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@@ -50,3 +50,5 @@ demon_attack_fix_latency_6_200ep_7k2steps_stitch/wandb/wandb/run-20260726_075521
 demon_attack_fix_latency_6_200ep_7k2steps_stitch/wandb/wandb/run-20260726_162433-qeclhgyt/run-qeclhgyt.wandb filter=lfs diff=lfs merge=lfs -text
 deadly_corridor_fix_latency_6_1000ep_7k2steps_stitch/wandb/wandb/run-20260726_075751-t482klnb/run-t482klnb.wandb filter=lfs diff=lfs merge=lfs -text
 deadly_corridor_fix_latency_6_1000ep_7k2steps_stitch/wandb/wandb/run-20260726_162549-hkuurpie/run-hkuurpie.wandb filter=lfs diff=lfs merge=lfs -text
+demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/wandb/wandb/run-20260728_015323-9o51hdeb/run-9o51hdeb.wandb filter=lfs diff=lfs merge=lfs -text
+demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/wandb/wandb/run-20260728_071207-800jpcpi/run-800jpcpi.wandb filter=lfs diff=lfs merge=lfs -text

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demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_4000_state/random_states_1.pkl

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demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/config.full.yaml

@@ -131,8 +131,8 @@ trainer:
   gradient_accumulation_steps: 16
   distributed_backend: deepspeed
   is_resume: true
-  pretrained_checkpoint: /lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_4000_state
-  resume_step: 4000
+  pretrained_checkpoint: /lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_2000_state
+  resume_step: 2000
   reload_modules: null
   optimizer:
     name: AdamW

demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/config.yaml

@@ -42,12 +42,20 @@ rl_games:
   env_eval:
     enabled: true
     eval_backend: latency_bench
+    mid_train:
+      enabled: false
+      interval_steps: 250
     prompt_mode: raw
+  task: demon_attack
 run_id: demon_attack_fix_latency_6_200ep_7k2steps_single_baseline
 run_root_dir: /lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints
 seed: 42
 trainer:
   distributed_backend: deepspeed
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  eval_interval: 250
+  eval_num_batches: 50
   freeze_llm_layers: []
   freeze_modules: ''
   freeze_tied_embedding: false
@@ -58,6 +66,7 @@ trainer:
     action_model: 0.0001
     base: 2.0e-05
     qwen_vl_interface: 1.0e-05
+  logging_frequency: 1
   lr_scheduler_type: cosine_with_min_lr
   max_train_steps: 4000
   num_warmup_steps: 100
@@ -68,6 +77,13 @@ trainer:
     eps: 1.0e-08
     fused: true
     weight_decay: 1.0e-08
-  pretrained_checkpoint: /lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_4000_state
+  per_latency_eval_num_batches: null
+  pretrained_checkpoint: /lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_2000_state
+  profile_timing:
+    enabled: false
+  resume_step: 2000
+  save_interval: 500
   scheduler_specific_kwargs:
     min_lr: 1.0e-06
+wandb_entity: zihanwang-ai-northwestern-university
+wandb_project: starVLA_rl_games

demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/hydra/.hydra/config.yaml

@@ -129,8 +129,8 @@ trainer:
   gradient_accumulation_steps: 16
   distributed_backend: deepspeed
   is_resume: true
-  pretrained_checkpoint: /lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_4000_state
-  resume_step: 4000
+  pretrained_checkpoint: /lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_2000_state
+  resume_step: 2000
   reload_modules: null
   optimizer:
     name: AdamW

demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/hydra/.hydra/hydra.yaml

@@ -317,8 +317,8 @@ hydra:
     - ++version_id=0.21
     - ++run_root_dir=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints
     - ++trainer.is_resume=true
-    - ++trainer.pretrained_checkpoint=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_4000_state
-    - ++trainer.resume_step=4000
+    - ++trainer.pretrained_checkpoint=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_2000_state
+    - ++trainer.resume_step=2000
     - ++datasets.vla_data.data_root_dir=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/data/memory/demon_attack_fix_latency_6_200ep_7k2steps
     - ++datasets.vla_data.data_mix=demon_attack_train__bridge
     - ++datasets.vla_data.eval_data_mix=demon_attack_train__bridge__val
@@ -329,7 +329,7 @@ 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=auto,++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=demon_attack_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=demon_attack_mixed_latency_train,++dataset.mixed_latency_filter=null,++dataset.mixed_source_hf=,++dataset.setup_force=false,++dataset.single_converted_name=demon_attack_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=demon_attack_train,++datasets.vla_data.data_mix=demon_attack_train__bridge,++datasets.vla_data.data_root_dir=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/data/memory/demon_attack_fix_latency_6_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=demon_attack_train__bridge__val,++datasets.vla_data.eval_data_mix=null,++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=8,++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=6,++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=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/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/memory/demon_attack_fix_latency_6_200ep_7k2steps,++paths.run_root_dir=results/Checkpoints,++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.demon_attack.noop_max=30,++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=4,++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=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/data/memory/demon_attack_fix_latency_6_200ep_7k2steps/demon_attack_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=false,++rl_games.env_eval.mid_train.interval_steps=250,++rl_games.env_eval.mid_train.latencies=[2],++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=false,++rl_games.env_eval.post_train.latencies=[2],++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=''You
       are playing Demon Attack from a single game image. Choose exactly one action
-      from: NOOP, FIRE, RIGHT, LEFT, RIGHTFIRE, LEFTFIRE.'',++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=demon_attack,++run_id=demon_attack_fix_latency_6_200ep_7k2steps_single_baseline,++run_root_dir=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints,++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=true,++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=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_4000_state,++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=4000,++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=demon_attack,init=bridge,mode=single,model=openvla'
+      from: NOOP, FIRE, RIGHT, LEFT, RIGHTFIRE, LEFTFIRE.'',++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=demon_attack,++run_id=demon_attack_fix_latency_6_200ep_7k2steps_single_baseline,++run_root_dir=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints,++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=true,++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=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_2000_state,++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=2000,++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=demon_attack,init=bridge,mode=single,model=openvla'
     id: ???
     num: ???
     config_name: train

demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/hydra/.hydra/overrides.yaml

@@ -203,8 +203,8 @@
 - ++version_id=0.21
 - ++run_root_dir=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints
 - ++trainer.is_resume=true
-- ++trainer.pretrained_checkpoint=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_4000_state
-- ++trainer.resume_step=4000
+- ++trainer.pretrained_checkpoint=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_2000_state
+- ++trainer.resume_step=2000
 - ++datasets.vla_data.data_root_dir=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/data/memory/demon_attack_fix_latency_6_200ep_7k2steps
 - ++datasets.vla_data.data_mix=demon_attack_train__bridge
 - ++datasets.vla_data.eval_data_mix=demon_attack_train__bridge__val

demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/wandb/wandb/debug.log

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demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/wandb/wandb/run-20260728_015323-9o51hdeb/files/requirements.txt

@@ -0,0 +1,237 @@
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+starVLA==1.0.1
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+asttokens==3.0.2
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+pygame-ce==2.5.7
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+importlib_metadata==9.0.0
+fvcore==0.1.5.post20221221
+starVLA==1.0.1
+h11==0.16.0
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demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/wandb/wandb/run-20260728_015323-9o51hdeb/files/wandb-metadata.json

