Restore original continuous-control bundles to archive while retaining corrected models

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/F-summary.json

@@ -0,0 +1,163 @@
+{
+  "verified_at": "2026-09-17T22:54:19.842855+00:00",
+  "task": "ant",
+  "B": {
+    "episodes": 20,
+    "mean_return": 165.37481726082865,
+    "population_std": 224.74334398914203,
+    "mean_length": 117.95,
+    "mean_episode_latency_ms": 109.68601172344802,
+    "observation_drops": 0,
+    "submitted_observations": 2359,
+    "action_drops": 0,
+    "invalid_actions": 0,
+    "metrics_sha256": "ff2ac48ce6a80f3ce86f8bf463d176901e80fdfc1da4e5d257619103f38ef4c5"
+  },
+  "F": {
+    "episodes": 20,
+    "mean_return": 1955.9665903901682,
+    "population_std": 780.5126269537432,
+    "mean_length": 864.15,
+    "mean_episode_latency_ms": 109.09411537718458,
+    "observation_drops": 0,
+    "submitted_observations": 17283,
+    "action_drops": 0,
+    "invalid_actions": 0,
+    "metrics_sha256": "b2ff83fadbbd9b5ff7a993ffc7c56d6123551fd3e54e69ae4c195b15e367a1c1"
+  },
+  "paired": [
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+      "B": 370.3559614500507,
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+      "B": 49.10090104723927,
+      "F": 2469.0992048851253,
+      "delta": 2419.998303837886
+    },
+    {
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+      "B": 87.00520589558394,
+      "F": 2293.215249054828,
+      "delta": 2206.210043159244
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+    {
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+      "B": 331.03135865679553,
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+      "delta": 2042.2329982962551
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+      "B": 140.152490197422,
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+    {
+      "seed": 59,
+      "B": 104.24116955116817,
+      "F": 2579.2123334397365,
+      "delta": 2474.9711638885683
+    },
+    {
+      "seed": 60,
+      "B": 128.06272573477975,
+      "F": 2349.218781207481,
+      "delta": 2221.156055472701
+    },
+    {
+      "seed": 61,
+      "B": 1022.4642675624029,
+      "F": 1801.130019978099,
+      "delta": 778.665752415696
+    }
+  ],
+  "wins": 19,
+  "ties": 0,
+  "losses": 1,
+  "mean_difference": 1790.5917731293396,
+  "F_step_interval_ms": {
+    "mean": 200.0007746919855,
+    "min": 198.89273610897362,
+    "max": 201.13411615602672
+  },
+  "F_revision": "bfab5cbb9abbadb03eb39593d3f403471b835882",
+  "F_checkpoint_sha256": "77dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b",
+  "protocol": "20 matched seeds42-61;5FPS;cap1000;measured-only;same B/F runtime with model and prompt0\u21921 changes",
+  "interpretation": "Compare measured outcomes and realized latencies; no equal-latency causal claim and no teacher gate applied to VLA."
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/F-verification.json

@@ -0,0 +1,6 @@
+{
+  "state": "F20_AND_MATCHED_COMPARISON_VERIFIED",
+  "summary": "/workspace/lzj/latency-sensitive-bench/runs/ant/gr00t_h1_5fps_20260917/F-summary.json",
+  "steps": 17283,
+  "verified_at": "2026-09-17T22:54:19.842855+00:00"
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/README.md

@@ -0,0 +1,31 @@
+# ant / qwengr00t
+
+Training condition: `latency-aware`. Run: `ant_profile_gr00t_h1_5fps_2h100_20260917`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/profile_latency/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoints/model.pt`
+- Selection: only published VLA checkpoint
+- Checkpoint SHA256: `77dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b`
+- Configuration, FPS, actions, normalization and latency semantics retain their source values.
+- This import does not run evaluations or change training/evaluation/acceptance status.
+
+Action horizon is 1. Use `config.yaml` and `dataset_statistics.json` with the matching
+prepared backbone. `task_contract.json` is extracted from the original training configuration.
+Original machine paths in historical configurations are provenance: bind checkpoint,
+backbone, manifest and profile paths to downloaded local files when running inference.
+
+See [the original model notes](source/README.md) for experiment results and limitations.
+
+[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b
+size 9976888611

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/config.full.yaml

@@ -0,0 +1,276 @@
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: ${oc.env:GR00T_BACKBONE_DIR}
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 8
+    state_dim: 27
+    task_objective: null
+    action_horizon: 1
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    action_env_dim: 8
+    future_action_window_size: 0
+    past_action_window_size: 0
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /
+    data_mix: train
+    eval_data_mix: validation
+    custom_mixtures_path: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/vla/mixture.json
+    action_type: continuous
+    sequential_step_sampling: true
+    eval_sequential_step_sampling: null
+    num_workers: 4
+    eval_num_workers: 0
+    prefetch_factor: 2
+    persistent_workers: true
+    pin_memory: true
+    shuffle: true
+    action_balance:
+      enabled: false
+      strategy: balanced_epoch
+      action_key: action_id
+      target_flap_fraction: 0.3
+      noop_id: 0
+      flap_id: 1
+    latency_curriculum:
+      enabled: false
+      strategy: exclusive
+      latencies: null
+      phase_steps: null
+      phase_distributions: null
+      new_latency_passes: 1.0
+      replay_passes: 0.25
+      target_total_passes: 2.0
+      final_equalization: true
+      step_budget_mode: auto
+      eval_at_phase_end: false
+      save_at_phase_end: false
+      computed_plan: null
+    per_device_batch_size: 8
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size:
+    - 224
+    - 224
+    video_backend: pyav
+    lerobot_version: v2.0
+    gymnasium_task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - back_right_hip_torque
+        - back_right_ankle_torque
+        - front_left_hip_torque
+        - front_left_ankle_torque
+        - front_right_hip_torque
+        - front_right_ankle_torque
+        - back_left_hip_torque
+        - back_left_ankle_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Make the Ant move forward as fast as possible without falling.
+        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
+        right ankle, front left hip, front left ankle, front right hip, front right
+        ankle, back left hip, and back left ankle.
+      env_fps: 5.0
+      env_id: LatencyBench/AntContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Ant-v4
+        base_make_kwargs:
+          exclude_current_positions_from_observation: true
+          use_contact_forces: false
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_ant
+      state_space:
+        labels:
+        - torso_z
+        - torso_quaternion_w
+        - torso_quaternion_x
+        - torso_quaternion_y
+        - torso_quaternion_z
+        - front_left_hip_angle
+        - front_left_ankle_angle
+        - front_right_hip_angle
+        - front_right_ankle_angle
+        - back_left_hip_angle
+        - back_left_ankle_angle
+        - back_right_hip_angle
+        - back_right_ankle_angle
+        - torso_x_velocity
+        - torso_y_velocity
+        - torso_z_velocity
+        - torso_angular_velocity_x
+        - torso_angular_velocity_y
+        - torso_angular_velocity_z
+        - front_left_hip_angular_velocity
+        - front_left_ankle_angular_velocity
+        - front_right_hip_angular_velocity
+        - front_right_ankle_angular_velocity
+        - back_left_hip_angular_velocity
+        - back_left_ankle_angular_velocity
+        - back_right_hip_angular_velocity
+        - back_right_ankle_angular_velocity
+      task_name: ant
+    active_action_dim: 8
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: flappy_train
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: flappy_train
+  mixed_converted_name: flappy_mixed_latency_train
+  single_latency_filter: null
+  mixed_latency_filter: null
+  force_download: false
+  setup_force: false
+  skip_verification: false
+  target_latency_unit: observation_steps
+  verify_rows: 200
+  max_episodes: null
+  episodes_per_latency: null
+  latency_filter: null
+  debug_subset:
+    enabled: false
+    max_episodes: 5
+    suffix: debug
+base_model:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+initialization:
+  checkpoint_local_dir: null
+  checkpoint_hf_repo_id: null
+  checkpoint_filename: null
+trainer:
+  max_train_steps: 5000
+  num_warmup_steps: 100
+  save_interval: 500
+  eval_interval: 500
+  eval_num_batches: 200
+  per_latency_eval_num_batches: null
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  cc_f1_tolerance: 1
+  learning_rate:
+    base: 2.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  freeze_modules: ''
+  freeze_vit: false
+  freeze_tied_embedding: false
+  freeze_llm_layers: []
+  loss_scale:
+    vla: 1.0
+    vlm: 0.1
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 1
+  profile_timing:
+    enabled: false
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 4
+  distributed_backend: deepspeed
+  is_resume: false
+  pretrained_checkpoint: null
+  resume_step: 0
+  reload_modules: null
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+    fused: true
+  save_format: pt
+run_id: ant_profile_gr00t_h1_5fps_2h100_20260917
+run_root_dir: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/vla/training
+seed: 42
+is_debug: false
+version_id: '0.21'
+wandb_project: latency-sensitive-bench
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_name: ant_profile_gr00t_h1_5fps_2h100_20260917
+wandb_group: gr00t-six-env-h1-5fps
+wandb_tags:
+- ant
+- profile_latency
+- GR00T
+- h1
+training_latency_condition: profile_latency
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+checkpoint:
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: true
+  local:
+    keep_last_n: 1
+config_yaml: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/train.yaml
+output_dir: /mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/vla/training/ant_profile_gr00t_h1_5fps_2h100_20260917

