft-hist8-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_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: checkpoints/model.pt + model_config_path: config.yaml + device: cuda:0 + unnorm_key: new_embodiment + prompt_mode: latency_neutral + actions: + - noop + - flap + 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: + save_step_records: true + save_action_records: true + save_latency_records: true + video: + enabled: false +provenance: + archived_eval: + repo_id: latency-sensitive-bench/benchmark-models + repo_type: model + revision: 180da0effdaaaeacef218cf5fbaa4db41af67495 + path: latency-aware/flappy/vla/starvla-qwenoft-h1/flappy-qwenoft-hist8-scratch-s42-v2/evaluations/profile/eval_config.yaml diff --git a/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/execution_source.json b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/execution_source.json new file mode 100644 index 0000000000000000000000000000000000000000..2a13bfa4f276276ec3c868fff286332fc2fefe54 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/execution_source.json @@ -0,0 +1,5 @@ +{ + "base": "source_snapshot.tar.gz", + "overlay": "candidate_v3.tar.gz", + "revision": "141f15ac42607a25a243d214171c149cd3908ab0" +} diff --git a/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/hardware_public.json b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/hardware_public.json new file mode 100644 index 0000000000000000000000000000000000000000..e01d8ad2e765434d6194febc49666459ecf2976a --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/hardware_public.json @@ -0,0 +1,40 @@ +{ + "driver_version": "595.84", + "gpu_class": "1x-rtx3090", + "gpus": [ + { + "name": "NVIDIA GeForce RTX 3090", + "slot": 0 + } + ], + "instance_id": "instance_64d894469775986f", + "topology_links": [], + "torch": { + "backends": { + "cuda_cudnn_sdp_enabled": true, + "cuda_flash_sdp_enabled": true, + "cuda_math_sdp_enabled": true, + "cuda_matmul_allow_tf32": false, + "cuda_mem_efficient_sdp_enabled": true, + "cudnn_allow_tf32": true, + "cudnn_benchmark": false + }, + "cuda_available": true, + "cuda_device_count": 1, + "cuda_version": "12.8", + "current_device": 0, + "current_device_name": "NVIDIA GeForce RTX 3090", + "device_properties": [ + { + "index": 0, + "major": 8, + "minor": 6, + "multi_processor_count": 82, + "name": "NVIDIA GeForce RTX 3090", + "total_memory": 25298141184 + } + ], + "float32_matmul_precision": "highest", + "version": "2.11.0+cu128" + } +} diff --git a/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/parallel_execution.json b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/parallel_execution.json new file mode 100644 index 0000000000000000000000000000000000000000..4bb700b23787df0124d056a99449a8abd0778b63 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/parallel_execution.json @@ -0,0 +1,13 @@ +{ + "parallel_started_at": 1790877424.7202263, + "completed_runs_before_parallelism": [ + "acquisition/qwenoft/20261001T162708945369Z/real/0", + "acquisition/qwenoft/20261001T162708945369Z/real/1", + "acquisition/qwenoft/20261001T162708945369Z/real/2" + ], + "physical_gpu_by_model": { + "qwenoft": 0, + "qwengr00t": 1 + }, + "note": "Both physical GPUs active concurrently after this transition; prior complete runs retained." +} \ No newline at end of file diff --git a/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/real/0/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/real/0/episode_metrics.jsonl new file mode 100644 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new file mode 100644 index 0000000000000000000000000000000000000000..bd4e187fa6d8549c0dff6727b8c436fa8fa70bd4 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/sim/iid/19/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 800, "episode_return": 286.7999999999975, "episode_return_env": 286.7999999999975, "game_score": 61.0, "mean_latency_ms": 79.52168686856547, "metadata": {"dropped_observation_count": 6, "env_fps": 9.641433910581375, "episode_in_run": 0, "episode_seed": 2000800, "frame_ms": 103.7190120550959, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_64d894469775986f", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwenoft", "obs_fps": 9.641433910581375, "run_id": 40, "simulated_worker_capacity": 1, "source_run_id": "20261001T162708945369Z", "submitted_observation_frames": 2324, "workload_id": "flappy"}, "num_actions": 2324, "num_dropped_actions": 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--- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/simulation_parallel.json @@ -0,0 +1,8 @@ +{ + "action_noise": "deterministic", + "episode_id": "20 * valid_run_id + episode_in_run", + "inference_batch_size": 25, + "parallel_runs": 25, + "retained_runs": [], + "temporal_replica_zero_seed": true +} diff --git a/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/simulation_source.json