diff --git a/experiments/e52-latency-sweep/FINDINGS.md b/experiments/e52-latency-sweep/FINDINGS.md new file mode 100644 index 0000000..5368943 --- /dev/null +++ b/experiments/e52-latency-sweep/FINDINGS.md @@ -0,0 +1,104 @@ +# E52: latency between env client and bridge changes the time, not the weights - up to 25 ms each way, SB3 ends on its in-process weights + +2026-10-02 · guangzhao (bridges-venv: torch 2.14.1+cpu, SB3 2.9.0, +gymnasium 1.3.0; plugrl-bridges 79ec044) · protocol: [`PROTOCOL.md`](PROTOCOL.md) +(`ce807c4`, after the pilot in `results/pilot.txt`, before the registered +runs) · no amendment + +--- + +## The result + +SB3's PPO trained 16 Pendulum environments through the bridge, with the env +client connecting either directly or through `delay_proxy.py`. The proxy +holds every byte for D ms in each direction. + +| seed | weights, every arm | direct | 0 ms | 1 ms | 5 ms | 25 ms | +| --- | --- | --- | --- | --- | --- | --- | +| 0 | `ec5b8226...` | 16.3 s | 16.8 s | 35.7 s | 92.1 s | 355.6 s | +| 1 | `062e92e3...` | 16.1 s | 17.2 s | 35.4 s | 92.7 s | 355.9 s | +| 2 | `3a8d968f...` | 16.2 s | 16.9 s | 35.4 s | 92.4 s | 356.1 s | + +Per vector step (6,400 a run), beyond the direct run, and how far that is +above 2D (two one-way delays): + +| D | per step | beyond 2D | +| --- | --- | --- | +| 0 ms | +0.07 to +0.17 ms | +0.07 to +0.17 | +| 1 ms | +3.00 to +3.04 ms | +1.00 to +1.04 | +| 5 ms | +11.85 to +11.96 ms | +1.85 to +1.96 | +| 25 ms | +53.02 to +53.10 ms | **+3.02 to +3.10** | + +Every check and prediction holds except one: +- **V1:** all 15 runs are complete, and each bridge run served one + connection. +- **P1 holds.** Every run, at every delay, ends on E50's in-process weights + for its seed. A run with 25 ms each way between environment and trainer + takes 22 times as long and ends on the same bytes as a run with the + environments in SB3's own process. +- **P2 is falsified, at 25 ms only.** The band was 2D to 2D + 3 ms. At 1 and + 5 ms every seed is inside it. At 25 ms all three seeds are above it by + 0.02-0.10 ms. + +--- + +## Where the excess comes from + +The excess over 2D grows with D, from 0.1 ms to 3.1 ms. The pilot gave only +one point, 1.87 ms at 5 ms, and P2's band assumed the excess was a constant. +It is not. + +After the runs, `proxy_rtt.py` measured the proxy alone. It sent 4 KiB +messages through `delay_proxy.py` to a TCP echo server, 300 round trips per +delay (`results/proxy_rtt.txt`). Beyond 2D, the median was: + +| D | one message | two messages 0.2 ms apart | +| --- | --- | --- | +| 0 ms | 0.03 ms | 0.28 ms | +| 1 ms | 0.48 ms | 0.77 ms | +| 5 ms | 1.00 ms | 1.04 ms | +| 25 ms | 0.96 ms | 1.29 ms | + +So the proxy itself accounts for about 1 ms of each step's excess. That is +its two `asyncio.sleep` calls, each rounded up in `epoll_wait`, as E47 found +for the server's scheduler. The rest grows with D: +- 0.2-0.5 ms at 1 ms; +- about 0.9 ms at 5 ms; +- about 1.8 ms at 25 ms. + +It is **not explained** here. It lies between the proxy and the trainer: in +the WebSocket client, the bridge's event loop, or the order in which they +wake. A tighter claim would need a delay that does not sleep in Python, such +as `tc netem`, which needs root on guangzhao. + +--- + +## What it means + +- **The claim holds as stated: latency changes time, not data.** The client + blocks on every action, and the bridge is lockstep. So when an action + arrives decides when a step happens, never what it produces. +- **Its price is two one-way delays per step, plus a little.** On a 25 ms + link that is 53 ms a step, against 2.5 ms of computation. A lockstep + trainer on a long link spends nearly all its time waiting. That is E48's + 6.4x slowdown across Wi-Fi, and the reason an asynchronous server (E43: + 2x) or a deeper pipeline is the design for distant environments. +- **Measure latency without sleeping where you can.** The tool that adds + latency adds its own (E47). + +--- + +## What E52 does not show + +* **Real links.** The proxy adds latency but not bandwidth limits, jitter + or loss. E43 and E48 measured a real Wi-Fi link. +* **An environment that keeps moving.** The client waits for each action. + A robot does not, and latency then changes the data. That is out of + scope (the paper's limitations). +* **The excess's cause beyond the proxy's own share.** See above. + +Kept here: +- each run's `result.json`, `monitor.csv`, `episodes.csv`, logs and proxy + logs; +- `registered.out`, `load.txt`, `verdicts.txt` (`summarise.py`); +- `proxy_rtt.txt` (`proxy_rtt.py`, run after the registered runs). diff --git a/experiments/e52-latency-sweep/PROTOCOL.md b/experiments/e52-latency-sweep/PROTOCOL.md new file mode 100644 index 0000000..cdca042 --- /dev/null +++ b/experiments/e52-latency-sweep/PROTOCOL.md @@ -0,0 +1,95 @@ +# E52 measurement protocol (pre-registered) + +**Written 2026-10-02, after the pilot in `results/pilot.txt`, before the +registered runs.** + +This file must not be edited after the first registered data point. Anything +learned afterwards goes in `AMENDMENT.md`, dated. + +--- + +## The question + +The paper claims that latency between environment and trainer slows a run +without changing what it collects. That rests on a design argument: the env +client waits for every action. E43 adds indirect evidence: two arms on +different machines learned alike, but their physics differ in the last bit, +so their data could not be compared. So: + +**On one machine, with latency added between the env client and the bridge, +does training end on the same weights? And does the time grow as the +protocol says it should, by two one-way delays per step?** + +--- + +## Declared in advance: what was already known + +1. **The code.** + - `train.py` is E50's, with one added option: `--client-port`, the port + the env client connects to. + - The client is E50's `gym_client.py`. The bridge is plugrl-bridges as + synced to guangzhao for E49 (`79ec044`). + - SB3 2.9.0 PPO with rl-zoo's Pendulum-v1 settings, 16 envs, 102,400 + steps, one torch thread, CPU. +2. **`delay_proxy.py`** forwards each chunk D ms after it arrived, in each + direction. It does not limit bandwidth. It sleeps with `asyncio.sleep`, + which on Linux waits in `epoll_wait` and rounds up to the millisecond + (E47). A step is one action out and one feedback-and-infer back, so it + should take 2D longer. +3. **E50, on this machine.** The in-process arm ends on these weights: + - seed 0: `ec5b8226...`; + - seed 1: `062e92e3...`; + - seed 2: `3a8d968f...`. + + E50's bridge arm ends on the same weights. +4. **The pilot, seed 9** (`results/pilot.txt`). + - Direct and 5 ms both ended on `3721266c...