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/config.yaml

@@ -0,0 +1,153 @@
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: ${oc.env:GR00T_BACKBONE_DIR}
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 8
+    state_dim: 27
+    task_objective: null
+    action_horizon: 1
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    action_env_dim: 8
+    future_action_window_size: 0
+    past_action_window_size: 0
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size:
+    - 224
+    - 224
+    image_mode: single
+    stitch_grid:
+    - 2
+    - 2
+    num_obs_frames: 1
+    gymnasium_task_contract: &id001
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - back_right_hip_torque
+        - back_right_ankle_torque
+        - front_left_hip_torque
+        - front_left_ankle_torque
+        - front_right_hip_torque
+        - front_right_ankle_torque
+        - back_left_hip_torque
+        - back_left_ankle_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Make the Ant move forward as fast as possible without falling.
+        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
+        right ankle, front left hip, front left ankle, front right hip, front right
+        ankle, back left hip, and back left ankle.
+      env_fps: 5.0
+      env_id: LatencyBench/AntContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Ant-v4
+        base_make_kwargs:
+          exclude_current_positions_from_observation: true
+          use_contact_forces: false
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_ant
+      state_space:
+        labels:
+        - torso_z
+        - torso_quaternion_w
+        - torso_quaternion_x
+        - torso_quaternion_y
+        - torso_quaternion_z
+        - front_left_hip_angle
+        - front_left_ankle_angle
+        - front_right_hip_angle
+        - front_right_ankle_angle
+        - back_left_hip_angle
+        - back_left_ankle_angle
+        - back_right_hip_angle
+        - back_right_ankle_angle
+        - torso_x_velocity
+        - torso_y_velocity
+        - torso_z_velocity
+        - torso_angular_velocity_x
+        - torso_angular_velocity_y
+        - torso_angular_velocity_z
+        - front_left_hip_angular_velocity
+        - front_left_ankle_angular_velocity
+        - front_right_hip_angular_velocity
+        - front_right_ankle_angular_velocity
+        - back_left_hip_angular_velocity
+        - back_left_ankle_angular_velocity
+        - back_right_hip_angular_velocity
+        - back_right_ankle_angular_velocity
+      task_name: ant
+trainer:
+  pretrained_checkpoint: null
+  profile_timing:
+    enabled: false
+    log_interval: 10
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+rl_games:
+  model_alias: gr00t
+  task: gymnasium
+  action_carrier: native
+  gymnasium:
+    task_contract: *id001
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json

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archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "1": {
+    "prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 1 raw frames (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "latency_raw_frames": 1,
+    "latency_ms": 200.0
+  }
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/manifest.json

@@ -0,0 +1,232 @@
+{
+  "dataset_name": "ant_h1_5fps_profile",
+  "env_name": "ant",
+  "episodes": 90,
+  "frames": 90000,
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+    "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 1 raw frames (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
+  ],
+  "format": "lerobot_v2_image_parquet",
+  "source": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/data/raw",
+  "integration_name": "gymnasium",
+  "task_name": "ant",
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+  "action_labels": [
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+  "custom_mixtures_path": "/mnt/ant/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/ant/profile_latency/data/lerobot/_generated_mixtures/ant_h1_5fps_profile.json",
+  "gymnasium_task": {
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+        "front_left_hip_torque",
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+        "front_right_hip_torque",
+        "front_right_ankle_torque",
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+    "base_prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle.",
+    "env_fps": 5.0,
+    "env_id": "LatencyBench/AntContinuous-v0",
+    "frame_stack": 1,
+    "make_kwargs": {
+      "base_env_id": "Ant-v4",
+      "base_make_kwargs": {
+        "exclude_current_positions_from_observation": true,
+        "use_contact_forces": false
+      },
+      "render_mode": "rgb_array"
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+    "registration_imports": [
+      "latency_bench.envs.gymnasium_ant"
+    ],
+    "state_space": {
+      "labels": [
+        "torso_z",
+        "torso_quaternion_w",
+        "torso_quaternion_x",
+        "torso_quaternion_y",
+        "torso_quaternion_z",
+        "front_left_hip_angle",
+        "front_left_ankle_angle",
+        "front_right_hip_angle",
+        "front_right_ankle_angle",
+        "back_left_hip_angle",
+        "back_left_ankle_angle",
+        "back_right_hip_angle",
+        "back_right_ankle_angle",
+        "torso_x_velocity",
+        "torso_y_velocity",
+        "torso_z_velocity",
+        "torso_angular_velocity_x",
+        "torso_angular_velocity_y",
+        "torso_angular_velocity_z",
+        "front_left_hip_angular_velocity",
+        "front_left_ankle_angular_velocity",
+        "front_right_hip_angular_velocity",
+        "front_right_ankle_angular_velocity",
+        "back_left_hip_angular_velocity",
+        "back_left_ankle_angular_velocity",
+        "back_right_hip_angular_velocity",
+        "back_right_ankle_angular_velocity"
+      ]
+    },
+    "task_name": "ant"
+  },
+  "validation_dataset_name": "ant_h1_5fps_profile__val",
+  "validation_episodes": 10,
+  "validation_frames": 10000
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/provenance.json

@@ -0,0 +1,34 @@
+{
+  "task": "ant",
+  "model": "qwengr00t",
+  "training_condition": "latency-aware",
+  "training_run_id": "ant_profile_gr00t_h1_5fps_2h100_20260917",
+  "source": {
+    "repo_id": "latency-sensitive-bench/Standard-Pipeline",
+    "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
+    "path": "ant/profile_latency/GR00T",
+    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/profile_latency/GR00T"
+  },
+  "hf_repo_id": "latency-sensitive-bench/benchmark-models",
+  "hf_path": "latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917",
+  "checkpoint": {
+    "source_file": "ant/profile_latency/GR00T/checkpoints/model.pt",
+    "source_sha256": "77dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b",
+    "source_bytes": 9976888611,
+    "file": "checkpoints/model.pt",
+    "selection_rule": "only published VLA checkpoint",
+    "method": "copy",
+    "sha256": "77dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b",
+    "bytes": 9976888611
+  },
+  "config_source": "ant/profile_latency/GR00T/config.yaml",
+  "task_contract_file": "task_contract.json",
+  "missing_source_files": [],
+  "migration": {
+    "operation": "copy_selected_inference_bundle",
+    "source_modified": false,
+    "evaluation_performed": false,
+    "experiment_status": "preserved_in_source_evidence"
+  },
+  "action_horizon": 1
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/reload-validation.json

@@ -0,0 +1,23 @@
+{
+  "verified_at": "2026-09-17T20:56:05.508897+00:00",
+  "state": "TRAINING_AND_SAVED_BUNDLE_FORWARD_VERIFIED",
+  "training_updates": 5000,
+  "checkpoint_sha256": "77dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b",
+  "action_horizon": 1,
+  "state_dim": 27,
+  "action_dim": 8,
+  "env_fps": 5,
+  "obs_fps": 5,
+  "global_batch": 64,
+  "seed": 42,
+  "sample_source": "actual held-out profile raw episode; manifest train-only minmax applied once",
+  "reload_contract": "existing saved-model loader checks missing/unexpected keys, allowing its documented tied-Qwen lm_head equivalence",
+  "forward_shape": [
+    1,
+    1,
+    8
+  ],
+  "forward_finite": true,
+  "F20_status": "not yet run",
+  "acceptance": "not established by this engineering check"
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/source/README.md

@@ -0,0 +1,11 @@
+# Ant GR00T profile latency H1 / 5 FPS
+
+Fresh profile VLA training completed5000updates, seed42, globalbatch64. Matched measured-only B/F20, seeds42–61: **165.374817 ±224.743344 →1955.966590 ±780.512627** (population SD). Mean length117.95→864.15;19wins,0ties,1loss (seed52). These absolute returns and episode variation do not establish high-performance acceptance. Teacher return>3000 is a demonstration filter, not a VLA acceptance test.
+
+Mean episode latency means109.686012→109.094115ms;0observation/actiondrops/invalid. Fhas17,283rawsteps and17,263within-episodeintervals averaging200.000775ms. Similar latencymeans do not establish equal per-step latency or causal isolation.
+
+Separate evidence: L0sim20 return6222.601914±133.915573; teacher E10return3199.560117±317.948404. Original APPOseed2222,10Mbudget;100accepted profiledemonstrations from109attempts,90/10split,trainminmaxstateonce. See provenance and summaries.
+
+[Final compact data/evaluation evidence](https://huggingface.co/datasets/latency-sensitive-bench/Standard-Pipeline/tree/f23f353a9c6b3efaa4407d32134fda8fa30fe78e/ant/profile_latency/GR00T/h1_5fps_20260917).
+
+Evaluated model revisionbfab5cbb9abbadb03eb39593d3f403471b835882; checkpoint SHA25677dfb363a28a363a3acec7f53892e80c773cd8e2e5850ecff980abf6dbfff18b. Weights unchanged. Full raw traces remain on the evaluation server; only compact evidence is published.

