Publish Parkour qwengr00t latency-aware PPO

latency-aware/extreme-parkour-go2/small-policy/ppo-qwengr00t-rtx3090-v1/README.md

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+# Extreme Parkour Go2 — QwenGR00T latency-aware PPO
+
+Native command policy trained from scratch with the QwenGR00T RTX 3090 temporal
+latency profile. The checkpoint completed 3,000 PPO iterations on one H200.
+
+Training used 6,144 environments, seed 1, 50 Hz control, 10 Hz decisions,
+24 decisions/environment/iteration, control repeat 5, five PPO epochs, four
+minibatches, and fixed learning rate `2e-4`.
+
+| Evaluation | Episodes | Return mean ± SD | Raw length mean ± SD | Waypoint progress mean ± SD |
+|---|---:|---:|---:|---:|
+| QwenGR00T temporal profile | 100 | 18.6098 ± 3.5573 | 607.84 ± 85.42 | 0.9814 ± 0.1100 |
+| 0 ms latency | 100 | 12.7761 ± 4.3001 | 479.16 ± 121.89 | 0.7900 ± 0.3054 |
+
+Both evaluations use 256 parallel environments, seed 1, deterministic policy
+means, and a 1,500 raw-control-frame episode cap. See `eval_profile.json` and
+`eval_l0.json` for complete metrics and latency counts.
+
+Training run: https://wandb.ai/saberrr-zju/isaaclab-parkour/runs/ce1ykqzc
+

latency-aware/extreme-parkour-go2/small-policy/ppo-qwengr00t-rtx3090-v1/checkpoint.pt

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+oid sha256:72d03f3afa63efa0cc81bc600e546e45ecb3fa9cb19145f6e18d9bf32c5c5c5f
+size 172353147

latency-aware/extreme-parkour-go2/small-policy/ppo-qwengr00t-rtx3090-v1/eval_l0.json

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+{
+  "identity": {
+    "checkpoint": "/home/ubuntu/latency-sensitive-bench/third_party/Isaaclab_Parkour/logs/rsl_rl/unitree_go2_parkour/2026-09-16_09-14-42_extreme_parkour_go2_qwengr00t_scratch_seed1_3k_h200/model_2999.pt",
+    "latency_config": "/home/ubuntu/latency-sensitive-bench/configs/training/latency/parkour_zero.yaml",
+    "latency": {
+      "method": "fixed",
+      "env_fps": 50,
+      "obs_fps": 10,
+      "profile_path": null
+    },
+    "teacher_checkpoint": "/home/ubuntu/model_14999.pt",
+    "teacher_baseline": false,
+    "seed": 1
+  },
+  "evaluation": {
+    "num_envs": 256,
+    "completed_episodes": 100,
+    "requested_episodes": 100,
+    "max_episode_steps": 1500,
+    "control_repeat": 5
+  },
+  "metrics": {
+    "reward_mean": 12.776075179576873,
+    "reward_std": 4.300141180357825,
+    "episode_length_raw_mean": 479.16,
+    "episode_length_raw_std": 121.88707474502368,
+    "waypoints_mean": 0.79,
+    "waypoints_std": 0.3053636173081368,
+    "edge_violation_mean": 0.154,
+    "edge_violation_std": 0.4126548194314469
+  },
+  "latency": {
+    "scope": "all_vector_slots_until_requested_episode_count",
+    "admissions": 32768,
+    "drops": 0,
+    "raw_control_frames": 163660,
+    "sampled_ms_mean": 0.0
+  },
+  "throughput": {
+    "raw_control_frames": 163660,
+    "elapsed_seconds": 21.216213559004245,
+    "raw_control_frames_per_second": 7713.911794149623
+  }
+}

latency-aware/extreme-parkour-go2/small-policy/ppo-qwengr00t-rtx3090-v1/eval_l0.yaml

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+__base__: train.yaml
+latency:
+  method: fixed
+  fixed_latency_ms: 0
+  seed: 0
+evaluation:
+  num_envs: 256
+  episodes: 100
+  max_episode_steps: 1500
+  seed: 1
+  deterministic: true
+

latency-aware/extreme-parkour-go2/small-policy/ppo-qwengr00t-rtx3090-v1/eval_profile.json