b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/simulation_source.json new file mode 100644 index 0000000000000000000000000000000000000000..a5b1e0160a6ca4edf27bfb5d51f28cf8a0b03bb1 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx3090/flappy/qwenoft/simulation_source.json @@ -0,0 +1,5 @@ +{ + "repo_id": "latency-sensitive-bench/profiles", + "revision": "94fcd3cc9a82559a851006069fd47af2afe1078c", + "source_ref": "sim2real/flappy/qwenoft/1x-rtx3090/instance_64d894469775986f/20261001T162708945369Z" +} diff --git 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a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/iid/11/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/iid/11/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4aff8e26de4395f92f04a6cbc680175491a1c9ff --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/iid/11/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 40, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 150.7724797894424, "metadata": {"dropped_observation_count": 0, "env_fps": 3.5365508034638635, "episode_in_run": 0, "episode_seed": 2000040, "frame_ms": 282.7613840639736, "gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 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a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/iid/17/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/iid/17/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ad60779f9864df5a50b691bd7f6c10484155186 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/iid/17/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 140, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 151.00394643192817, "metadata": {"dropped_observation_count": 0, "env_fps": 3.5365508034638635, "episode_in_run": 0, "episode_seed": 2000140, "frame_ms": 282.7613840639736, "gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 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a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/iid/2/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/iid/2/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82b7b629a52a4e87e54910f96a7d116a0f4e2eb5 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/iid/2/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 900, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 150.67895330763673, "metadata": {"dropped_observation_count": 0, "env_fps": 3.5365508034638635, "episode_in_run": 0, "episode_seed": 2000900, "frame_ms": 282.7613840639736, "gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 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a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/iid/3/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/iid/3/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e84818923e789cf334e1a69e0348a62742de31a --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/iid/3/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 560, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 150.8476881797442, "metadata": {"dropped_observation_count": 0, "env_fps": 3.5365508034638635, "episode_in_run": 0, "episode_seed": 2000560, "frame_ms": 282.7613840639736, "gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 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a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/13/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/13/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57fd3af00a63756e26d9e2e07cf6cfead6ed2d42 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/13/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 80, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 150.58990962481724, "metadata": {"dropped_observation_count": 0, "env_fps": 3.5365508034638635, "episode_in_run": 0, "episode_seed": 2000080, "frame_ms": 282.7613840639736, "gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": 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a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/16/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/16/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8bc15ce06b8e15e0d201e80523fd448f1bc7febf --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/16/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 760, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 150.85290205632006, "metadata": {"dropped_observation_count": 0, "env_fps": 3.5365508034638635, "episode_in_run": 0, "episode_seed": 2000760, "frame_ms": 282.7613840639736, "gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": 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a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/19/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/19/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0aac19852c5b0dfd743179a579c34ee07cfda4af --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/19/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 800, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 150.69205323074806, "metadata": {"dropped_observation_count": 0, "env_fps": 3.5365508034638635, "episode_in_run": 0, "episode_seed": 2000800, "frame_ms": 282.7613840639736, "gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": 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a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/21/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/21/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b6f9d9508fd2508b20c3408994dbcbe2f0afbcd --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/21/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 660, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 150.80207975352397, "metadata": {"dropped_observation_count": 0, "env_fps": 3.5365508034638635, "episode_in_run": 0, "episode_seed": 2000660, "frame_ms": 282.7613840639736, "gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": 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a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/24/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/24/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca3091b91c84f1875eebd498ea0744127dc5a4bc --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/24/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 300, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 150.80368976051003, "metadata": {"dropped_observation_count": 0, "env_fps": 3.5365508034638635, "episode_in_run": 0, "episode_seed": 2000300, "frame_ms": 282.7613840639736, "gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": 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a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/5/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/5/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6ea0cc1300178d6435fb54dee90fa4af4b39aea --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/5/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 120, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 150.58053557328554, "metadata": {"dropped_observation_count": 0, "env_fps": 3.5365508034638635, "episode_in_run": 0, "episode_seed": 2000120, "frame_ms": 282.7613840639736, "gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", 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b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/7/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 260, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 150.68770034542206, "metadata": {"dropped_observation_count": 0, "env_fps": 3.5365508034638635, "episode_in_run": 0, "episode_seed": 2000260, "frame_ms": 282.7613840639736, "gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 3.5365508034638635, "run_id": 13, "simulated_worker_capacity": 1, "source_run_id": "20261001_correction_v3", "submitted_observation_frames": 1000, "workload_id": "inverted_pendulum"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 155.96507682943502, "p99_latency_ms": 161.4382229458116, 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a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/8/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/8/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a381f62a97362d4a0dbbecf1f6780b5905c74ce7 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/sim/temporal/8/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 480, "episode_return": 1000.0, "episode_return_env": 1000.0, "game_score": null, "mean_latency_ms": 150.70009872309467, "metadata": {"dropped_observation_count": 0, "env_fps": 3.5365508034638635, "episode_in_run": 0, "episode_seed": 2000480, "frame_ms": 282.7613840639736, "gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", 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"gpu_class": "1x-rtx4090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_708ab351cd016540", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", "obs_fps": 3.5365508034638635, "run_id": 29, "simulated_worker_capacity": 1, "source_run_id": "20261001_correction_v3", "submitted_observation_frames": 1000, "workload_id": "inverted_pendulum"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 155.98253973582712, "p99_latency_ms": 161.96584008771814, "return_raw": null, "survival_steps": 1000} diff --git a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/simulation_hardware_public.json b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/simulation_hardware_public.json new file mode 100644 index 0000000000000000000000000000000000000000..425f1497048dd3033e3ca62e96b5a3dfc7729cc7 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/simulation_hardware_public.json @@ -0,0 +1,11 @@ +{ + "host_gpu_names": [ + "NVIDIA RTX PRO 6000 Blackwell Server Edition", + "NVIDIA RTX PRO 6000 Blackwell Server Edition", + "NVIDIA RTX PRO 6000 Blackwell Server Edition", + "NVIDIA