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/source/provenance.json

@@ -0,0 +1,245 @@
+{
+  "task": "ant",
+  "backbone": {
+    "repo_id": "Qwen/Qwen3-VL-4B-Instruct",
+    "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17"
+  },
+  "checkpoint": "steps_5000_pytorch_model.pt",
+  "training_steps": 5000,
+  "seed": 42,
+  "global_batch": 64,
+  "training_run_id": "ant_profile_gr00t_h1_5fps_2h100_20260917",
+  "condition": "profile_latency",
+  "source": {
+    "code_archive_sha256": "9e70e8dec7d4d50c340856985f67ec7210b847f57d99ecc5ef6797cf36eec3a4",
+    "data_preparation": {
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+        "train": 90000,
+        "val": 10000
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+      "all_replay_returns_gt3000": true,
+      "state_dim": 27,
+      "action_dim": 8,
+      "action_horizon": 1,
+      "fps": 5,
+      "normalization": "trainminmaxonce,nativeactions",
+      "teacher": {
+        "state": "TEACHER_SELECTION_E_PROBE_VERIFIED",
+        "selection": {
+          "selected": "final",
+          "candidates": {
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+            "population_std": 317.9484044775569,
+            "strict_gt3000": 9,
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+        },
+        "probe_attempted": 12,
+        "probe_accepted": 9,
+        "probe_rejected": 3,
+        "profile_sha256": "6be5d7a884428d09bf310bba817078f6372cfe47d2080c6ebb0ba1932cd6250f",
+        "budget_env_steps": 10000000,
+        "actual_final_env_steps": 10002432,
+        "seed": 2222,
+        "remaining": "100acceptedwithinTOTAL120,verifiedreplay,profileVLA5000,F20"
+      }
+    },
+    "profile_sha256": "6be5d7a884428d09bf310bba817078f6372cfe47d2080c6ebb0ba1932cd6250f"
+  },
+  "training_config_sha256": "fdbb910f118b27969ab2e7a430ffb8941687b20d62c714413793cdcf59f752be",
+  "dataset_manifest_sha256": "7c799c926c991fd7fb049519104c415a37005d58ad0b88a84b4ebfa0160dab14"
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/task_contract.json

@@ -0,0 +1,94 @@
+{
+  "action_space": {
+    "dtype": "float32",
+    "high": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "labels": [
+      "back_right_hip_torque",
+      "back_right_ankle_torque",
+      "front_left_hip_torque",
+      "front_left_ankle_torque",
+      "front_right_hip_torque",
+      "front_right_ankle_torque",
+      "back_left_hip_torque",
+      "back_left_ankle_torque"
+    ],
+    "low": [
+      -1.0,
+      -1.0,
+      -1.0,
+      -1.0,
+      -1.0,
+      -1.0,
+      -1.0,
+      -1.0
+    ],
+    "type": "box"
+  },
+  "base_prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle.",
+  "env_fps": 5.0,
+  "env_id": "LatencyBench/AntContinuous-v0",
+  "frame_stack": 1,
+  "make_kwargs": {
+    "base_env_id": "Ant-v4",
+    "base_make_kwargs": {
+      "exclude_current_positions_from_observation": true,
+      "use_contact_forces": false
+    },
+    "render_mode": "rgb_array"
+  },
+  "noop_action": [
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+  ],
+  "obs_fps": 5.0,
+  "registration_imports": [
+    "latency_bench.envs.gymnasium_ant"
+  ],
+  "state_space": {
+    "labels": [
+      "torso_z",
+      "torso_quaternion_w",
+      "torso_quaternion_x",
+      "torso_quaternion_y",
+      "torso_quaternion_z",
+      "front_left_hip_angle",
+      "front_left_ankle_angle",
+      "front_right_hip_angle",
+      "front_right_ankle_angle",
+      "back_left_hip_angle",
+      "back_left_ankle_angle",
+      "back_right_hip_angle",
+      "back_right_ankle_angle",
+      "torso_x_velocity",
+      "torso_y_velocity",
+      "torso_z_velocity",
+      "torso_angular_velocity_x",
+      "torso_angular_velocity_y",
+      "torso_angular_velocity_z",
+      "front_left_hip_angular_velocity",
+      "front_left_ankle_angular_velocity",
+      "front_right_hip_angular_velocity",
+      "front_right_ankle_angular_velocity",
+      "back_left_hip_angular_velocity",
+      "back_left_ankle_angular_velocity",
+      "back_right_hip_angular_velocity",
+      "back_right_ankle_angular_velocity"
+    ]
+  },
+  "task_name": "ant"
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/README.md

@@ -0,0 +1,29 @@
+# ant / qwenoft
+
+Training condition: `latency-aware`. Run: `ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/ant/profile_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoints/model.pt`
+- Selection: only published VLA checkpoint
+- Checkpoint SHA256: `1c7acdbcd7a2ee8735643cea078ef523947775166f6bc220bce7de71a9db90a3`
+- Configuration, FPS, actions, normalization and latency semantics retain their source values.
+- This import does not run evaluations or change training/evaluation/acceptance status.
+
+Action horizon is 1. Use `config.yaml` and `dataset_statistics.json` with the matching
+prepared backbone. `task_contract.json` is extracted from the original training configuration.
+Original machine paths in historical configurations are provenance: bind checkpoint,
+backbone, manifest and profile paths to downloaded local files when running inference.
+
+[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c7acdbcd7a2ee8735643cea078ef523947775166f6bc220bce7de71a9db90a3
+size 9785070315