@@ -0,0 +1,306 @@
+{
+  "os":  "Linux-5.15.0-1063-nvidia-x86_64-with-glibc2.35",
+  "python":  "CPython 3.10.20",
+  "startedAt":  "2026-07-28T08:53:23.325941Z",
+  "args":  [
+    "--config-name",
+    "train",
+    "model=openvla",
+    "env=demon_attack",
+    "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=6",
+    "++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=demon_attack_train",
+    "++datasets.vla_data.eval_data_mix=null",
+    "++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=8",
+    "++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=demon_attack_train",
+    "++dataset.single_source_hf=",
+    "++dataset.mixed_source_hf=",
+    "++dataset.single_converted_name=demon_attack_train",
+    "++dataset.mixed_converted_name=demon_attack_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=results/Checkpoints",
+    "++paths.dataset_local_dir=data/memory/demon_attack_fix_latency_6_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=4",
+    "++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='You are playing Demon Attack from a single game image. Choose exactly one action from: NOOP, FIRE, RIGHT, LEFT, RIGHTFIRE, LEFTFIRE.'",
+    "++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.demon_attack.noop_max=30",
+    "++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=false",
+    "++rl_games.env_eval.mid_train.interval_steps=250",
+    "++rl_games.env_eval.mid_train.latencies=[2]",
+    "++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=false",
+    "++rl_games.env_eval.post_train.latencies=[2]",
+    "++rl_games.env_eval.post_train.num_episodes=50",
+    "++rl_games.env_eval.post_train.max_steps_per_episode=3600",
+    "++rl_games.task=demon_attack",
+    "++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=auto",
+    "++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=demon_attack_fix_latency_6_200ep_7k2steps_single_baseline",
+    "++output_dir=null",
+    "++config_yaml=null",
+    "++is_debug=false",
+    "++version_id=0.21",
+    "++run_root_dir=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints",
+    "++trainer.is_resume=false",
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+    "++trainer.resume_step=0",
+    "++datasets.vla_data.data_root_dir=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/data/memory/demon_attack_fix_latency_6_200ep_7k2steps",
+    "++datasets.vla_data.data_mix=demon_attack_train__bridge",
+    "++datasets.vla_data.eval_data_mix=demon_attack_train__bridge__val",
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+    value:
+        cli_version: 0.26.1
+        e:
+            7lgyqtwewd6pud81m0qoi4tyuv627zdb:
+                args:
+                    - --config-name
+                    - train
+                    - model=openvla
+                    - env=demon_attack
+                    - 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=6
+                    - ++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=demon_attack_train
+                    - ++datasets.vla_data.eval_data_mix=null
+                    - ++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=8
+                    - ++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=demon_attack_train
+                    - ++dataset.single_source_hf=
+                    - ++dataset.mixed_source_hf=
+                    - ++dataset.single_converted_name=demon_attack_train
+                    - ++dataset.mixed_converted_name=demon_attack_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=results/Checkpoints
+                    - ++paths.dataset_local_dir=data/memory/demon_attack_fix_latency_6_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=4
+                    - ++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=''You are playing Demon Attack from a single game image. Choose exactly one action from: NOOP, FIRE, RIGHT, LEFT, RIGHTFIRE, LEFTFIRE.'''
+                    - ++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.demon_attack.noop_max=30
+                    - ++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=false
+                    - ++rl_games.env_eval.mid_train.interval_steps=250
+                    - ++rl_games.env_eval.mid_train.latencies=[2]
+                    - ++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=false
+                    - ++rl_games.env_eval.post_train.latencies=[2]
+                    - ++rl_games.env_eval.post_train.num_episodes=50
+                    - ++rl_games.env_eval.post_train.max_steps_per_episode=3600
+                    - ++rl_games.task=demon_attack
+                    - ++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=auto
+                    - ++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=demon_attack_fix_latency_6_200ep_7k2steps_single_baseline
+                    - ++output_dir=null
+                    - ++config_yaml=null
+                    - ++is_debug=false
+                    - ++version_id=0.21
+                    - ++run_root_dir=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints
+                    - ++trainer.is_resume=true
+                    - ++trainer.pretrained_checkpoint=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_2000_state
+                    - ++trainer.resume_step=2000
+                    - ++datasets.vla_data.data_root_dir=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/data/memory/demon_attack_fix_latency_6_200ep_7k2steps
+                    - ++datasets.vla_data.data_mix=demon_attack_train__bridge
+                    - ++datasets.vla_data.eval_data_mix=demon_attack_train__bridge__val
+                    - ++framework.qwenvl.base_vlm=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/playground/Pretrained_models/Qwen3-VL-4B-Instruct
+                    - ++rl_games.env_eval.latency.prompt_map_path=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/data/memory/demon_attack_fix_latency_6_200ep_7k2steps/demon_attack_train__bridge/latency_prompt_map.json
+                codePath: starVLA/training/train_starvla_hydra.py
+                codePathLocal: starVLA/training/train_starvla_hydra.py
+                cpu_count: 64
+                cpu_count_logical: 128
+                cudaVersion: "12.2"
+                disk:
+                    /:
+                        total: "7651200073728"
+                        used: "103637209088"
+                email: zihanwang2029@u.northwestern.edu
+                executable: /lustre/fsw/portfolios/nvr/users/zihwang/miniconda3/envs/starvla_rl_games_openvla/bin/python
+                git:
+                    commit: 9662ad113a8910207f7a17b0faab3480c78756f1
+                    remote: git@github.com:talha1503/starVLA.git
+                gpu: NVIDIA H100 80GB HBM3
+                gpu_count: 2
+                gpu_nvidia:
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "85520809984"
+                      name: NVIDIA H100 80GB HBM3
+                      uuid: GPU-dfcc03b2-7c3e-32fa-5875-5af8c18ded5f
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "85520809984"
+                      name: NVIDIA H100 80GB HBM3
+                      uuid: GPU-d550441f-4073-fc5f-ad55-7467c9c5df77
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+                python: CPython 3.10.20
+                root: /lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/wandb
+                slurm:
+                    array_job_id: "14465987"
+                    array_task_count: "12"
+                    array_task_id: "1"
+                    array_task_max: "11"
+                    array_task_min: "0"
+                    array_task_step: "1"
+                    cluster_name: cw-dfw-cs-001
+                    conf: /cm/shared/apps/slurm/var/etc/cw-dfw-cs-001/slurm.conf
+                    cpus_on_node: "64"
+                    cpus_per_task: "64"
+                    gpus_on_node: "2"
+                    gtids: "0"
+                    job_account: nvr_lacr_llm
+                    job_cpus_per_node: "64"
+                    job_end_time: "1785262232"
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+                    job_id: "14468718"
+                    job_name: mem-train
+                    job_nodelist: pool0-01747
+                    job_num_nodes: "1"
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+                    job_qos: normal
+                    job_start_time: "1785247832"
+                    job_uid: "159489"
+                    job_user: zihwang
+                    jobid: "14468718"
+                    localid: "0"
+                    mem_per_node: "524288"
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+                    nodelist: pool0-01747
+                    nprocs: "1"
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+                    prio_process: "0"
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+                    submit_dir: /home/zihwang/projects
+                    submit_host: cw-dfw-cs-001-vscode-01
+                    task_pid: "3621847"
+                    tasks_per_node: "1"
+                    topology_addr: C1.S1.L207-DH4.pool0-01747
+                    topology_addr_pattern: switch.switch.switch.node
+                    tres_per_task: cpu=64
+                startedAt: "2026-07-28T14:12:07.004804Z"
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demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/wandb/wandb/run-20260728_071207-800jpcpi/files/requirements.txt