`, E50's seed-9 hash on + guangzhao. + - Direct took 16.1 s and 5 ms took 92.1 s. That is 11.87 ms more per + vector step (6,400 of them), against 2D = 10 ms. + +--- + +## Design + +On guangzhao, through `run.sh`, one run at a time: +- seeds 0, 1 and 2; +- for each, the arms direct (no proxy, as E50), then 0, 1, 5 and 25 ms one + way. + +That is 15 runs. + +--- + +## Checks + +* **V1 - complete.** Every run has `steps` 102,400 and `client_rc` 0, and its + log has one `plugrl-bridges: slots 0-15` line. + +--- + +## Predictions, and what falsifies each + +**P1 - latency leaves the weights alone.** All 15 runs end on E50's +in-process weights for their seed. + +> Grounds: known items 3 and 4. The client blocks on every action, so the +> data do not depend on when an action arrives. The bridge is lockstep, so +> neither does the order of the data. + +**P2 - and costs two one-way delays per step.** For D = 1, 5 and 25 ms, +the time per vector step beyond the direct run's lies between 2D and +2D + 3 ms, on every seed. + +> Grounds: known items 2 and 4. The pilot's excess over 2D was 1.87 ms at +> 5 ms: the proxy's own forwarding, plus the sleep rounding up on each leg. + +**Reported, not predicted:** +- the 0 ms arm's time beyond the direct run's, the proxy's own cost; +- each arm's excess over 2D. + +--- + +## Reading order + +V1, P1, P2, then the reported figures. diff --git a/experiments/e52-latency-sweep/delay_proxy.py b/experiments/e52-latency-sweep/delay_proxy.py new file mode 100644 index 0000000..e85b1b3 --- /dev/null +++ b/experiments/e52-latency-sweep/delay_proxy.py @@ -0,0 +1,66 @@ +"""A TCP proxy that holds every byte for D ms in each direction. + + python delay_proxy.py --listen 8821 --upstream 8820 --delay-ms 5 + +A client that connects to --listen reaches 127.0.0.1:--upstream, with each +chunk it sends, and each chunk it receives, forwarded D ms after it arrived, +in order. A request and its answer therefore take 2 D longer, which is what a +link with a one-way latency of D does to a round trip. Bandwidth is not +limited. With --delay-ms 0 it only forwards, which measures its own cost. +""" + +from __future__ import annotations + +import argparse +import asyncio +import time + + +async def pump(reader, writer, delay: float) -> None: + queue: asyncio.Queue = asyncio.Queue() + + async def read() -> None: + while data := await reader.read(1 << 20): + queue.put_nowait((time.monotonic() + delay, data)) + queue.put_nowait(None) + + async def write() -> None: + while (item := await queue.get()) is not None: + due, data = item + wait = due - time.monotonic() + if wait > 0: + await asyncio.sleep(wait) + writer.write(data) + await writer.drain() + writer.close() + + await asyncio.gather(read(), write()) + + +async def main() -> None: + p = argparse.ArgumentParser(description=__doc__) + p.add_argument("--listen", type=int, required=True) + p.add_argument("--upstream", type=int, required=True) + p.add_argument("--delay-ms", type=float, required=True) + a = p.parse_args() + delay = a.delay_ms / 1000.0 + + async def handle(client_reader, client_writer) -> None: + up_reader, up_writer = await asyncio.open_connection("127.0.0.1", a.upstream) + await asyncio.gather( + pump(client_reader, up_writer, delay), + pump(up_reader, client_writer, delay), + return_exceptions=True, + ) + + server = await asyncio.start_server(handle, "127.0.0.1", a.listen) + print( + f"delaying 127.0.0.1:{a.listen} -> :{a.upstream} by {a.delay_ms} ms each way", + flush=True, + ) + async with server: + await server.serve_forever() + + +if __name__ == "__main__": + asyncio.run(main()) diff --git a/experiments/e52-latency-sweep/proxy_rtt.py b/experiments/e52-latency-sweep/proxy_rtt.py new file mode 100644 index 0000000..86ba910 --- /dev/null +++ b/experiments/e52-latency-sweep/proxy_rtt.py @@ -0,0 +1,97 @@ +"""E52, after the registered runs: what delay_proxy.py itself adds to a round trip. + + python proxy_rtt.py [--delays 0 1 5 25] [--rounds 300] + +For each delay D it starts delay_proxy.py in front of a TCP echo server, sends +a 4 KiB message through it and waits for the echo, `--rounds` times, and +reports the median and 90th percentile round trip minus 2D. No bridge, no +trainer, no WebSocket: only the proxy and the loopback. + +With --burst 2 each round sends two messages 0.2 ms apart, as E52's client +sends a feedback and then the next infer, and waits for both echoes. +""" + +from __future__ import annotations + +import argparse +import pathlib +import socket +import statistics +import subprocess +import sys +import threading +import time + +HERE = pathlib.Path(__file__).resolve().parent +ECHO, PROXY = 8841, 8842 +PAYLOAD = b"x" * 4096 + + +def echo_server(stop: threading.Event) -> None: + with socket.create_server(("127.0.0.1", ECHO)) as srv: + srv.settimeout(0.5) + while not stop.is_set(): + try: + conn, _ = srv.accept() + except TimeoutError: + continue + with conn: + while data := conn.recv(1 << 16): + conn.sendall(data) + + +def recv_exactly(sock: socket.socket, n: int) -> None: + got = 0 + while got < n: + chunk = sock.recv(n - got) + if not chunk: + raise ConnectionError("closed") + got += len(chunk) + + +def main() -> int: + p = argparse.ArgumentParser(description=__doc__) + p.add_argument("--delays", type=float, nargs="+", default=[0, 1, 5, 25]) + p.add_argument("--rounds", type=int, default=300) + p.add_argument("--burst", type=int, default=1) + a = p.parse_args() + stop = threading.Event() + threading.Thread(target=echo_server, args=(stop,), daemon=True).start() + time.sleep(0.3) + for d in a.delays: + proxy = subprocess.Popen( + [sys.executable, str(HERE / "delay_proxy.py"), "--listen", str(PROXY), + "--upstream", str(ECHO), "--delay-ms", str(d)], + stdout=subprocess.DEVNULL, + ) # fmt: skip + time.sleep(0.5) + try: + with socket.create_connection(("127.0.0.1", PROXY)) as s: + s.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1) + rtts = [] + for _ in range(a.rounds): + start = time.perf_counter() + for k in range(a.burst): + if k: + spin = time.perf_counter() + 0.0002 + while time.perf_counter() < spin: + pass + s.sendall(PAYLOAD) + recv_exactly(s, a.burst * len(PAYLOAD)) + rtts.append((time.perf_counter() - start) * 1000) + finally: + proxy.terminate() + proxy.wait() + excess = sorted(r - 2 * d for r in rtts) + print( + f"burst {a.burst}, D {d:5.1f} ms: round trip median {statistics.median(rtts):.3f} ms, " + f"beyond 2D median {statistics.median(excess):.3f}, " + f"p90 {excess[int(0.9 * len(excess))]:.3f} ms", + flush=True, + ) + stop.set() + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/experiments/e52-latency-sweep/results/load.txt b/experiments/e52-latency-sweep/results/load.txt new file mode 100644 index 0000000..afe764a --- /dev/null +++ b/experiments/e52-latency-sweep/results/load.txt @@ -0,0 +1,2 @@ + 09:21:59 up 27 days, 22:23, 1 user, load average: 0.11, 0.18, 0.14 + 09:48:23 up 27 days, 22:50, 1 user, load average: 0.48, 0.65, 0.62 diff --git a/experiments/e52-latency-sweep/results/pendulum-0-seed0.log b/experiments/e52-latency-sweep/results/pendulum-0-seed0.log new file mode 100644 index 0000000..7eff821 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-0-seed0.