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.full.yaml

@@ -0,0 +1,426 @@
+framework:
+  name: QwenOFT
+  qwenvl:
+    base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: MLP
+    action_dim: 8
+    state_dim: 27
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: l1
+    state_encoding: discretized_text
+    task_objective: null
+    action_horizon: 1
+    action_env_dim: 8
+  kv_memory:
+    enabled: false
+    window: 4
+    rollout_len: 8
+    packed_train: false
+    rebased_sink: true
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted
+    data_mix: ant_rgb_state_profile_20260911T112232Z
+    eval_data_mix: ant_rgb_state_profile_20260911T112232Z__val
+    custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/_generated_mixtures/ant_rgb_state_profile_20260911T112232Z.json
+    action_type: discrete
+    sequential_step_sampling: false
+    eval_sequential_step_sampling: null
+    num_workers: 8
+    eval_num_workers: 8
+    prefetch_factor: 4
+    persistent_workers: true
+    pin_memory: true
+    shuffle: true
+    action_balance:
+      enabled: false
+      strategy: balanced_epoch
+      action_key: action_id
+      target_flap_fraction: 0.3
+      noop_id: 0
+      flap_id: 1
+    latency_curriculum:
+      enabled: false
+      strategy: exclusive
+      latencies: null
+      phase_steps: null
+      phase_distributions: null
+      new_latency_passes: 1.0
+      replay_passes: 0.25
+      target_total_passes: 2.0
+      final_equalization: true
+      step_budget_mode: auto
+      eval_at_phase_end: false
+      save_at_phase_end: false
+      computed_plan: null
+    per_device_batch_size: 16
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size: null
+    video_backend: torchvision_av
+    gymnasium_task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - back_right_hip_torque
+        - back_right_ankle_torque
+        - front_left_hip_torque
+        - front_left_ankle_torque
+        - front_right_hip_torque
+        - front_right_ankle_torque
+        - back_left_hip_torque
+        - back_left_ankle_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Make the Ant move forward as fast as possible without falling.
+        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
+        right ankle, front left hip, front left ankle, front right hip, front right
+        ankle, back left hip, and back left ankle.
+      env_fps: 10.0
+      env_id: LatencyBench/AntContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Ant-v4
+        base_make_kwargs:
+          exclude_current_positions_from_observation: true
+          use_contact_forces: false
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 10.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_ant
+      state_space:
+        labels:
+        - torso_z
+        - torso_quaternion_w
+        - torso_quaternion_x
+        - torso_quaternion_y
+        - torso_quaternion_z
+        - front_left_hip_angle
+        - front_left_ankle_angle
+        - front_right_hip_angle
+        - front_right_ankle_angle
+        - back_left_hip_angle
+        - back_left_ankle_angle
+        - back_right_hip_angle
+        - back_right_ankle_angle
+        - torso_x_velocity
+        - torso_y_velocity
+        - torso_z_velocity
+        - torso_angular_velocity_x
+        - torso_angular_velocity_y
+        - torso_angular_velocity_z
+        - front_left_hip_angular_velocity
+        - front_left_ankle_angular_velocity
+        - front_right_hip_angular_velocity
+        - front_right_ankle_angular_velocity
+        - back_left_hip_angular_velocity
+        - back_left_ankle_angular_velocity
+        - back_right_hip_angular_velocity
+        - back_right_ankle_angular_velocity
+      task_name: ant_rgb_state
+    active_action_dim: 8
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: ant_rgb_state_profile_20260911T112232Z
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: ant_rgb_state_profile_20260911T112232Z
+  mixed_converted_name: ant_rgb_state_profile_20260911T112232Z
+  single_latency_filter: null
+  mixed_latency_filter: null
+  force_download: false
+  setup_force: false
+  skip_verification: false
+  target_latency_unit: observation_steps
+  verify_rows: 200
+  max_episodes: null
+  episodes_per_latency: null
+  latency_filter: null
+  debug_subset:
+    enabled: false
+    max_episodes: 5
+    suffix: debug
+base_model:
+  repo_id: StarVLA/Qwen3-VL-4B-Instruct-Action
+initialization:
+  checkpoint_local_dir: null
+  checkpoint_hf_repo_id: null
+  checkpoint_filename: null
+trainer:
+  max_train_steps: 5000
+  num_warmup_steps: 100
+  save_interval: 500
+  eval_interval: 500
+  eval_num_batches: 200
+  per_latency_eval_num_batches: null
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  cc_f1_tolerance: 1
+  learning_rate:
+    base: 2.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  freeze_modules: ''
+  freeze_vit: false
+  freeze_tied_embedding: false
+  freeze_llm_layers: []
+  loss_scale:
+    vla: 1.0
+    vlm: 0.1
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 1
+  profile_timing:
+    enabled: true
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  distributed_backend: deepspeed
+  is_resume: false
+  pretrained_checkpoint: null
+  resume_step: 0
+  reload_modules: null
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+    fused: true
+  save_format: pt
+workspace_dir: WORKSPACE_DIR
+run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla
+seed: 42
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_project: latency-sensitive-bench
+auth:
+  env_file: null
+  hf_token_env: HF_TOKEN
+  wandb_api_key_env: WANDB_API_KEY
+paths:
+  run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla
+  dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted
+  dataset_cache_dir: null
+  base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+  accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml
+launch:
+  use_accelerate: true
+  gpus: null
+  num_processes: 1
+  dry_run: false
+conda:
+  enabled: true
+  env_name: null
+rl_games:
+  model_alias: openvla
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw
+    ghost_trail:
+      history_frames: 5
+      gamma: 1.3
+      min_alpha: 35
+      scroll_px_per_step: 4.0
+      ground_fraction: 0.22
+    seed: 42
+    fixed_episode_seeds: true
+    latency_seed_stride: 0
+    task_seed_stride: 0
+    task_description: ''
+    eval_parallel_envs: 5
+    action_chunk_execution:
+      enabled: false
+      chunk_size: null
+    enabled: false
+    gymnasium:
+      make_kwargs: {}
+    mid_train:
+      enabled: false
+      interval_steps: 100
+      latencies:
+      - 0
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    post_train:
+      enabled: false
+      latencies:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    eval_backend: latency_bench
+    distributed_mode: none
+    vectorized:
+      enabled: false
+      batch_size: 1
+    latency:
+      prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/ant_rgb_state_profile_20260911T112232Z/latency_prompt_map.json
+      mode: single
+      values:
+      - 1
+      - 2
+  task: gymnasium
+  gymnasium:
+    task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - back_right_hip_torque
+        - back_right_ankle_torque
+        - front_left_hip_torque
+        - front_left_ankle_torque
+        - front_right_hip_torque
+        - front_right_ankle_torque
+        - back_left_hip_torque
+        - back_left_ankle_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Make the Ant move forward as fast as possible without falling.
+        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
+        right ankle, front left hip, front left ankle, front right hip, front right
+        ankle, back left hip, and back left ankle.
+      env_fps: 10.0
+      env_id: LatencyBench/AntContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Ant-v4
+        base_make_kwargs:
+          exclude_current_positions_from_observation: true
+          use_contact_forces: false
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 10.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_ant
+      state_space:
+        labels:
+        - torso_z
+        - torso_quaternion_w
+        - torso_quaternion_x
+        - torso_quaternion_y
+        - torso_quaternion_z
+        - front_left_hip_angle
+        - front_left_ankle_angle
+        - front_right_hip_angle
+        - front_right_ankle_angle
+        - back_left_hip_angle
+        - back_left_ankle_angle
+        - back_right_hip_angle
+        - back_right_ankle_angle
+        - torso_x_velocity
+        - torso_y_velocity
+        - torso_z_velocity
+        - torso_angular_velocity_x
+        - torso_angular_velocity_y
+        - torso_angular_velocity_z
+        - front_left_hip_angular_velocity
+        - front_left_ankle_angular_velocity
+        - front_right_hip_angular_velocity
+        - front_right_ankle_angular_velocity
+        - back_left_hip_angular_velocity
+        - back_left_ankle_angular_velocity
+        - back_right_hip_angular_velocity
+        - back_right_ankle_angular_velocity
+      task_name: ant_rgb_state
+    task_name: ant_rgb_state
+  initialization_mode: scratch
+  action_carrier: native
+model: openvla
+env: gymnasium
+init: scratch
+mode: single
+checkpoint:
+  load: none
+  hf_repo_id: null
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: false
+  save_safetensors_file: false
+  local:
+    keep_last_n: 1
+  sync:
+    enabled: false
+    repo_id: null
+    keep_last_n: 0
+    sync_every_n_checkpoints: 1
+    resume_policy: local_latest
+run_id: ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k
+output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k
+config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/h100/vla_train.yaml
+is_debug: false
+version_id: '0.21'