RTX PRO 6000 Blackwell Server Edition" + ], + "inference_device": "cuda:0", + "python_version": "3.10.20 (main, Jul 18 2026, 17:02:35) [Clang 22.1.3 ]", + "simulator_device": null +} diff --git a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/simulation_parallel.json b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/simulation_parallel.json new file mode 100644 index 0000000000000000000000000000000000000000..831f89850410b6ab53db5e29436a9d3b138f7a02 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/simulation_parallel.json @@ -0,0 +1,8 @@ +{ + "action_noise": "episode_frame", + "episode_id": "20 * valid_run_id + episode_in_run", + "inference_batch_size": 25, + "parallel_runs": 25, + "retained_runs": [], + "temporal_replica_zero_seed": false +} diff --git a/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/simulation_source.json b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/simulation_source.json new file mode 100644 index 0000000000000000000000000000000000000000..5b91109a2d89f5b46a1369ad8203e2ebed653c79 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx4090/inverted_pendulum/qwengr00t/simulation_source.json @@ -0,0 +1,5 @@ +{ + "repo_id": "latency-sensitive-bench/profiles", + "revision": "14357e982b895a6dcaebaa729913b306421ebe18", + "source_ref": "sim2real-correction/20261001/rtx4090/inverted_pendulum/qwengr00t" +} diff --git a/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/REAL_DONE b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/REAL_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/SIM_DONE b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/SIM_DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/comparison.json b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/comparison.json new file mode 100644 index 0000000000000000000000000000000000000000..0a694ae4b963c885c331150b03daf4bd533ce600 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/comparison.json @@ -0,0 +1,84 @@ +{ + "episodes_per_run": 2, + "methods": { + "fixed": { + "mean_absolute_paired_error": 60.242000000005255, + "paired_sim_minus_real": { + "ci95_high": 71.44838958580488, + "ci95_low": -5.380389585799982, + "mean": 33.03400000000245 + }, + "simulated": { + "ci95_high": 435.0503776407561, + "ci95_low": 385.8856223592868, + "mean": 410.46800000002145 + } + }, + "iid": { + "mean_absolute_paired_error": 41.3480000000028, + "paired_sim_minus_real": { + "ci95_high": 60.5656149990071, + "ci95_low": -0.9816149990022183, + "mean": 29.792000000002442 + }, + "simulated": { + "ci95_high": 433.41193760203646, + "ci95_low": 381.0400623980064, + "mean": 407.22600000002143 + } + }, + "normal": { + "mean_absolute_paired_error": 60.242000000005255, + "paired_sim_minus_real": { + "ci95_high": 71.44838958580488, + "ci95_low": -5.380389585799982, + "mean": 33.03400000000245 + }, + "simulated": { + "ci95_high": 435.0503776407561, + "ci95_low": 385.8856223592868, + "mean": 410.46800000002145 + } + }, + "temporal": { + "mean_absolute_paired_error": 60.96000000000529, + "paired_sim_minus_real": { + "ci95_high": 51.42205284591738, + "ci95_low": -29.694052845916644, + "mean": 10.864000000000368 + }, + "simulated": { + "ci95_high": 418.0806244665444, + "ci95_low": 358.51537553349436, + "mean": 388.2980000000194 + } + } + }, + "n_validation_runs": 25, + "real": { + "ci95_high": 416.6908447880545, + "ci95_low": 338.1771552119835, + "mean": 377.434000000019 + }, + "return_field": "episode_return_env", + "statistical_unit": "run_mean", + "task_metrics": {}, + "timing": { + "fit": { + "admitted_count": 79040, + "capacity_drops": 79041, + "mean_frames": 1.3858253265310974, + "mean_latency_ms": 77.5967118342901, + "mean_raw_frames": 2.000075910931174, + "target_frame_error": 0.008549418281896815 + }, + "valid": { + "admitted_count": 76485, + "capacity_drops": 76481, + "mean_frames": 1.3897274597544702, + "mean_latency_ms": 77.81520452703877, + "mean_raw_frames": 2.000039223377133, + "target_frame_error": 0.012451551505269665 + } + } +} diff --git a/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/eval_template.yaml b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/eval_template.