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 38370) +{"env": "pendulum", "arm": "bridge", "seed": 0, "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", "learn_s": 16.76, "steps": 102400, "steps_per_s": 6109.6, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-0-seed0.proxy.log b/experiments/e52-latency-sweep/results/pendulum-0-seed0.proxy.log new file mode 100644 index 0000000..ffaaef7 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-0-seed0.proxy.log @@ -0,0 +1 @@ +delaying 127.0.0.1:8821 -> :8820 by 0.0 ms each way diff --git a/experiments/e52-latency-sweep/results/pendulum-0-seed0/client.log b/experiments/e52-latency-sweep/results/pendulum-0-seed0/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-0-seed0/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-0-seed0/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-0-seed0/episodes.csv new file mode 100644 index 0000000..5f59c83 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-0-seed0/episodes.csv @@ -0,0 +1,513 @@ +step,slot,episode,return,length +200,0,1,-1105.932760,200 +200,1,1,-1152.307282,200 +200,2,1,-1227.357009,200 +200,3,1,-1397.323126,200 +200,4,1,-1554.893430,200 +200,5,1,-1367.756593,200 +200,6,1,-936.501570,200 +200,7,1,-1194.520981,200 +200,8,1,-989.525217,200 +200,9,1,-1406.513761,200 +200,10,1,-1451.481351,200 +200,11,1,-1307.412016,200 +200,12,1,-908.246186,200 +200,13,1,-1127.417306,200 +200,14,1,-1438.483690,200 +200,15,1,-1002.979543,200 +400,0,2,-1619.864827,200 +400,1,2,-1444.847919,200 +400,2,2,-1089.636623,200 +400,3,2,-1123.314940,200 +400,4,2,-1497.231101,200 +400,5,2,-1199.627201,200 +400,6,2,-1267.473297,200 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b/experiments/e52-latency-sweep/results/pendulum-0-seed0/result.json @@ -0,0 +1,11 @@ +{ + "env": "pendulum", + "arm": "bridge", + "seed": 0, + "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", + "learn_s": 16.76, + "steps": 102400, + "steps_per_s": 6109.6, + "torch": "2.14.1+cpu", + "client_rc": 0 +} diff --git a/experiments/e52-latency-sweep/results/pendulum-0-seed1.log b/experiments/e52-latency-sweep/results/pendulum-0-seed1.log new file mode 100644 index 0000000..d1fdaf8 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-0-seed1.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 46154) +{"env": "pendulum", "arm": "bridge", "seed": 1, "weights_sha256": "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", "learn_s": 17.198, "steps": 102400, "steps_per_s": 5954.4, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-0-seed1.proxy.log b/experiments/e52-latency-sweep/results/pendulum-0-seed1.proxy.log new file mode 100644 index 0000000..ffaaef7 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-0-seed1.proxy.log @@ -0,0 +1 @@ +delaying 127.0.0.1:8821 -> :8820 by 0.0 ms each way diff --git a/experiments/e52-latency-sweep/results/pendulum-0-seed1/client.log b/experiments/e52-latency-sweep/results/pendulum-0-seed1/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-0-seed1/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-0-seed1/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-0-seed1/episodes.csv new file mode 100644 index 0000000..3637f7d --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-0-seed1/episodes.csv @@ -0,0 +1,513 @@ +step,slot,episode,return,length +200,0,1,-1297.077569,200 +200,1,1,-1227.984897,200 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file mode 100644 index 0000000..76fefa9 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-0-seed2.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 59148) +{"env": "pendulum", "arm": "bridge", "seed": 2, "weights_sha256": "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", "learn_s": 16.894, "steps": 102400, "steps_per_s": 6061.3, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-0-seed2.proxy.log b/experiments/e52-latency-sweep/results/pendulum-0-seed2.proxy.log new file mode 100644 index 0000000..ffaaef7 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-0-seed2.proxy.log @@ -0,0 +1 @@ +delaying 127.0.0.1:8821 -> :8820 by 0.0 ms each way diff --git a/experiments/e52-latency-sweep/results/pendulum-0-seed2/client.log b/experiments/e52-latency-sweep/results/pendulum-0-seed2/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-0-seed2/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-0-seed2/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-0-seed2/episodes.csv new file mode 100644 index 0000000..8463246 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-0-seed2/episodes.csv @@ -0,0 +1,513 @@ +step,slot,episode,return,length +200,0,1,-985.080841,200 +200,1,1,-1471.022206,200 +200,2,1,-1412.941106,200 +200,3,1,-1081.463724,200 +200,4,1,-1011.956991,200 +200,5,1,-883.972577,200 +200,6,1,-989.150615,200 +200,7,1,-1602.754559,200 +200,8,1,-1368.339314,200 +200,9,1,-984.649119,200 +200,10,1,-1224.795076,200 +200,11,1,-1260.681777,200 +200,12,1,-1417.922190,200 +200,13,1,-1149.718787,200 +200,14,1,-1144.287805,200 +200,15,1,-1249.035717,200 +400,0,2,-1330.169719,200 +400,1,2,-1160.025694,200 +400,2,2,-1408.636147,200 +400,3,2,-1119.450977,200 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"pendulum", + "arm": "bridge", + "seed": 2, + "weights_sha256": "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", + "learn_s": 16.894, + "steps": 102400, + "steps_per_s": 6061.3, + "torch": "2.14.1+cpu", + "client_rc": 0 +} diff --git a/experiments/e52-latency-sweep/results/pendulum-1-seed0.log b/experiments/e52-latency-sweep/results/pendulum-1-seed0.log new file mode 100644 index 0000000..c81b2a9 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-1-seed0.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 51136) +{"env": "pendulum", "arm": "bridge", "seed": 0, "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", "learn_s": 35.749, "steps": 102400, "steps_per_s": 2864.4, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-1-seed0.proxy.log b/experiments/e52-latency-sweep/results/pendulum-1-seed0.proxy.log new file mode 100644 index 0000000..4e7743a --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-1-seed0.proxy.log @@ -0,0 +1 @@ +delaying 127.0.0.1:8821 -> :8820 by 1.0 ms each way diff --git a/experiments/e52-latency-sweep/results/pendulum-1-seed0/client.log b/experiments/e52-latency-sweep/results/pendulum-1-seed0/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-1-seed0/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-1-seed0/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-1-seed0/episodes.csv new file mode 100644 index 0000000..5f59c83 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-1-seed0/episodes.csv @@ -0,0 +1,513 @@ +step,slot,episode,return,length +200,0,1,-1105.932760,200 +200,1,1,-1152.307282,200 +200,2,1,-1227.357009,200 +200,3,1,-1397.323126,200 +200,4,1,-1554.893430,200 +200,5,1,-1367.756593,200 +200,6,1,-936.501570,200 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b/experiments/e52-latency-sweep/results/pendulum-1-seed1.