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/config.yaml

@@ -0,0 +1,426 @@
+framework:
+  name: QwenOFT
+  qwenvl:
+    base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: MLP
+    action_dim: 8
+    state_dim: 27
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: l1
+    state_encoding: discretized_text
+    task_objective: null
+    action_horizon: 1
+    action_env_dim: 8
+  kv_memory:
+    enabled: false
+    window: 4
+    rollout_len: 8
+    packed_train: false
+    rebased_sink: true
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted
+    data_mix: ant_rgb_state_profile_20260911T112232Z
+    eval_data_mix: ant_rgb_state_profile_20260911T112232Z__val
+    custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/_generated_mixtures/ant_rgb_state_profile_20260911T112232Z.json
+    action_type: discrete
+    sequential_step_sampling: false
+    eval_sequential_step_sampling: null
+    num_workers: 8
+    eval_num_workers: 8
+    prefetch_factor: 4
+    persistent_workers: true
+    pin_memory: true
+    shuffle: true
+    action_balance:
+      enabled: false
+      strategy: balanced_epoch
+      action_key: action_id
+      target_flap_fraction: 0.3
+      noop_id: 0
+      flap_id: 1
+    latency_curriculum:
+      enabled: false
+      strategy: exclusive
+      latencies: null
+      phase_steps: null
+      phase_distributions: null
+      new_latency_passes: 1.0
+      replay_passes: 0.25
+      target_total_passes: 2.0
+      final_equalization: true
+      step_budget_mode: auto
+      eval_at_phase_end: false
+      save_at_phase_end: false
+      computed_plan: null
+    per_device_batch_size: 16
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size: null
+    video_backend: torchvision_av
+    gymnasium_task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - back_right_hip_torque
+        - back_right_ankle_torque
+        - front_left_hip_torque
+        - front_left_ankle_torque
+        - front_right_hip_torque
+        - front_right_ankle_torque
+        - back_left_hip_torque
+        - back_left_ankle_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Make the Ant move forward as fast as possible without falling.
+        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
+        right ankle, front left hip, front left ankle, front right hip, front right
+        ankle, back left hip, and back left ankle.
+      env_fps: 10.0
+      env_id: LatencyBench/AntContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Ant-v4
+        base_make_kwargs:
+          exclude_current_positions_from_observation: true
+          use_contact_forces: false
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 10.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_ant
+      state_space:
+        labels:
+        - torso_z
+        - torso_quaternion_w
+        - torso_quaternion_x
+        - torso_quaternion_y
+        - torso_quaternion_z
+        - front_left_hip_angle
+        - front_left_ankle_angle
+        - front_right_hip_angle
+        - front_right_ankle_angle
+        - back_left_hip_angle
+        - back_left_ankle_angle
+        - back_right_hip_angle
+        - back_right_ankle_angle
+        - torso_x_velocity
+        - torso_y_velocity
+        - torso_z_velocity
+        - torso_angular_velocity_x
+        - torso_angular_velocity_y
+        - torso_angular_velocity_z
+        - front_left_hip_angular_velocity
+        - front_left_ankle_angular_velocity
+        - front_right_hip_angular_velocity
+        - front_right_ankle_angular_velocity
+        - back_left_hip_angular_velocity
+        - back_left_ankle_angular_velocity
+        - back_right_hip_angular_velocity
+        - back_right_ankle_angular_velocity
+      task_name: ant_rgb_state
+    active_action_dim: 8
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: ant_rgb_state_profile_20260911T112232Z
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: ant_rgb_state_profile_20260911T112232Z
+  mixed_converted_name: ant_rgb_state_profile_20260911T112232Z
+  single_latency_filter: null
+  mixed_latency_filter: null
+  force_download: false
+  setup_force: false
+  skip_verification: false
+  target_latency_unit: observation_steps
+  verify_rows: 200
+  max_episodes: null
+  episodes_per_latency: null
+  latency_filter: null
+  debug_subset:
+    enabled: false
+    max_episodes: 5
+    suffix: debug
+base_model:
+  repo_id: StarVLA/Qwen3-VL-4B-Instruct-Action
+initialization:
+  checkpoint_local_dir: null
+  checkpoint_hf_repo_id: null
+  checkpoint_filename: null
+trainer:
+  max_train_steps: 5000
+  num_warmup_steps: 100
+  save_interval: 500
+  eval_interval: 500
+  eval_num_batches: 200
+  per_latency_eval_num_batches: null
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  cc_f1_tolerance: 1
+  learning_rate:
+    base: 2.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  freeze_modules: ''
+  freeze_vit: false
+  freeze_tied_embedding: false
+  freeze_llm_layers: []
+  loss_scale:
+    vla: 1.0
+    vlm: 0.1
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 1
+  profile_timing:
+    enabled: true
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  distributed_backend: deepspeed
+  is_resume: false
+  pretrained_checkpoint: null
+  resume_step: 0
+  reload_modules: null
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+    fused: true
+  save_format: pt
+workspace_dir: WORKSPACE_DIR
+run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla
+seed: 42
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_project: latency-sensitive-bench
+auth:
+  env_file: null
+  hf_token_env: HF_TOKEN
+  wandb_api_key_env: WANDB_API_KEY
+paths:
+  run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla
+  dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted
+  dataset_cache_dir: null
+  base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+  accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml
+launch:
+  use_accelerate: true
+  gpus: null
+  num_processes: 1
+  dry_run: false
+conda:
+  enabled: true
+  env_name: null
+rl_games:
+  model_alias: openvla
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw
+    ghost_trail:
+      history_frames: 5
+      gamma: 1.3
+      min_alpha: 35
+      scroll_px_per_step: 4.0
+      ground_fraction: 0.22
+    seed: 42
+    fixed_episode_seeds: true
+    latency_seed_stride: 0
+    task_seed_stride: 0
+    task_description: ''
+    eval_parallel_envs: 5
+    action_chunk_execution:
+      enabled: false
+      chunk_size: null
+    enabled: false
+    gymnasium:
+      make_kwargs: {}
+    mid_train:
+      enabled: false
+      interval_steps: 100
+      latencies:
+      - 0
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    post_train:
+      enabled: false
+      latencies:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    eval_backend: latency_bench
+    distributed_mode: none
+    vectorized:
+      enabled: false
+      batch_size: 1
+    latency:
+      prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/converted/ant_rgb_state_profile_20260911T112232Z/latency_prompt_map.json
+      mode: single
+      values:
+      - 1
+      - 2
+  task: gymnasium
+  gymnasium:
+    task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - back_right_hip_torque
+        - back_right_ankle_torque
+        - front_left_hip_torque
+        - front_left_ankle_torque
+        - front_right_hip_torque
+        - front_right_ankle_torque
+        - back_left_hip_torque
+        - back_left_ankle_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Make the Ant move forward as fast as possible without falling.
+        Predict eight continuous torques in [-1, 1] ordered as back right hip, back
+        right ankle, front left hip, front left ankle, front right hip, front right
+        ankle, back left hip, and back left ankle.
+      env_fps: 10.0
+      env_id: LatencyBench/AntContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Ant-v4
+        base_make_kwargs:
+          exclude_current_positions_from_observation: true
+          use_contact_forces: false
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 10.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_ant
+      state_space:
+        labels:
+        - torso_z
+        - torso_quaternion_w
+        - torso_quaternion_x
+        - torso_quaternion_y
+        - torso_quaternion_z
+        - front_left_hip_angle
+        - front_left_ankle_angle
+        - front_right_hip_angle
+        - front_right_ankle_angle
+        - back_left_hip_angle
+        - back_left_ankle_angle
+        - back_right_hip_angle
+        - back_right_ankle_angle
+        - torso_x_velocity
+        - torso_y_velocity
+        - torso_z_velocity
+        - torso_angular_velocity_x
+        - torso_angular_velocity_y
+        - torso_angular_velocity_z
+        - front_left_hip_angular_velocity
+        - front_left_ankle_angular_velocity
+        - front_right_hip_angular_velocity
+        - front_right_ankle_angular_velocity
+        - back_left_hip_angular_velocity
+        - back_left_ankle_angular_velocity
+        - back_right_hip_angular_velocity
+        - back_right_ankle_angular_velocity
+      task_name: ant_rgb_state
+    task_name: ant_rgb_state
+  initialization_mode: scratch
+  action_carrier: native
+model: openvla
+env: gymnasium
+init: scratch
+mode: single
+checkpoint:
+  load: none
+  hf_repo_id: null
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: false
+  save_safetensors_file: false
+  local:
+    keep_last_n: 1
+  sync:
+    enabled: false
+    repo_id: null
+    keep_last_n: 0
+    sync_every_n_checkpoints: 1
+    resume_policy: local_latest
+run_id: ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k
+output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k
+config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/h100/vla_train.yaml
+is_debug: false
+version_id: '0.21'

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics.json

@@ -0,0 +1,254 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        0.008599755354225636,
+        0.18077845871448517,
+        0.060562390834093094,
+        0.114981509745121,
+        -0.03058558516204357,
+        0.19528473913669586,
+        0.004191558808088303,
+        0.13787907361984253
+      ],
+      "std": [
+        0.30720359086990356,
+        0.11971180140972137,
+        0.2951076030731201,
+        0.11681726574897766,
+        0.2970890998840332,
+        0.08745161443948746,
+        0.2953490614891052,
+        0.06471291184425354
+      ],
+      "max": [
+        0.853037416934967,
+        0.4956319332122803,
+        0.8740840554237366,
+        0.3231104910373688,
+        0.7235698103904724,
+        0.662981390953064,
+        0.6230693459510803,
+        0.3802177906036377
+      ],
+      "min": [
+        -0.6119799613952637,
+        -0.5289840698242188,
+        -0.8249387741088867,
+        -0.34163326025009155,
+        -0.7159630060195923,
+        -0.1647213101387024,
+        -0.683702290058136,
+        -0.10296943783760071
+      ],
+      "q01": [
+        -0.443821584880352,
+        -0.1782375206053257,
+        -0.6138897329568863,
+        -0.1882457247376442,
+        -0.5110970193147659,
+        0.00026812009513378204,
+        -0.5840290439128876,
+        -0.008280880972743035
+      ],
+      "q99": [
+        0.7797703355550765,
+        0.3557785093784329,
+        0.5948106843233107,
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archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/dataset_statistics_eval.json

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archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/latency_prompt_map.json

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+{
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+    "latency_raw_frames": 1,
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+  },
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+    "prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 2 raw frames (200.00 ms).  The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.",
+    "latency_raw_frames": 2,
+    "latency_ms": 200.0
+  }
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/manifest.json

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+    "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle. Current action latency is 2 raw frames (200.00 ms).  The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action."
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+        "front_left_hip_torque",
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+        "front_right_hip_torque",
+        "front_right_ankle_torque",
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+    "frame_stack": 1,
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+        "back_left_hip_angle",
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+        "back_left_hip_angular_velocity",
+        "back_left_ankle_angular_velocity",
+        "back_right_hip_angular_velocity",
+        "back_right_ankle_angular_velocity"
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+    "task_name": "ant_rgb_state"
+  },
+  "validation_dataset_name": "ant_rgb_state_profile_20260911T112232Z__val",
+  "validation_episodes": 10,
+  "validation_frames": 10000
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/hardware.json

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+    ],
+    "float32_matmul_precision": "highest",
+    "version": "2.11.0+cu128"
+  }
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/latency_burst_model.json

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archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/latency_distribution.json

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archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/profile/profile.json

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+{
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+    "model_artifact": {
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+      "path_in_repo": "OpenVLA/zero-latency/ant_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k",
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+  "visualization_path": "latency_profile.png",
+  "workload_id": "ant"
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/provenance.json

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+{
+  "task": "ant",
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+  "training_condition": "latency-aware",
+  "training_run_id": "ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k",
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+  "task_contract_file": "task_contract.json",
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+    "source_modified": false,
+    "evaluation_performed": false,
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+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/source/config.yaml