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e0debe575f76123871076f256c893f905e1513cd --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/eval_template.yaml @@ -0,0 +1,77 @@ +experiment: + name: flappy-qwengr00t-hist8-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 + 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: temporal + 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: checkpoints/model.pt + model_config_path: config.yaml + device: cuda:0 + unnorm_key: new_embodiment + prompt_mode: latency_neutral + actions: + - noop + - flap + 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: + save_step_records: true + save_action_records: true + save_latency_records: true + video: + enabled: false +provenance: + archived_eval: + repo_id: latency-sensitive-bench/benchmark-models + repo_type: model + revision: 180da0effdaaaeacef218cf5fbaa4db41af67495 + path: latency-aware/flappy/vla/starvla-qwengr00t-h1/flappy-qwengr00t-hist8-scratch-s42-v2/evaluations/profile/eval_config.yaml diff --git a/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/execution_source.json b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/execution_source.json new file mode 100644 index 0000000000000000000000000000000000000000..2a13bfa4f276276ec3c868fff286332fc2fefe54 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/execution_source.json @@ -0,0 +1,5 @@ +{ + "base": "source_snapshot.tar.gz", + "overlay": "candidate_v3.tar.gz", + "revision": "141f15ac42607a25a243d214171c149cd3908ab0" +} diff --git a/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/hardware_public.json b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/hardware_public.json new file mode 100644 index 0000000000000000000000000000000000000000..a36a0da9a0465236d789819e8a505604da7fbe96 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/hardware_public.json @@ -0,0 +1,40 @@ +{ + "driver_version": "580.142", + "gpu_class": "1x-rtx5090", + "gpus": [ + { + "name": "NVIDIA GeForce RTX 5090", + "slot": 0 + } + ], + "instance_id": "instance_3529e4b0b33ca0f0", + "topology_links": [], + "torch": { + "backends": { + "cuda_cudnn_sdp_enabled": true, + "cuda_flash_sdp_enabled": true, + "cuda_math_sdp_enabled": true, + "cuda_matmul_allow_tf32": false, + "cuda_mem_efficient_sdp_enabled": true, + "cudnn_allow_tf32": true, + "cudnn_benchmark": false + }, + "cuda_available": true, + "cuda_device_count": 1, + "cuda_version": "12.8", + "current_device": 0, + "current_device_name": "NVIDIA GeForce RTX 5090", + "device_properties": [ + { + "index": 0, + "major": 12, + "minor": 0, + "multi_processor_count": 170, + "name": "NVIDIA GeForce RTX 5090", + "total_memory": 33668857856 + } + ], + "float32_matmul_precision": "highest", + "version": "2.11.0+cu128" + } +} diff --git a/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/parallel_acquisition.json b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/parallel_acquisition.json new file mode 100644 index 0000000000000000000000000000000000000000..24f3d3276c13fd0cd9f64287116ed538609acf60 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/parallel_acquisition.json @@ -0,0 +1,65 @@ +{ + "assigned_at": 1790877425.8915884, + "completed_runs_on_gpu0": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12 + ], + "remaining_runs_by_gpu": { + "0": [ + 13, + 15, + 17, + 19, + 21, + 23, + 25, + 27, + 29, + 31, + 33, + 35, + 37, + 39, + 41, + 43, + 45, + 47, + 49 + ], + "1": [ + 14, + 16, + 18, + 20, + 22, + 24, + 26, + 28, + 30, + 32, + 34, + 36, + 38, + 40, + 42, + 44, + 46, + 48 + ] + }, + "selected_env_fps": 17.859330553729713, + "gpu_inventory": "0, GPU-45dae734-7dbd-fc3f-ea9a-35302e563150, NVIDIA GeForce RTX 5090\n1, 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a/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/sim/temporal/20/episode_metrics.jsonl b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/sim/temporal/20/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc61c80c873a971f21893d0d09f9c2e1dc1a3970 --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/sim/temporal/20/episode_metrics.jsonl @@ -0,0 +1,2 @@ +{"episode_id": 740, "episode_return": 444.60000000002566, "episode_return_env": 444.60000000002566, "game_score": 94.0, "mean_latency_ms": 77.56550271498, "metadata": {"dropped_observation_count": 1800, "env_fps": 17.859330553729713, "episode_in_run": 0, "episode_seed": 2000740, "frame_ms": 55.99314022390171, "gpu_class": "1x-rtx5090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_3529e4b0b33ca0f0", "latency_type": "profile_sample", "mode": "simulated", "model_id": "qwengr00t", 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a/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/simulation_hardware_public.json b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/simulation_hardware_public.json new file mode 100644 index 0000000000000000000000000000000000000000..cc8186cb754b1aef2f5fe6b23edc341f3a7b12dc --- /dev/null +++ b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/simulation_hardware_public.json @@ -0,0 +1,9 @@ +{ + "host_gpu_names": [ + "NVIDIA RTX PRO 6000 Blackwell Server Edition", + "NVIDIA RTX PRO 6000 Blackwell Server Edition" + ], + "inference_device": "cuda:0", + "python_version": "3.10.20 (main, Jul 18 2026, 17:02:35) [Clang 22.1.3 ]", + "simulator_device": null +} diff --git a/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/simulation_parallel.json b/experiments/sim2real-calibration/cases/rtx5090/flappy/qwengr00t/simulation_parallel.json new file mode 100644 index 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