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 35468) +{"env": "pendulum", "arm": "bridge", "seed": 1, "weights_sha256": "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", "learn_s": 35.411, "steps": 102400, "steps_per_s": 2891.7, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-1-seed1.proxy.log b/experiments/e52-latency-sweep/results/pendulum-1-seed1.proxy.log new file mode 100644 index 0000000..4e7743a --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-1-seed1.proxy.log @@ -0,0 +1 @@ +delaying 127.0.0.1:8821 -> :8820 by 1.0 ms each way diff --git a/experiments/e52-latency-sweep/results/pendulum-1-seed1/client.log b/experiments/e52-latency-sweep/results/pendulum-1-seed1/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-1-seed1/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-1-seed1/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-1-seed1/episodes.csv new file mode 100644 index 0000000..3637f7d --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-1-seed1/episodes.csv @@ -0,0 +1,513 @@ +step,slot,episode,return,length +200,0,1,-1297.077569,200 +200,1,1,-1227.984897,200 +200,2,1,-1688.710463,200 +200,3,1,-1140.718959,200 +200,4,1,-1140.307027,200 +200,5,1,-1049.469793,200 +200,6,1,-1405.877036,200 +200,7,1,-1351.713265,200 +200,8,1,-1641.652578,200 +200,9,1,-1637.383278,200 +200,10,1,-1531.000669,200 +200,11,1,-1004.224100,200 +200,12,1,-1451.661687,200 +200,13,1,-1254.134747,200 +200,14,1,-1045.889158,200 +200,15,1,-937.533322,200 +400,0,2,-1232.208513,200 +400,1,2,-1485.962561,200 +400,2,2,-1087.001979,200 +400,3,2,-1181.387254,200 +400,4,2,-1067.501824,200 +400,5,2,-871.741289,200 +400,6,2,-1150.070394,200 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mode 100644 index 0000000..aa35002 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-1-seed1/result.json @@ -0,0 +1,11 @@ +{ + "env": "pendulum", + "arm": "bridge", + "seed": 1, + "weights_sha256": "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", + "learn_s": 35.411, + "steps": 102400, + "steps_per_s": 2891.7, + "torch": "2.14.1+cpu", + "client_rc": 0 +} diff --git a/experiments/e52-latency-sweep/results/pendulum-1-seed2.log b/experiments/e52-latency-sweep/results/pendulum-1-seed2.log new file mode 100644 index 0000000..fd9b877 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-1-seed2.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 55532) +{"env": "pendulum", "arm": "bridge", "seed": 2, "weights_sha256": "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", "learn_s": 35.376, "steps": 102400, "steps_per_s": 2894.6, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-1-seed2.proxy.log b/experiments/e52-latency-sweep/results/pendulum-1-seed2.proxy.log new file mode 100644 index 0000000..4e7743a --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-1-seed2.proxy.log @@ -0,0 +1 @@ +delaying 127.0.0.1:8821 -> :8820 by 1.0 ms each way diff --git a/experiments/e52-latency-sweep/results/pendulum-1-seed2/client.log b/experiments/e52-latency-sweep/results/pendulum-1-seed2/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-1-seed2/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-1-seed2/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-1-seed2/episodes.csv new file mode 100644 index 0000000..8463246 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-1-seed2/episodes.csv @@ -0,0 +1,513 @@ 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"steps_per_s": 2894.6, + "torch": "2.14.1+cpu", + "client_rc": 0 +} diff --git a/experiments/e52-latency-sweep/results/pendulum-25-seed0.log b/experiments/e52-latency-sweep/results/pendulum-25-seed0.log new file mode 100644 index 0000000..608fbf0 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-25-seed0.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 37162) +{"env": "pendulum", "arm": "bridge", "seed": 0, "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", "learn_s": 355.635, "steps": 102400, "steps_per_s": 287.9, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-25-seed0.proxy.log b/experiments/e52-latency-sweep/results/pendulum-25-seed0.proxy.log new file mode 100644 index 0000000..ecd6890 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-25-seed0.proxy.log @@ -0,0 +1 @@ +delaying 127.0.0.1:8821 -> :8820 by 25.0 ms each way diff --git a/experiments/e52-latency-sweep/results/pendulum-25-seed0/client.log b/experiments/e52-latency-sweep/results/pendulum-25-seed0/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-25-seed0/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-25-seed0/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-25-seed0/episodes.csv new file mode 100644 index 0000000..5f59c83 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-25-seed0/episodes.csv @@ -0,0 +1,513 @@ +step,slot,episode,return,length +200,0,1,-1105.932760,200 +200,1,1,-1152.307282,200 +200,2,1,-1227.357009,200 +200,3,1,-1397.323126,200 +200,4,1,-1554.893430,200 +200,5,1,-1367.756593,200 +200,6,1,-936.501570,200 +200,7,1,-1194.520981,200 +200,8,1,-989.525217,200 +200,9,1,-1406.513761,200 +200,10,1,-1451.481351,200 +200,11,1,-1307.412016,200 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@@ -0,0 +1,11 @@ +{ + "env": "pendulum", + "arm": "bridge", + "seed": 0, + "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", + "learn_s": 355.635, + "steps": 102400, + "steps_per_s": 287.9, + "torch": "2.14.1+cpu", + "client_rc": 0 +} diff --git a/experiments/e52-latency-sweep/results/pendulum-25-seed1.log b/experiments/e52-latency-sweep/results/pendulum-25-seed1.log new file mode 100644 index 0000000..9025bc9 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-25-seed1.