@@ -0,0 +1,237 @@
+starVLA==1.0.1
+starVLA==1.0.1
+idna==3.18
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+asttokens==3.0.2
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demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/wandb/wandb/run-20260728_071207-800jpcpi/files/wandb-metadata.json

@@ -0,0 +1,307 @@
+{
+  "os":  "Linux-5.15.0-1063-nvidia-x86_64-with-glibc2.35",
+  "python":  "CPython 3.10.20",
+  "startedAt":  "2026-07-28T14:12:07.004804Z",
+  "args":  [
+    "--config-name",
+    "train",
+    "model=openvla",
+    "env=demon_attack",
+    "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=6",
+    "++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=demon_attack_train",
+    "++datasets.vla_data.eval_data_mix=null",
+    "++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=8",
+    "++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=demon_attack_train",
+    "++dataset.single_source_hf=",
+    "++dataset.mixed_source_hf=",
+    "++dataset.single_converted_name=demon_attack_train",
+    "++dataset.mixed_converted_name=demon_attack_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=results/Checkpoints",
+    "++paths.dataset_local_dir=data/memory/demon_attack_fix_latency_6_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=4",
+    "++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='You are playing Demon Attack from a single game image. Choose exactly one action from: NOOP, FIRE, RIGHT, LEFT, RIGHTFIRE, LEFTFIRE.'",
+    "++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.demon_attack.noop_max=30",
+    "++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=false",
+    "++rl_games.env_eval.mid_train.interval_steps=250",
+    "++rl_games.env_eval.mid_train.latencies=[2]",
+    "++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=false",
+    "++rl_games.env_eval.post_train.latencies=[2]",
+    "++rl_games.env_eval.post_train.num_episodes=50",
+    "++rl_games.env_eval.post_train.max_steps_per_episode=3600",
+    "++rl_games.task=demon_attack",
+    "++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=auto",
+    "++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=demon_attack_fix_latency_6_200ep_7k2steps_single_baseline",
+    "++output_dir=null",
+    "++config_yaml=null",
+    "++is_debug=false",
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+    "++trainer.is_resume=true",
+    "++trainer.pretrained_checkpoint=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/results/Checkpoints/demon_attack_fix_latency_6_200ep_7k2steps_single_baseline/checkpoints/steps_2000_state",
+    "++trainer.resume_step=2000",
+    "++datasets.vla_data.data_root_dir=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/data/memory/demon_attack_fix_latency_6_200ep_7k2steps",
+    "++datasets.vla_data.data_mix=demon_attack_train__bridge",
+    "++datasets.vla_data.eval_data_mix=demon_attack_train__bridge__val",
+    "++framework.qwenvl.base_vlm=/lustre/fsw/portfolios/nvr/projects/nvr_lacr_llm/users/zihwang/latency-sensitive-bench/third_party/starVLA/playground/Pretrained_models/Qwen3-VL-4B-Instruct",
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