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+checkpoint:
+  local:
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+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_safetensors_file: false
+  save_training_state: false
+  sync:
+    enabled: false
+    keep_last_n: 0
+    repo_id: null
+datasets:
+  vla_data:
+    data_mix: ant_rgb_state_profile_20260911T112232Z
+    dataset_py: lerobot_datasets
+    eval_data_mix: ant_rgb_state_profile_20260911T112232Z__val
+    latency_curriculum:
+      enabled: false
+    per_device_batch_size: 16
+framework:
+  action_model:
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+    action_env_dim: 8
+    action_hidden_dim: 2560
+    action_horizon: 1
+    action_model_type: MLP
+    loss_type: l1
+    state_encoding: discretized_text
+    task_objective: null
+  kv_memory:
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+    packed_train: false
+    rebased_sink: true
+    rollout_len: 8
+    window: 4
+  name: QwenOFT
+  qwenvl:
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+    base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+    enable_gradient_checkpointing: true
+output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k
+rl_games:
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+  task: gymnasium
+run_id: ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k
+run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/ant/20260911T112232Z-ant/vla
+seed: 42
+trainer:
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+  eval_action_classification: false
+  eval_action_classification_interval: null
+  eval_interval: 500
+  eval_num_batches: 200
+  freeze_llm_layers: []
+  freeze_modules: ''
+  freeze_tied_embedding: false
+  freeze_vit: false
+  gradient_accumulation_steps: 1
+  is_resume: false
+  learning_rate:
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+    base: 2.0e-05
+    qwen_vl_interface: 1.0e-05
+  logging_frequency: 1
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 5000
+  num_warmup_steps: 100
+  optimizer:
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+    weight_decay: 1.0e-08
+  per_latency_eval_num_batches: null
+  pretrained_checkpoint: null
+  profile_timing:
+    enabled: true
+    log_interval: 10
+  save_interval: 500
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_project: latency-sensitive-bench

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/source/provenance.json

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+{
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+    "task_code_archive_sha256": "b0a0ca72b5c6eb65c16e5d5d70f59cad540260a27cb3a71109910326b940e135",
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+    "sample_factory_revision": "4b7277842b17804fb928097a9689d889bd2f5cdc",
+    "starvla_revision": "f364fdf080434aea14bb2a19931e017f0af32d87",
+    "note": "Task code extracted from pinned root plus tracked IID runtime fix; archive runtime git metadata is unavailable."
+  },
+  "gate_revision": {
+    "original_gate": {
+      "field": "episode_raw_return",
+      "operator": ">",
+      "threshold": 3000
+    },
+    "authorized_gate": {
+      "field": "episode_raw_return",
+      "operator": ">",
+      "threshold": 2500
+    },
+    "user_instruction": "\u8bf7\u4f7f\u75282500\u4f5c\u4e3aAnt\u6570\u636e\u95e8\u69db",
+    "accepted_episode_target": 100,
+    "change_scope": "Only rollout acceptance threshold; same selected teacher, clocks, reset seed, horizon, split, image/state/action contract and VLA training recipe.",
+    "historical_evidence": "Original E and 12-episode diagnostic remain unchanged."
+  },
+  "normalization_source": "new Ant converted dataset and actual VLA training dataset_statistics.json"
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/task_contract.json

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+{
+  "action_space": {
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+    "high": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "labels": [
+      "back_right_hip_torque",
+      "back_right_ankle_torque",
+      "front_left_hip_torque",
+      "front_left_ankle_torque",
+      "front_right_hip_torque",
+      "front_right_ankle_torque",
+      "back_left_hip_torque",
+      "back_left_ankle_torque"
+    ],
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+      -1.0,
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+      -1.0,
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+  "base_prompt": "Make the Ant move forward as fast as possible without falling. Predict eight continuous torques in [-1, 1] ordered as back right hip, back right ankle, front left hip, front left ankle, front right hip, front right ankle, back left hip, and back left ankle.",
+  "env_fps": 10.0,
+  "env_id": "LatencyBench/AntContinuous-v0",
+  "frame_stack": 1,
+  "make_kwargs": {
+    "base_env_id": "Ant-v4",
+    "base_make_kwargs": {
+      "exclude_current_positions_from_observation": true,
+      "use_contact_forces": false
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+    "render_mode": "rgb_array"
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+  "obs_fps": 10.0,
+  "registration_imports": [
+    "latency_bench.envs.gymnasium_ant"
+  ],
+  "state_space": {
+    "labels": [
+      "torso_z",
+      "torso_quaternion_w",
+      "torso_quaternion_x",
+      "torso_quaternion_y",
+      "torso_quaternion_z",
+      "front_left_hip_angle",
+      "front_left_ankle_angle",
+      "front_right_hip_angle",
+      "front_right_ankle_angle",
+      "back_left_hip_angle",
+      "back_left_ankle_angle",
+      "back_right_hip_angle",
+      "back_right_ankle_angle",
+      "torso_x_velocity",
+      "torso_y_velocity",
+      "torso_z_velocity",
+      "torso_angular_velocity_x",
+      "torso_angular_velocity_y",
+      "torso_angular_velocity_z",
+      "front_left_hip_angular_velocity",
+      "front_left_ankle_angular_velocity",
+      "front_right_hip_angular_velocity",
+      "front_right_ankle_angular_velocity",
+      "back_left_hip_angular_velocity",
+      "back_left_ankle_angular_velocity",
+      "back_right_hip_angular_velocity",
+      "back_right_ankle_angular_velocity"
+    ]
+  },
+  "task_name": "ant_rgb_state"
+}

archive/issued-action-fix-20261010/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/checkpoints/model.pt

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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/README.md

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+# hopper / qwenoft
+
+Training condition: `latency-aware`. Run: `hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoints/model.pt`
+- Selection: only published VLA checkpoint
+- Checkpoint SHA256: `2c9456b87aaba7d89cd53481047badde32513375f31056c4464a72642cacbe42`
+- Configuration, FPS, actions, normalization and latency semantics retain their source values.
+- This import does not run evaluations or change training/evaluation/acceptance status.
+
+Action horizon is 1. Use `config.yaml` and `dataset_statistics.json` with the matching
+prepared backbone. `task_contract.json` is extracted from the original training configuration.
+Original machine paths in historical configurations are provenance: bind checkpoint,
+backbone, manifest and profile paths to downloaded local files when running inference.
+
+[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c9456b87aaba7d89cd53481047badde32513375f31056c4464a72642cacbe42
+size 9785081249

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/config.full.yaml

@@ -0,0 +1,358 @@
+framework:
+  name: QwenOFT
+  qwenvl:
+    base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: MLP
+    action_dim: 3
+    state_dim: 11
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: l1
+    state_encoding: continuous_projector
+    task_objective: null
+    action_horizon: 1
+    action_env_dim: 3
+  kv_memory:
+    enabled: false
+    window: 4
+    rollout_len: 8
+    packed_train: false
+    rebased_sink: true
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted
+    data_mix: hopper_rgb_state_profile_20260911T180943Z
+    eval_data_mix: hopper_rgb_state_profile_20260911T180943Z__val
+    custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted/_generated_mixtures/hopper_rgb_state_profile_20260911T180943Z.json
+    action_type: discrete
+    sequential_step_sampling: false
+    eval_sequential_step_sampling: null
+    num_workers: 8
+    eval_num_workers: 8
+    prefetch_factor: 4
+    persistent_workers: true
+    pin_memory: true
+    shuffle: true
+    action_balance:
+      enabled: false
+      strategy: balanced_epoch
+      action_key: action_id
+      target_flap_fraction: 0.3
+      noop_id: 0
+      flap_id: 1
+    latency_curriculum:
+      enabled: false
+      strategy: exclusive
+      latencies: null
+      phase_steps: null
+      phase_distributions: null
+      new_latency_passes: 1.0
+      replay_passes: 0.25
+      target_total_passes: 2.0
+      final_equalization: true
+      step_budget_mode: auto
+      eval_at_phase_end: false
+      save_at_phase_end: false
+      computed_plan: null
+    per_device_batch_size: 16
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size: null
+    video_backend: torchvision_av
+    gymnasium_task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - thigh_torque
+        - leg_torque
+        - foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Hopper robot forward while keeping its torso upright.
+        Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+      env_fps: 10.0
+      env_id: LatencyBench/Hopper-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Hopper-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 10.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_hopper
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - thigh_angle
+        - leg_angle
+        - foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - thigh_angular_velocity
+        - leg_angular_velocity
+        - foot_angular_velocity
+      task_name: hopper_rgb_state
+    active_action_dim: 3
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: hopper_rgb_state_profile_20260911T180943Z
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: hopper_rgb_state_profile_20260911T180943Z
+  mixed_converted_name: hopper_rgb_state_profile_20260911T180943Z
+  single_latency_filter: null
+  mixed_latency_filter: null
+  force_download: false
+  setup_force: false
+  skip_verification: false
+  target_latency_unit: observation_steps
+  verify_rows: 200
+  max_episodes: null
+  episodes_per_latency: null
+  latency_filter: null
+  debug_subset:
+    enabled: false
+    max_episodes: 5
+    suffix: debug
+base_model:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+initialization:
+  checkpoint_local_dir: null
+  checkpoint_hf_repo_id: null
+  checkpoint_filename: null
+trainer:
+  max_train_steps: 5000
+  num_warmup_steps: 100
+  save_interval: 500
+  eval_interval: 500
+  eval_num_batches: 200
+  per_latency_eval_num_batches: null
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  cc_f1_tolerance: 1
+  learning_rate:
+    base: 2.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  freeze_modules: ''
+  freeze_vit: false
+  freeze_tied_embedding: false
+  freeze_llm_layers: []
+  loss_scale:
+    vla: 1.0
+    vlm: 0.1
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 1
+  profile_timing:
+    enabled: true
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  distributed_backend: deepspeed
+  is_resume: false
+  pretrained_checkpoint: null
+  resume_step: 0
+  reload_modules: null
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+    fused: true
+  save_format: pt
+workspace_dir: /home/lzj/code/latency-sensitive-bench
+run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla
+seed: 42
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_project: latency-sensitive-bench
+auth:
+  env_file: null
+  hf_token_env: HF_TOKEN
+  wandb_api_key_env: WANDB_API_KEY
+paths:
+  run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla
+  dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted
+  dataset_cache_dir: null
+  base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+  accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml
+launch:
+  use_accelerate: true
+  gpus: null
+  num_processes: 1
+  dry_run: false
+conda:
+  enabled: true
+  env_name: null
+rl_games:
+  model_alias: openvla
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw
+    ghost_trail:
+      history_frames: 5
+      gamma: 1.3
+      min_alpha: 35
+      scroll_px_per_step: 4.0
+      ground_fraction: 0.22
+    seed: 42
+    fixed_episode_seeds: true
+    latency_seed_stride: 0
+    task_seed_stride: 0
+    task_description: ''
+    eval_parallel_envs: 5
+    action_chunk_execution:
+      enabled: false
+      chunk_size: null
+    enabled: false
+    gymnasium:
+      make_kwargs: {}
+    mid_train:
+      enabled: false
+      interval_steps: 100
+      latencies:
+      - 0
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    post_train:
+      enabled: false
+      latencies:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    eval_backend: latency_bench
+    distributed_mode: none
+    vectorized:
+      enabled: false
+      batch_size: 1
+    latency:
+      prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted/hopper_rgb_state_profile_20260911T180943Z/latency_prompt_map.json
+      mode: single
+      values:
+      - 1
+      - 2
+  task: gymnasium
+  gymnasium:
+    task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - thigh_torque
+        - leg_torque
+        - foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Hopper robot forward while keeping its torso upright.
+        Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+      env_fps: 10.0
+      env_id: LatencyBench/Hopper-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Hopper-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 10.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_hopper
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - thigh_angle
+        - leg_angle
+        - foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - thigh_angular_velocity
+        - leg_angular_velocity
+        - foot_angular_velocity
+      task_name: hopper_rgb_state
+    task_name: hopper_rgb_state
+  initialization_mode: scratch
+  action_carrier: native
+model: openvla
+env: gymnasium
+init: scratch
+mode: single
+checkpoint:
+  load: none
+  hf_repo_id: null
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: false
+  save_safetensors_file: false
+  local:
+    keep_last_n: 1
+  sync:
+    enabled: false
+    repo_id: null
+    keep_last_n: 0
+    sync_every_n_checkpoints: 1
+    resume_policy: local_latest
+run_id: hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k
+output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k
+config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/h100/vla_train.yaml
+is_debug: false
+version_id: '0.21'