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 58996) +{"env": "pendulum", "arm": "bridge", "seed": 1, "weights_sha256": "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", "learn_s": 355.897, "steps": 102400, "steps_per_s": 287.7, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-25-seed1.proxy.log b/experiments/e52-latency-sweep/results/pendulum-25-seed1.proxy.log new file mode 100644 index 0000000..ecd6890 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-25-seed1.proxy.log @@ -0,0 +1 @@ +delaying 127.0.0.1:8821 -> :8820 by 25.0 ms each way diff --git a/experiments/e52-latency-sweep/results/pendulum-25-seed1/client.log b/experiments/e52-latency-sweep/results/pendulum-25-seed1/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-25-seed1/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-25-seed1/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-25-seed1/episodes.csv new file mode 100644 index 0000000..3637f7d --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-25-seed1/episodes.csv @@ -0,0 +1,513 @@ +step,slot,episode,return,length +200,0,1,-1297.077569,200 +200,1,1,-1227.984897,200 +200,2,1,-1688.710463,200 +200,3,1,-1140.718959,200 +200,4,1,-1140.307027,200 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b/experiments/e52-latency-sweep/results/pendulum-25-seed1/result.json new file mode 100644 index 0000000..0be4413 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-25-seed1/result.json @@ -0,0 +1,11 @@ +{ + "env": "pendulum", + "arm": "bridge", + "seed": 1, + "weights_sha256": "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", + "learn_s": 355.897, + "steps": 102400, + "steps_per_s": 287.7, + "torch": "2.14.1+cpu", + "client_rc": 0 +} diff --git a/experiments/e52-latency-sweep/results/pendulum-25-seed2.log b/experiments/e52-latency-sweep/results/pendulum-25-seed2.log new file mode 100644 index 0000000..d7c387b --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-25-seed2.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 55240) +{"env": "pendulum", "arm": "bridge", "seed": 2, "weights_sha256": "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", "learn_s": 356.052, "steps": 102400, "steps_per_s": 287.6, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-25-seed2.proxy.log b/experiments/e52-latency-sweep/results/pendulum-25-seed2.proxy.log new file mode 100644 index 0000000..ecd6890 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-25-seed2.proxy.log @@ -0,0 +1 @@ +delaying 127.0.0.1:8821 -> :8820 by 25.0 ms each way diff --git a/experiments/e52-latency-sweep/results/pendulum-25-seed2/client.log b/experiments/e52-latency-sweep/results/pendulum-25-seed2/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-25-seed2/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-25-seed2/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-25-seed2/episodes.csv new file mode 100644 index 0000000..8463246 --- /dev/null +++ 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+plugrl-bridges: slots 0-15 <- ('127.0.0.1', 38448) +{"env": "pendulum", "arm": "bridge", "seed": 0, "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", "learn_s": 92.148, "steps": 102400, "steps_per_s": 1111.3, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-5-seed0.proxy.log b/experiments/e52-latency-sweep/results/pendulum-5-seed0.proxy.log new file mode 100644 index 0000000..b095f93 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-5-seed0.proxy.log @@ -0,0 +1 @@ +delaying 127.0.0.1:8821 -> :8820 by 5.0 ms each way diff --git a/experiments/e52-latency-sweep/results/pendulum-5-seed0/client.log b/experiments/e52-latency-sweep/results/pendulum-5-seed0/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-5-seed0/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-5-seed0/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-5-seed0/episodes.csv new file mode 100644 index 0000000..5f59c83 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-5-seed0/episodes.csv @@ -0,0 +1,513 @@ +step,slot,episode,return,length +200,0,1,-1105.932760,200 +200,1,1,-1152.307282,200 +200,2,1,-1227.357009,200 +200,3,1,-1397.323126,200 +200,4,1,-1554.893430,200 +200,5,1,-1367.756593,200 +200,6,1,-936.501570,200 +200,7,1,-1194.520981,200 +200,8,1,-989.525217,200 +200,9,1,-1406.513761,200 +200,10,1,-1451.481351,200 +200,11,1,-1307.412016,200 +200,12,1,-908.246186,200 +200,13,1,-1127.417306,200 +200,14,1,-1438.483690,200 +200,15,1,-1002.979543,200 +400,0,2,-1619.864827,200 +400,1,2,-1444.847919,200 +400,2,2,-1089.636623,200 +400,3,2,-1123.314940,200 +400,4,2,-1497.231101,200 +400,5,2,-1199.627201,200 +400,6,2,-1267.473297,200 +400,7,2,-1084.173198,200 +400,8,2,-1096.670323,200 +400,9,2,-983.118178,200 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b/experiments/e52-latency-sweep/results/pendulum-5-seed0/result.json new file mode 100644 index 0000000..5ebce46 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-5-seed0/result.json @@ -0,0 +1,11 @@ +{ + "env": "pendulum", + "arm": "bridge", + "seed": 0, + "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", + "learn_s": 92.148, + "steps": 102400, + "steps_per_s": 1111.3, + "torch": "2.14.1+cpu", + "client_rc": 0 +} diff --git a/experiments/e52-latency-sweep/results/pendulum-5-seed1.log b/experiments/e52-latency-sweep/results/pendulum-5-seed1.log new file mode 100644 index 0000000..d6220a7 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-5-seed1.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 41846) +{"env": "pendulum", "arm": "bridge", "seed": 1, "weights_sha256": "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", "learn_s": 92.662, "steps": 102400, "steps_per_s": 1105.1, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-5-seed1.proxy.log b/experiments/e52-latency-sweep/results/pendulum-5-seed1.proxy.log new file mode 100644 index 0000000..b095f93 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-5-seed1.proxy.log @@ -0,0 +1 @@ +delaying 127.0.0.1:8821 -> :8820 by 5.0 ms each way diff --git a/experiments/e52-latency-sweep/results/pendulum-5-seed1/client.log b/experiments/e52-latency-sweep/results/pendulum-5-seed1/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-5-seed1/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-5-seed1/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-5-seed1/episodes.csv new file mode 100644 index 0000000..3637f7d --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-5-seed1/episodes.csv @@ -0,0 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"062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", + "learn_s": 92.662, + "steps": 102400, + "steps_per_s": 1105.1, + "torch": "2.14.1+cpu", + "client_rc": 0 +} diff --git a/experiments/e52-latency-sweep/results/pendulum-5-seed2.log b/experiments/e52-latency-sweep/results/pendulum-5-seed2.log new file mode 100644 index 0000000..0fadd6c --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-5-seed2.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 43758) +{"env": "pendulum", "arm": "bridge", "seed": 2, "weights_sha256": "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", "learn_s": 92.441, "steps": 102400, "steps_per_s": 1107.7, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-5-seed2.proxy.log b/experiments/e52-latency-sweep/results/pendulum-5-seed2.proxy.log new file mode 100644 index 0000000..b095f93 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-5-seed2.proxy.log @@ -0,0 +1 @@ +delaying 127.0.0.1:8821 -> :8820 by 5.0 ms each way diff --git a/experiments/e52-latency-sweep/results/pendulum-5-seed2/client.log b/experiments/e52-latency-sweep/results/pendulum-5-seed2/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-5-seed2/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-5-seed2/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-5-seed2/episodes.csv new file mode 100644 index 0000000..8463246 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-5-seed2/episodes.csv @@ -0,0 +1,513 @@ +step,slot,episode,return,length +200,0,1,-985.080841,200 +200,1,1,-1471.022206,200 +200,2,1,-1412.941106,200 +200,3,1,-1081.463724,200 +200,4,1,-1011.956991,200 +200,5,1,-883.972577,200 +200,6,1,-989.150615,200 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new file mode 100644 index 0000000..ea4f23f --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-direct-seed0.