+
## The environment side is light
The training server is 6.5G and wants a GPU. The machine running environments
@@ -64,11 +73,19 @@ training server through 120 training exchanges
## What the split costs
-Little. With a 184 KiB observation, one exchange takes about 0.8 ms on one
-machine, and leaving the machine adds about 0.5 ms
-([E7](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e7-cross-machine)).
-That second number was measured from a virtual machine to its host; it has
-not yet been measured between two physical machines.
+On one machine, almost nothing: an exchange takes 0.1 ms with states only and
+under 1 ms with a 588 KiB observation. Between two machines it becomes two
+terms:
+- **A fixed latency.** About 3 ms between a laptop on campus Wi-Fi and a wired
+ workstation, over Tailscale.
+- **Twice the observation's bytes over the link's bandwidth.** Each exchange
+ carries the observation twice, once asking for the action and once in the
+ feedback.
+
+On that link, at 18 MB/s, a state-only task pays about 3 ms per step, and a
+184 KiB camera observation about 21 ms
+([E43](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e43-cross-machine-training)).
+A faster link shrinks the second term in proportion.
## A real VLA, end to end
diff --git a/docs/index.zh.md b/docs/index.zh.md
index aa01281..60d057f 100644
--- a/docs/index.zh.md
+++ b/docs/index.zh.md
@@ -32,6 +32,13 @@ robosuite 或 gymnasium。环境客户端分别跑在两套独立的环境里:
gymnasium 加 MuJoCo 3;robomimic 用的是 robosuite 1.4.1 加 MuJoCo 2.3.7,因为
robosuite 1.4.1 在 MuJoCo 3 上跑不起来。训练这十六格的是同一个服务端代码库。
+同样这一对,把环境端放到另一台机器上也照样学会:一台连着校园 Wi-Fi 的 Windows 笔记本步进
+HalfCheetah,训练端在一台 Linux 工作站上。两边各六个种子落在同一条带子里;跨两台机器时一次
+训练用了 41 到 53 分钟,同一台机器上是 20 分钟([E43](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e43-cross-machine-training))。
+
+
+
## 环境端很轻
训练端有 6.5G,而且要一张显卡;跑环境的那台机器两样都不需要。LIBERO 环境端可以装成
@@ -48,9 +55,13 @@ robosuite 1.4.1 在 MuJoCo 3 上跑不起来。训练这十六格的是同一个
## 拆开的代价
-很小。观测为 184 KiB 时,同一台机器上一次交换约 0.8 毫秒,离开这台机器再多约 0.5 毫秒
-([E7](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e7-cross-machine))。
-后一个数是从虚拟机到它的宿主机测的,还没有在两台物理机之间测过。
+同一台机器上几乎没有代价:只传状态时一次交换 0.1 毫秒,观测有 588 KiB 也不到 1 毫秒。
+跨两台机器时,代价分成两项:
+- **固定延迟**:校园 Wi-Fi 上的笔记本经 Tailscale 连有线工作站,大约 3 毫秒。
+- **两倍的观测数据量除以链路带宽**:每次交换里观测要传两次,一次在请求动作时,一次在反馈里。
+
+在这条链路上(18 MB/s),只传状态的任务每步多约 3 毫秒,一个 184 KiB 的相机观测每步多约
+21 毫秒([E43](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e43-cross-machine-training))。链路越快,第二项按比例越小。
## 真实 VLA,端到端
diff --git a/docs/media/cross-machine.png b/docs/media/cross-machine.png
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