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/config.yaml

@@ -0,0 +1,358 @@
+framework:
+  name: QwenOFT
+  qwenvl:
+    base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: MLP
+    action_dim: 3
+    state_dim: 11
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: l1
+    state_encoding: continuous_projector
+    task_objective: null
+    action_horizon: 1
+    action_env_dim: 3
+  kv_memory:
+    enabled: false
+    window: 4
+    rollout_len: 8
+    packed_train: false
+    rebased_sink: true
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted
+    data_mix: hopper_rgb_state_profile_20260911T180943Z
+    eval_data_mix: hopper_rgb_state_profile_20260911T180943Z__val
+    custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted/_generated_mixtures/hopper_rgb_state_profile_20260911T180943Z.json
+    action_type: discrete
+    sequential_step_sampling: false
+    eval_sequential_step_sampling: null
+    num_workers: 8
+    eval_num_workers: 8
+    prefetch_factor: 4
+    persistent_workers: true
+    pin_memory: true
+    shuffle: true
+    action_balance:
+      enabled: false
+      strategy: balanced_epoch
+      action_key: action_id
+      target_flap_fraction: 0.3
+      noop_id: 0
+      flap_id: 1
+    latency_curriculum:
+      enabled: false
+      strategy: exclusive
+      latencies: null
+      phase_steps: null
+      phase_distributions: null
+      new_latency_passes: 1.0
+      replay_passes: 0.25
+      target_total_passes: 2.0
+      final_equalization: true
+      step_budget_mode: auto
+      eval_at_phase_end: false
+      save_at_phase_end: false
+      computed_plan: null
+    per_device_batch_size: 16
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size: null
+    video_backend: torchvision_av
+    gymnasium_task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - thigh_torque
+        - leg_torque
+        - foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Hopper robot forward while keeping its torso upright.
+        Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+      env_fps: 10.0
+      env_id: LatencyBench/Hopper-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Hopper-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 10.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_hopper
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - thigh_angle
+        - leg_angle
+        - foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - thigh_angular_velocity
+        - leg_angular_velocity
+        - foot_angular_velocity
+      task_name: hopper_rgb_state
+    active_action_dim: 3
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: hopper_rgb_state_profile_20260911T180943Z
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: hopper_rgb_state_profile_20260911T180943Z
+  mixed_converted_name: hopper_rgb_state_profile_20260911T180943Z
+  single_latency_filter: null
+  mixed_latency_filter: null
+  force_download: false
+  setup_force: false
+  skip_verification: false
+  target_latency_unit: observation_steps
+  verify_rows: 200
+  max_episodes: null
+  episodes_per_latency: null
+  latency_filter: null
+  debug_subset:
+    enabled: false
+    max_episodes: 5
+    suffix: debug
+base_model:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+initialization:
+  checkpoint_local_dir: null
+  checkpoint_hf_repo_id: null
+  checkpoint_filename: null
+trainer:
+  max_train_steps: 5000
+  num_warmup_steps: 100
+  save_interval: 500
+  eval_interval: 500
+  eval_num_batches: 200
+  per_latency_eval_num_batches: null
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  cc_f1_tolerance: 1
+  learning_rate:
+    base: 2.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  freeze_modules: ''
+  freeze_vit: false
+  freeze_tied_embedding: false
+  freeze_llm_layers: []
+  loss_scale:
+    vla: 1.0
+    vlm: 0.1
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 1
+  profile_timing:
+    enabled: true
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  distributed_backend: deepspeed
+  is_resume: false
+  pretrained_checkpoint: null
+  resume_step: 0
+  reload_modules: null
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+    fused: true
+  save_format: pt
+workspace_dir: /home/lzj/code/latency-sensitive-bench
+run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla
+seed: 42
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_project: latency-sensitive-bench
+auth:
+  env_file: null
+  hf_token_env: HF_TOKEN
+  wandb_api_key_env: WANDB_API_KEY
+paths:
+  run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla
+  dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted
+  dataset_cache_dir: null
+  base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+  accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml
+launch:
+  use_accelerate: true
+  gpus: null
+  num_processes: 1
+  dry_run: false
+conda:
+  enabled: true
+  env_name: null
+rl_games:
+  model_alias: openvla
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw
+    ghost_trail:
+      history_frames: 5
+      gamma: 1.3
+      min_alpha: 35
+      scroll_px_per_step: 4.0
+      ground_fraction: 0.22
+    seed: 42
+    fixed_episode_seeds: true
+    latency_seed_stride: 0
+    task_seed_stride: 0
+    task_description: ''
+    eval_parallel_envs: 5
+    action_chunk_execution:
+      enabled: false
+      chunk_size: null
+    enabled: false
+    gymnasium:
+      make_kwargs: {}
+    mid_train:
+      enabled: false
+      interval_steps: 100
+      latencies:
+      - 0
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    post_train:
+      enabled: false
+      latencies:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      num_episodes: 5
+      max_steps_per_episode: 3600
+    eval_backend: latency_bench
+    distributed_mode: none
+    vectorized:
+      enabled: false
+      batch_size: 1
+    latency:
+      prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted/hopper_rgb_state_profile_20260911T180943Z/latency_prompt_map.json
+      mode: single
+      values:
+      - 1
+      - 2
+  task: gymnasium
+  gymnasium:
+    task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - thigh_torque
+        - leg_torque
+        - foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Hopper robot forward while keeping its torso upright.
+        Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+      env_fps: 10.0
+      env_id: LatencyBench/Hopper-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Hopper-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 10.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_hopper
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - thigh_angle
+        - leg_angle
+        - foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - thigh_angular_velocity
+        - leg_angular_velocity
+        - foot_angular_velocity
+      task_name: hopper_rgb_state
+    task_name: hopper_rgb_state
+  initialization_mode: scratch
+  action_carrier: native
+model: openvla
+env: gymnasium
+init: scratch
+mode: single
+checkpoint:
+  load: none
+  hf_repo_id: null
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: false
+  save_safetensors_file: false
+  local:
+    keep_last_n: 1
+  sync:
+    enabled: false
+    repo_id: null
+    keep_last_n: 0
+    sync_every_n_checkpoints: 1
+    resume_policy: local_latest
+run_id: hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k
+output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k
+config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/h100/vla_train.yaml
+is_debug: false
+version_id: '0.21'