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 50108) +{"env": "pendulum", "arm": "bridge", "seed": 0, "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", "learn_s": 16.316, "steps": 102400, "steps_per_s": 6276.2, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-direct-seed0/client.log b/experiments/e52-latency-sweep/results/pendulum-direct-seed0/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-direct-seed0/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-direct-seed0/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-direct-seed0/episodes.csv new file mode 100644 index 0000000..5f59c83 --- /dev/null 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diff --git a/experiments/e52-latency-sweep/results/pendulum-direct-seed1.log b/experiments/e52-latency-sweep/results/pendulum-direct-seed1.log new file mode 100644 index 0000000..2f89eb2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-direct-seed1.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 45598) +{"env": "pendulum", "arm": "bridge", "seed": 1, "weights_sha256": "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", "learn_s": 16.129, "steps": 102400, "steps_per_s": 6348.7, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-direct-seed1/client.log b/experiments/e52-latency-sweep/results/pendulum-direct-seed1/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-direct-seed1/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-direct-seed1/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-direct-seed1/episodes.csv new file mode 100644 index 0000000..3637f7d --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-direct-seed1/episodes.csv @@ -0,0 +1,513 @@ +step,slot,episode,return,length +200,0,1,-1297.077569,200 +200,1,1,-1227.984897,200 +200,2,1,-1688.710463,200 +200,3,1,-1140.718959,200 +200,4,1,-1140.307027,200 +200,5,1,-1049.469793,200 +200,6,1,-1405.877036,200 +200,7,1,-1351.713265,200 +200,8,1,-1641.652578,200 +200,9,1,-1637.383278,200 +200,10,1,-1531.000669,200 +200,11,1,-1004.224100,200 +200,12,1,-1451.661687,200 +200,13,1,-1254.134747,200 +200,14,1,-1045.889158,200 +200,15,1,-937.533322,200 +400,0,2,-1232.208513,200 +400,1,2,-1485.962561,200 +400,2,2,-1087.001979,200 +400,3,2,-1181.387254,200 +400,4,2,-1067.501824,200 +400,5,2,-871.741289,200 +400,6,2,-1150.070394,200 +400,7,2,-1258.475627,200 +400,8,2,-960.712738,200 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"062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", + "learn_s": 16.129, + "steps": 102400, + "steps_per_s": 6348.7, + "torch": "2.14.1+cpu", + "client_rc": 0 +} diff --git a/experiments/e52-latency-sweep/results/pendulum-direct-seed2.log b/experiments/e52-latency-sweep/results/pendulum-direct-seed2.log new file mode 100644 index 0000000..185dd41 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-direct-seed2.log @@ -0,0 +1,2 @@ +plugrl-bridges: slots 0-15 <- ('127.0.0.1', 40706) +{"env": "pendulum", "arm": "bridge", "seed": 2, "weights_sha256": "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", "learn_s": 16.187, "steps": 102400, "steps_per_s": 6325.9, "torch": "2.14.1+cpu", "client_rc": 0} diff --git a/experiments/e52-latency-sweep/results/pendulum-direct-seed2/client.log b/experiments/e52-latency-sweep/results/pendulum-direct-seed2/client.log new file mode 100644 index 0000000..9b01cd2 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-direct-seed2/client.log @@ -0,0 +1 @@ +closed after 6400 steps: 'plugrl-server-stop' diff --git a/experiments/e52-latency-sweep/results/pendulum-direct-seed2/episodes.csv b/experiments/e52-latency-sweep/results/pendulum-direct-seed2/episodes.csv new file mode 100644 index 0000000..8463246 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pendulum-direct-seed2/episodes.csv @@ -0,0 +1,513 @@ +step,slot,episode,return,length +200,0,1,-985.080841,200 +200,1,1,-1471.022206,200 +200,2,1,-1412.941106,200 +200,3,1,-1081.463724,200 +200,4,1,-1011.956991,200 +200,5,1,-883.972577,200 +200,6,1,-989.150615,200 +200,7,1,-1602.754559,200 +200,8,1,-1368.339314,200 +200,9,1,-984.649119,200 +200,10,1,-1224.795076,200 +200,11,1,-1260.681777,200 +200,12,1,-1417.922190,200 +200,13,1,-1149.718787,200 +200,14,1,-1144.287805,200 +200,15,1,-1249.035717,200 +400,0,2,-1330.169719,200 +400,1,2,-1160.025694,200 +400,2,2,-1408.636147,200 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b/experiments/e52-latency-sweep/results/pendulum-direct-seed2/result.json @@ -0,0 +1,11 @@ +{ + "env": "pendulum", + "arm": "bridge", + "seed": 2, + "weights_sha256": "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", + "learn_s": 16.187, + "steps": 102400, + "steps_per_s": 6325.9, + "torch": "2.14.1+cpu", + "client_rc": 0 +} diff --git a/experiments/e52-latency-sweep/results/pilot.txt b/experiments/e52-latency-sweep/results/pilot.txt new file mode 100644 index 0000000..fead9e5 --- /dev/null +++ b/experiments/e52-latency-sweep/results/pilot.txt @@ -0,0 +1,13 @@ +E52 pilot, 2026-10-02 09:18 (guangzhao clock), seed 9 (not a registered seed), +guangzhao, bridges-venv (torch 2.14.1+cpu, SB3 2.9.0, gymnasium 1.3.0). + + arm weights learn steps/s client rc + direct 3721266c36817a4f... 16.119 s 6352.8 0 + 5 ms 3721266c36817a4f... 92.057 s 1112.4 0 + +Both end on E50's seed-9 weights on this machine (3721266c..., E50 +results/pilot.txt). The 5 ms arm took (92.057 - 16.119) / 6400 = 11.87 ms +more per vector step, against 2 x 5 = 10 ms. + +Between the pilot and the registered runs only ruff's formatting of +delay_proxy.py changed (one print call wrapped over several lines). diff --git a/experiments/e52-latency-sweep/results/proxy_rtt.txt b/experiments/e52-latency-sweep/results/proxy_rtt.txt new file mode 100644 index 0000000..b2c8149 --- /dev/null +++ b/experiments/e52-latency-sweep/results/proxy_rtt.txt @@ -0,0 +1,8 @@ +burst 1, D 0.0 ms: round trip median 0.030 ms, beyond 2D median 0.030, p90 0.065 ms +burst 1, D 1.0 ms: round trip median 2.479 ms, beyond 2D median 0.479, p90 0.655 ms +burst 1, D 5.0 ms: round trip median 10.996 ms, beyond 2D median 0.996, p90 1.089 ms +burst 1, D 25.0 ms: round trip median 50.963 ms, beyond 2D median 0.963, p90 1.442 ms +burst 2, D 0.0 ms: round trip median 0.278 ms, beyond 2D median 0.278, p90 41.377 ms +burst 2, D 1.0 ms: round trip median 2.768 ms, beyond 2D median 0.768, p90 0.968 ms +burst 2, D 