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+{
+  "identity": {
+    "checkpoint": "/home/ubuntu/latency-sensitive-bench/third_party/Isaaclab_Parkour/logs/rsl_rl/unitree_go2_parkour/2026-09-16_09-14-42_extreme_parkour_go2_qwengr00t_scratch_seed1_3k_h200/model_2999.pt",
+    "latency_config": "/home/ubuntu/latency-sensitive-bench/outputs/latency_rl/parkour/h200_20260916_qwengr00t/latency.yaml",
+    "latency": {
+      "method": "temporal",
+      "env_fps": 50,
+      "obs_fps": 10,
+      "profile_path": "/home/ubuntu/latency-sensitive-bench/results/profiling/profiles/qwengr00t/1x-rtx3090/extreme_parkour_go2/instance_6e332477bffea7da/profile.json"
+    },
+    "teacher_checkpoint": "/home/ubuntu/model_14999.pt",
+    "teacher_baseline": false,
+    "seed": 1
+  },
+  "evaluation": {
+    "num_envs": 256,
+    "completed_episodes": 100,
+    "requested_episodes": 100,
+    "max_episode_steps": 1500,
+    "control_repeat": 5
+  },
+  "metrics": {
+    "reward_mean": 18.609787216186522,
+    "reward_std": 3.55725858640821,
+    "episode_length_raw_mean": 607.84,
+    "episode_length_raw_std": 85.41907624095795,
+    "waypoints_mean": 0.9814285714285714,
+    "waypoints_std": 0.1100185513113723,
+    "edge_violation_mean": 0.112,
+    "edge_violation_std": 0.3625686141959891
+  },
+  "latency": {
+    "scope": "all_vector_slots_until_requested_episode_count",
+    "admissions": 18937,
+    "drops": 18695,
+    "raw_control_frames": 187942,
+    "sampled_ms_mean": 157.4469528677673
+  },
+  "throughput": {
+    "raw_control_frames": 187942,
+    "elapsed_seconds": 22.80954939799267,
+    "raw_control_frames_per_second": 8239.619149010443
+  }
+}

latency-aware/extreme-parkour-go2/small-policy/ppo-qwengr00t-rtx3090-v1/eval_profile.yaml

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+__base__: train.yaml
+evaluation:
+  num_envs: 256
+  episodes: 100
+  max_episode_steps: 1500
+  seed: 1
+  deterministic: true
+

latency-aware/extreme-parkour-go2/small-policy/ppo-qwengr00t-rtx3090-v1/provenance.json

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+{
+  "task": "extreme-parkour-go2",
+  "model": "ppo-command-policy",
+  "latency_profile_model": "qwengr00t",
+  "status": "evaluated",
+  "wandb_url": "https://wandb.ai/saberrr-zju/isaaclab-parkour/runs/ce1ykqzc",
+  "checkpoint": "checkpoint.pt",
+  "checkpoint_bytes": 172353147,
+  "checkpoint_sha256": "72d03f3afa63efa0cc81bc600e546e45ecb3fa9cb19145f6e18d9bf32c5c5f",
+  "checkpoint_iteration": 2999,
+  "decision_timesteps": 442368000,
+  "control_frames": 2211840000,
+  "initialization": "from_scratch",
+  "training_seed": 1,
+  "source_revisions": {
+    "benchmark": "f0929454423a5f170eb3c226aec42103ea351248",
+    "isaac_lab": "46dff135f44683f031edf346e544fcfd8456b2bb",
+    "parkour": "b34830ece802978aaff8b97500a3a924d1209c21"
+  },
+  "teacher": {
+    "checkpoint_sha256": "acd97fbc316cdfa52521f05ee6c6be8614a18b28cb9ff918a4aa9e25c7e29378"
+  },
+  "profile": {
+    "repo_id": "latency-sensitive-bench/profiles",
+    "revision": "e8be1e5dfd309f85ab7ff704dc02bd4898b7ceb4",
+    "path": "profiles/qwengr00t/1x-rtx3090/extreme_parkour_go2/instance_6e332477bffea7da",
+    "profile_sha256": "0513d130967861f132c68f5e851de0e004adb544336c28e1447acbf9b7c10bc1"
+  },
+  "evaluations": {
+    "profile": "eval_profile.json",
+    "zero_latency": "eval_l0.json"
+  }
+}
+

latency-aware/extreme-parkour-go2/small-policy/ppo-qwengr00t-rtx3090-v1/train.yaml

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+experiment:
+  name: extreme_parkour_go2_qwengr00t_scratch
+  seed: 1
+env:
+  name: extreme_parkour_go2
+  env_fps: 50
+  obs_fps: 10
+  simulator_device: cuda:0
+latency:
+  method: temporal
+  seed: 0
+  profile_path: profiles/qwengr00t/1x-rtx3090/extreme_parkour_go2/instance_6e332477bffea7da/profile.json
+executor:
+  simulated_worker_capacity: 1
+scheduler:
+  hold_policy: hold
+  ordering_policy: latest_ready
+command:
+  dimension: 34
+  horizon: 1
+  control_repeat: 5
+training:
+  num_envs: 6144
+  kit_threads: 8
+  physx_threads: 8
+  physics_dt: 0.005
+  decimation: 4
+  decisions_per_env_per_iteration: 24
+  max_iterations: 3000
+  learning_epochs: 5
+  minibatches: 4
+  learning_rate: 0.0002
+  learning_rate_schedule: fixed
+