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/dataset_statistics.json

@@ -0,0 +1,123 @@
+{
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+    "num_trajectories": 90
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+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/dataset_statistics_eval.json

@@ -0,0 +1,123 @@
+{
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+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/latency_prompt_map.json

@@ -0,0 +1,12 @@
+{
+  "1": {
+    "prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 1 raw frames (100.00 ms).  The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.",
+    "latency_raw_frames": 1,
+    "latency_ms": 100.0
+  },
+  "2": {
+    "prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 2 raw frames (200.00 ms).  The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.",
+    "latency_raw_frames": 2,
+    "latency_ms": 200.0
+  }
+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/manifest.json

@@ -0,0 +1,143 @@
+{
+  "dataset_name": "hopper_rgb_state_profile_20260911T180943Z",
+  "env_name": "hopper_rgb_state",
+  "episodes": 90,
+  "frames": 88817,
+  "task_prompts": [
+    "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 1 raw frames (100.00 ms).  The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action.",
+    "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 2 raw frames (200.00 ms).  The environment runs at 10 FPS and observations are emitted at 10 FPS. Choose the best next action."
+  ],
+  "format": "lerobot_v2_image_parquet",
+  "source": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/raw",
+  "integration_name": "gymnasium",
+  "task_name": "hopper_rgb_state",
+  "action_layout": "gymnasium_continuous_v1",
+  "action_labels": [
+    "thigh_torque",
+    "leg_torque",
+    "foot_torque"
+  ],
+  "carrier_action_labels": [
+    "thigh_torque",
+    "leg_torque",
+    "foot_torque"
+  ],
+  "action_dim": 3,
+  "active_action_dim": 3,
+  "action_carrier": "native",
+  "rows_unit": "decision_step",
+  "obs_fps": 10.0,
+  "obs_stride_raw_frames": 1,
+  "uses_state": true,
+  "state_dim": 11,
+  "state_labels": [
+    "torso_height",
+    "torso_angle",
+    "thigh_angle",
+    "leg_angle",
+    "foot_angle",
+    "torso_x_velocity",
+    "torso_z_velocity",
+    "torso_angular_velocity",
+    "thigh_angular_velocity",
+    "leg_angular_velocity",
+    "foot_angular_velocity"
+  ],
+  "state_normalization": {
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+  "custom_mixtures_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/converted/_generated_mixtures/hopper_rgb_state_profile_20260911T180943Z.json",
+  "gymnasium_task": {
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+    },
+    "base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+    "env_fps": 10.0,
+    "env_id": "LatencyBench/Hopper-v0",
+    "frame_stack": 1,
+    "make_kwargs": {
+      "base_env_id": "Hopper-v4",
+      "base_make_kwargs": {
+        "ctrl_cost_weight": 0.001,
+        "exclude_current_positions_from_observation": true,
+        "forward_reward_weight": 1.0,
+        "healthy_reward": 1.0,
+        "reset_noise_scale": 0.005,
+        "terminate_when_unhealthy": true
+      },
+      "render_mode": "rgb_array"
+    },
+    "noop_action": [
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+      0.0
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+    "obs_fps": 10.0,
+    "registration_imports": [
+      "latency_bench.envs.gymnasium_hopper"
+    ],
+    "state_space": {
+      "labels": [
+        "torso_height",
+        "torso_angle",
+        "thigh_angle",
+        "leg_angle",
+        "foot_angle",
+        "torso_x_velocity",
+        "torso_z_velocity",
+        "torso_angular_velocity",
+        "thigh_angular_velocity",
+        "leg_angular_velocity",
+        "foot_angular_velocity"
+      ]
+    },
+    "task_name": "hopper_rgb_state"
+  },
+  "validation_dataset_name": "hopper_rgb_state_profile_20260911T180943Z__val",
+  "validation_episodes": 10,
+  "validation_frames": 10000
+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/hardware.json

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+{
+  "driver_version": "580.173.02",
+  "gpu_class": "1x-rtx3090",
+  "gpus": [
+    {
+      "name": "NVIDIA GeForce RTX 3090",
+      "slot": 0
+    }
+  ],
+  "instance_id": "instance_859cf1e47bca6046",
+  "topology_links": [],
+  "torch": {
+    "backends": {
+      "cuda_cudnn_sdp_enabled": true,
+      "cuda_flash_sdp_enabled": true,
+      "cuda_math_sdp_enabled": true,
+      "cuda_matmul_allow_tf32": false,
+      "cuda_mem_efficient_sdp_enabled": true,
+      "cudnn_allow_tf32": true,
+      "cudnn_benchmark": false
+    },
+    "cuda_available": true,
+    "cuda_device_count": 1,
+    "cuda_version": "12.8",
+    "current_device": 0,
+    "current_device_name": "NVIDIA GeForce RTX 3090",
+    "device_properties": [
+      {
+        "index": 0,
+        "major": 8,
+        "minor": 6,
+        "multi_processor_count": 82,
+        "name": "NVIDIA GeForce RTX 3090",
+        "total_memory": 25295257600
+      }
+    ],
+    "float32_matmul_precision": "highest",
+    "version": "2.11.0+cu128"
+  }
+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/latency_burst_model.json

@@ -0,0 +1,1322 @@
+{
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archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/profile/profile.json

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+{
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+  "provenance": {
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+      "path_in_repo": "OpenVLA/zero-latency/hopper_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k",
+      "repo_id": "latency-sensitive-bench/extra-envs-checkpoints",
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+  "visualization_path": "latency_profile.png",
+  "workload_id": "hopper"
+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/provenance.json

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+{
+  "task": "hopper",
+  "model": "qwenoft",
+  "training_condition": "latency-aware",
+  "training_run_id": "hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k",
+  "source": {
+    "repo_id": "latency-sensitive-bench/Standard-Pipeline",
+    "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
+    "path": "hopper/profile_latency/OpenVLA",
+    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/OpenVLA"
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+  "hf_path": "latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k",
+  "checkpoint": {
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+    "source_bytes": 9785081249,
+    "file": "checkpoints/model.pt",
+    "selection_rule": "only published VLA checkpoint",
+    "method": "copy",
+    "sha256": "2c9456b87aaba7d89cd53481047badde32513375f31056c4464a72642cacbe42",
+    "bytes": 9785081249
+  },
+  "config_source": "hopper/profile_latency/OpenVLA/config.full.yaml",
+  "task_contract_file": "task_contract.json",
+  "missing_source_files": [],
+  "migration": {
+    "operation": "copy_selected_inference_bundle",
+    "source_modified": false,
+    "evaluation_performed": false,
+    "experiment_status": "preserved_in_source_evidence"
+  },
+  "action_horizon": 1
+}

archive/issued-action-fix-20261010/latency-aware/hopper/vla/starvla-qwenoft-h1/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k/source/config.yaml

@@ -0,0 +1,87 @@
+checkpoint:
+  local:
+    keep_last_n: 1
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_safetensors_file: false
+  save_training_state: false
+  sync:
+    enabled: false
+    keep_last_n: 0
+    repo_id: null
+datasets:
+  vla_data:
+    data_mix: hopper_rgb_state_profile_20260911T180943Z
+    dataset_py: lerobot_datasets
+    eval_data_mix: hopper_rgb_state_profile_20260911T180943Z__val
+    latency_curriculum:
+      enabled: false
+    per_device_batch_size: 16
+framework:
+  action_model:
+    action_dim: 3
+    action_env_dim: 3
+    action_hidden_dim: 2560
+    action_horizon: 1
+    action_model_type: MLP
+    loss_type: l1
+    state_dim: 11
+    state_encoding: continuous_projector
+    task_objective: null
+  kv_memory:
+    enabled: false
+    packed_train: false
+    rebased_sink: true
+    rollout_len: 8
+    window: 4
+  name: QwenOFT
+  qwenvl:
+    attn_implementation: flash_attention_2
+    base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
+    enable_gradient_checkpointing: true
+output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla/hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k
+rl_games:
+  env_eval:
+    enabled: false
+  task: gymnasium
+run_id: hopper_rgb_state_profile_20260911T180943Z_openvla_native_continuous_projector_sft_5k
+run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/vla
+seed: 42
+trainer:
+  distributed_backend: deepspeed
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  eval_interval: 500
+  eval_num_batches: 200
+  freeze_llm_layers: []
+  freeze_modules: ''
+  freeze_tied_embedding: false
+  freeze_vit: false
+  gradient_accumulation_steps: 1
+  is_resume: false
+  learning_rate:
+    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: 5000
+  num_warmup_steps: 100
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    fused: true
+    weight_decay: 1.0e-08
+  per_latency_eval_num_batches: null
+  pretrained_checkpoint: null
+  profile_timing:
+    enabled: true
+    log_interval: 10
+  save_interval: 500
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_project: latency-sensitive-bench