5.0 ms: round trip median 11.035 ms, beyond 2D median 1.035, p90 1.224 ms +burst 2, D 25.0 ms: round trip median 51.286 ms, beyond 2D median 1.286, p90 1.686 ms diff --git a/experiments/e52-latency-sweep/results/registered.out b/experiments/e52-latency-sweep/results/registered.out new file mode 100644 index 0000000..9d71110 --- /dev/null +++ b/experiments/e52-latency-sweep/results/registered.out @@ -0,0 +1,33 @@ + 09:21:59 up 27 days, 22:23, 1 user, load average: 0.11, 0.18, 0.14 +== pendulum-direct-seed0 09:21:59 +{"env": "pendulum", "arm": "bridge", "seed": 0, "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", "learn_s": 16.316, "steps": 102400, "steps_per_s": 6276.2, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-0-seed0 09:22:17 +{"env": "pendulum", "arm": "bridge", "seed": 0, "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", "learn_s": 16.76, "steps": 102400, "steps_per_s": 6109.6, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-1-seed0 09:22:36 +{"env": "pendulum", "arm": "bridge", "seed": 0, "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", "learn_s": 35.749, "steps": 102400, "steps_per_s": 2864.4, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-5-seed0 09:23:14 +{"env": "pendulum", "arm": "bridge", "seed": 0, "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", "learn_s": 92.148, "steps": 102400, "steps_per_s": 1111.3, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-25-seed0 09:24:49 +{"env": "pendulum", "arm": "bridge", "seed": 0, "weights_sha256": "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", "learn_s": 355.635, "steps": 102400, "steps_per_s": 287.9, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-direct-seed1 09:30:47 +{"env": "pendulum", "arm": "bridge", "seed": 1, "weights_sha256": "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", "learn_s": 16.129, "steps": 102400, "steps_per_s": 6348.7, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-0-seed1 09:31:04 +{"env": "pendulum", "arm": "bridge", "seed": 1, "weights_sha256": "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", "learn_s": 17.198, "steps": 102400, "steps_per_s": 5954.4, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-1-seed1 09:31:24 +{"env": "pendulum", "arm": "bridge", "seed": 1, "weights_sha256": "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", "learn_s": 35.411, "steps": 102400, "steps_per_s": 2891.7, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-5-seed1 09:32:02 +{"env": "pendulum", "arm": "bridge", "seed": 1, "weights_sha256": "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", "learn_s": 92.662, "steps": 102400, "steps_per_s": 1105.1, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-25-seed1 09:33:37 +{"env": "pendulum", "arm": "bridge", "seed": 1, "weights_sha256": "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", "learn_s": 355.897, "steps": 102400, "steps_per_s": 287.7, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-direct-seed2 09:39:35 +{"env": "pendulum", "arm": "bridge", "seed": 2, "weights_sha256": "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", "learn_s": 16.187, "steps": 102400, "steps_per_s": 6325.9, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-0-seed2 09:39:53 +{"env": "pendulum", "arm": "bridge", "seed": 2, "weights_sha256": "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", "learn_s": 16.894, "steps": 102400, "steps_per_s": 6061.3, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-1-seed2 09:40:12 +{"env": "pendulum", "arm": "bridge", "seed": 2, "weights_sha256": "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", "learn_s": 35.376, "steps": 102400, "steps_per_s": 2894.6, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-5-seed2 09:40:50 +{"env": "pendulum", "arm": "bridge", "seed": 2, "weights_sha256": "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", "learn_s": 92.441, "steps": 102400, "steps_per_s": 1107.7, "torch": "2.14.1+cpu", "client_rc": 0} +== pendulum-25-seed2 09:42:25 +{"env": "pendulum", "arm": "bridge", "seed": 2, "weights_sha256": "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", "learn_s": 356.052, "steps": 102400, "steps_per_s": 287.6, "torch": "2.14.1+cpu", "client_rc": 0} + 09:48:23 up 27 days, 22:50, 1 user, load average: 0.48, 0.65, 0.62 +E52_DONE diff --git a/experiments/e52-latency-sweep/results/verdicts.txt b/experiments/e52-latency-sweep/results/verdicts.txt new file mode 100644 index 0000000..1716160 --- /dev/null +++ b/experiments/e52-latency-sweep/results/verdicts.txt @@ -0,0 +1,7 @@ +seed 0: direct 16.3 s; 0 ms 16.8 s (+0.07 ms/step, +0.07 over 2D, weights same); 1 ms 35.7 s (+3.04 ms/step, +1.04 over 2D, weights same); 5 ms 92.1 s (+11.85 ms/step, +1.85 over 2D, weights same); 25 ms 355.6 s (+53.02 ms/step, +3.02 over 2D, weights same) +seed 1: direct 16.1 s; 0 ms 17.2 s (+0.17 ms/step, +0.17 over 2D, weights same); 1 ms 35.4 s (+3.01 ms/step, +1.01 over 2D, weights same); 5 ms 92.7 s (+11.96 ms/step, +1.96 over 2D, weights same); 25 ms 355.9 s (+53.09 ms/step, +3.09 over 2D, weights same) +seed 2: direct 16.2 s; 0 ms 16.9 s (+0.11 ms/step, +0.11 over 2D, weights same); 1 ms 35.4 s (+3.00 ms/step, +1.00 over 2D, weights same); 5 ms 92.4 s (+11.91 ms/step, +1.91 over 2D, weights same); 25 ms 356.1 s (+53.10 ms/step, +3.10 over 2D, weights same) + +V1: holds +P1: holds +P2: FAILS diff --git a/experiments/e52-latency-sweep/run.sh b/experiments/e52-latency-sweep/run.sh new file mode 100644 index 0000000..fa81960 --- /dev/null +++ b/experiments/e52-latency-sweep/run.sh @@ -0,0 +1,33 @@ +#!/usr/bin/env bash +# E52's runs on guangzhao, one at a time. +# bash run.sh OUT_DIR "SEEDS" "ARMS" # e.g. results "0 1 2" "direct 0 1 5 25" +# An arm is "direct" (the client connects to the bridge, as in E50) or a +# one-way delay in ms (the client connects through delay_proxy.py). +# The bridge listens on 8820, the proxy on 8821. +set -uo pipefail +OUT="${1:?OUT_DIR}"; SEEDS="${2:?SEEDS}"; ARMS="${3:?ARMS}" +export PATH="$HOME/.local/bin:$PATH" OMP_NUM_THREADS=1 +PY="$HOME/zuogou/plugrl/bridges-venv/bin/python" +cd "$(dirname "$0")" +mkdir -p "$OUT" +uptime | tee -a "$OUT/load.txt" +for seed in $SEEDS; do + for arm in $ARMS; do + name="pendulum-$arm-seed$seed" + echo "== $name $(date +%T)" + if [ "$arm" = direct ]; then + "$PY" train.py --env pendulum --arm bridge --seed "$seed" --out "$OUT/$name" \ + --port 8820 > "$OUT/$name.log" 2>&1 + else + "$PY" delay_proxy.py --listen 8821 --upstream 8820 --delay-ms "$arm" > "$OUT/$name.proxy.log" 2>&1 & + proxy=$! + sleep 1 + "$PY" train.py --env pendulum --arm bridge --seed "$seed" --out "$OUT/$name" \ + --port 8820 --client-port 8821 > "$OUT/$name.log" 2>&1 + kill "$proxy" 2>/dev/null; wait "$proxy" 2>/dev/null + fi + tail -n 1 "$OUT/$name.log" + done +done +uptime | tee -a "$OUT/load.txt" +echo E52_DONE diff --git a/experiments/e52-latency-sweep/summarise.py b/experiments/e52-latency-sweep/summarise.py new file mode 100644 index 0000000..cd6ce1c --- /dev/null +++ b/experiments/e52-latency-sweep/summarise.py @@ -0,0 +1,58 @@ +"""E52: judge PROTOCOL.md's check and predictions from a results directory. + +python summarise.py [DIR] # default: results/ +""" + +from __future__ import annotations + +import json +import pathlib +import sys + +HERE = pathlib.Path(__file__).resolve().parent +E50_INPROCESS = { + 0: "ec5b8226b227f3fa58bd771b411e3673b751ec2c062b010cf0dcef60baed42bc", + 1: "062e92e3bab334bb20d04f963612273166bef926f9edb017a624b133313733d6", + 2: "3a8d968f19e2a8b5dc01540e41c4a64c02cb7a8c99ccdedf4a016008cf8bcd41", +} +ARMS = ["direct", "0", "1", "5", "25"] +VECTOR_STEPS = 6_400 + + +def main() -> int: + root = pathlib.Path(sys.argv[1]) if len(sys.argv) > 1 else HERE / "results" + v1 = p1 = p2 = True + for seed, expected in E50_INPROCESS.items(): + results = {} + for arm in ARMS: + name = f"pendulum-{arm}-seed{seed}" + r = json.loads((root / name / "result.json").read_text()) + log = (root / f"{name}.log").read_text(encoding="utf-8", errors="replace") + v1 &= ( + r["steps"] == 102_400 + and r.get("client_rc") == 0 + and log.count("plugrl-bridges: slots 0-15 <-") == 1 + ) + p1 &= r["weights_sha256"] == expected + results[arm] = r + base = results["direct"]["learn_s"] + line = [f"seed {seed}: direct {base:.1f} s"] + for arm in ARMS[1:]: + d = float(arm) + extra = (results[arm]["learn_s"] - base) / VECTOR_STEPS * 1000 + same = results[arm]["weights_sha256"] == expected + if d > 0: + p2 &= 2 * d <= extra <= 2 * d + 3 + line.append( + f"{arm} ms {results[arm]['learn_s']:.1f} s (+{extra:.2f} ms/step, " + f"{extra - 2 * d:+.2f} over 2D, weights {'same' if same else 'DIFFER'})" + ) + print("; ".join(line)) + print() + for name, ok in (("V1", v1), ("P1", p1), ("P2", p2)): + print(f"{name}: {'holds' if ok else 'FAILS'}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/experiments/e52-latency-sweep/train.py b/experiments/e52-latency-sweep/train.py new file mode 100644 index 0000000..21d66a7 --- /dev/null +++ b/experiments/e52-latency-sweep/train.py @@ -0,0 +1,146 @@ +"""E52: E50's train.py, with the client able to connect through a delay proxy. + + python train.py --env pendulum --arm bridge --seed 0 --out runs/... \ + --port 8820 --client-port 8821 + +The one change from E50's file: --client-port, the port the env client +connects to (default: --port, as in E50). E52 points it at delay_proxy.py, +which forwards to the bridge on --port. The client is E50's gym_client.py. +What follows is E50's description, unchanged. + + python train.py --env pendulum --arm inprocess --seed 0 --out runs/... + python train.py --env pendulum --arm bridge --seed 0 --out runs/... [--port 8820] + +The two arms differ only in where the 16 environments are stepped: +- inprocess: SB3's DummyVecEnv of gym.make(ENV_ID), in this process; +- bridge: plugrl-bridges' PlugRLVecEnv, with the same 16 environments in + gym_client.py, another process, on one connection. + +Everything else is one code path: VecMonitor, then PPO, 16 x 256 frames per +rollout, one torch thread, CPU. +- pendulum: Pendulum-v1, 102,400 steps, rl-baselines3-zoo's settings as + plugrl-bridges' examples/sb3/ppo.py --preset pendulum uses them. +- halfcheetah: HalfCheetah-v5, 409,600 steps, SB3's defaults with no + VecNormalize. Its observations are float64; gym_client.py sends them as + float32. +result.json gets the SHA-256 of the final policy's parameters and the time +model.learn() took. +""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import pathlib +import subprocess +import sys +import time + +import gymnasium as gym +import numpy as np +import torch +from stable_baselines3 import PPO +from stable_baselines3.common.vec_env import DummyVecEnv, VecMonitor + +HERE = pathlib.Path(__file__).resolve().parent +CLIENT = HERE.parent / "e50-boundary-transparency" / "gym_client.py" +NUM_ENVS = 16 +ENVS = { + "pendulum": dict( + id="Pendulum-v1", + total=102_400, + action=(1, -2.0, 2.0), + # plugrl-bridges examples/sb3/ppo.py, preset "pendulum". + ppo=dict( + n_steps=256, + gamma=0.9, + gae_lambda=0.95, + n_epochs=10, + ent_coef=0.0, + learning_rate=1e-3, + clip_range=0.2, + use_sde=True, + sde_sample_freq=4, + ), + ), + "halfcheetah": dict( + id="HalfCheetah-v5", + total=409_600, + action=(6, -1.0, 1.0), + ppo=dict(n_steps=256), + ), +} + + +def weights_sha256(model: PPO) -> str: + h = hashlib.sha256() + for name, tensor in sorted(model.policy.state_dict().items()): + h.update(name.encode()) + h.update(tensor.detach().cpu().contiguous().numpy().tobytes()) + return h.hexdigest() + + +def main() -> int: + p = argparse.ArgumentParser(description=__doc__) + p.add_argument("--env", choices=sorted(ENVS), required=True) + p.add_argument("--arm", choices=["inprocess", "bridge"], required=True) + p.add_argument("--seed", type=int, required=True) + p.add_argument("--out", required=True) + p.add_argument("--port", type=int, default=8820) + p.add_argument("--client-port", type=int, default=None) + a = p.parse_args() + client_port = a.client_port or a.port + spec = ENVS[a.env] + out = pathlib.Path(a.out).resolve() + out.mkdir(parents=True, exist_ok=True) + torch.set_num_threads(1) + + client = None + if a.arm == "inprocess": + env = DummyVecEnv([lambda: gym.make(spec["id"])] * NUM_ENVS) + else: + from plugrl_bridges.sb3 import PlugRLVecEnv + + dim, low, high = spec["action"] + client_log = open(out / "client.log", "w", encoding="utf-8") + client = subprocess.Popen( + [sys.executable, str(CLIENT), "--port", str(client_port), + "--num-envs", str(NUM_ENVS), "--seed", str(a.seed), + "--env-id", spec["id"]], + stdout=client_log, stderr=subprocess.STDOUT, + ) # fmt: skip + env = PlugRLVecEnv( + num_envs=NUM_ENVS, + action_space=gym.spaces.Box(low, high, (dim,), np.float32), + port=a.port, + host="127.0.0.1", + episode_log=str(out / "episodes.csv"), + ) + env = VecMonitor(env, filename=str(out / "monitor.csv")) + # PPO(seed=) seeds torch and numpy, and calls env.seed(seed), which makes + # DummyVecEnv reset env i with seed + i. gym_client.py does the same. + model = PPO("MlpPolicy", env, seed=a.seed, device="cpu", verbose=0, **spec["ppo"]) + start = time.perf_counter() + model.learn(total_timesteps=spec["total"]) + learn_s = time.perf_counter() - start + result = { + "env": a.env, + "arm": a.arm, + "seed": a.seed, + "weights_sha256": weights_sha256(model), + "learn_s": round(learn_s, 3), + "steps": model.num_timesteps, + "steps_per_s": round(model.num_timesteps / learn_s, 1), + "torch": torch.__version__, + } + env.close() + if client is not None: + result["client_rc"] = client.wait(timeout=60) + (out / "result.json").write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps(result)) + return 0 + + +if __name__ == "__main__": + raise SystemExit(main())