Hugging Face's logo

MLL-Lab
/
LAGEN-models

Robotics
PyTorch
Safetensors
vision-language-action
latency-sensitive-bench
multiple-checkpoints
Model card Files
xet
 Community
1
Caesarrr commited on
Commit
88f926f
·
verified ·
1 Parent(s): 04e65f0

Import Standard-Pipeline half-cheetah selected inference bundles

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/README.md +28 -0
  2. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/checkpoint.pth +3 -0
  3. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/config.json +270 -0
  4. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/evaluation/selection_final/config.yaml +167 -0
  5. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/evaluation/selection_final/episode_metrics.jsonl +20 -0
  6. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/evaluation/selection_training_best/config.yaml +167 -0
  7. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/evaluation/selection_training_best/episode_metrics.jsonl +20 -0
  8. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/gate-summary.json +17 -0
  9. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/DONE +0 -0
  10. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/hardware.json +40 -0
  11. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/latency_burst_model.json +1308 -0
  12. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/latency_distribution.json +1027 -0
  13. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/latency_profile.png +0 -0
  14. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/profile.json +71 -0
  15. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/provenance.json +44 -0
  16. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/recipe.yaml +163 -0
  17. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/selection.json +66 -0
  18. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/source/README.md +12 -0
  19. latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/teacher-verification.json +132 -0
  20. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/README.md +26 -0
  21. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/checkpoint.pth +3 -0
  22. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/config.json +276 -0
  23. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/DONE +0 -0
  24. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/hardware.json +40 -0
  25. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/latency_burst_model.json +1329 -0
  26. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/latency_distribution.json +1027 -0
  27. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/latency_profile.png +0 -0
  28. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/profile.json +66 -0
  29. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/provenance.json +44 -0
  30. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/rollout_descriptor.json +310 -0
  31. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/rollout_metadata.json +363 -0
  32. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/selection.json +14 -0
  33. latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/small_train.yaml +172 -0
  34. latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/README.md +30 -0
  35. latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/checkpoint.pth +3 -0
  36. latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/config.json +286 -0
  37. latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/provenance.json +40 -0
  38. latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/selection.json +116 -0
  39. latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/source/README.md +7 -0
  40. latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/source/provenance.json +50 -0
  41. latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/teacher.yaml +170 -0
  42. latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/verification.json +226 -0
  43. latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/README.md +29 -0
  44. latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/checkpoints/model.pt +3 -0
  45. latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/config.full.yaml +384 -0
  46. latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/config.yaml +384 -0
  47. latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/dataset_statistics.json +180 -0
  48. latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/dataset_statistics_eval.json +180 -0
  49. latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/latency_prompt_map.json +12 -0
  50. latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/manifest.json +178 -0
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/README.md ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # half-cheetah / sample-factory-appo
2
+
3
+ Training condition: `latency-aware`. Run: `half_cheetah_profile_appo_h1_5fps_20260917`.
4
+
5
+ Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/half_cheetah/profile_latency/small_model/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
6
+
7
+ - Checkpoint: `checkpoint.pth`
8
+ - Selection: training_best
9
+ - Checkpoint SHA256: `b1fc0590189724808f40c0d27f902cbc53ce84614c3f606bdceacc8919799c77`
10
+ - Configuration, FPS, actions, normalization and latency semantics retain their source values.
11
+ - This import does not run evaluations or change training/evaluation/acceptance status.
12
+
13
+ Sample Factory APPO inference bundle: `config.json` and the explicit `checkpoint.pth`.
14
+ The checkpoint contains `model`, `train_step`, and `env_steps`; every exported model
15
+ tensor was reloaded and compared bit-for-bit with the selected source checkpoint.
16
+
17
+ See [the original model notes](source/README.md) for experiment results and limitations.
18
+
19
+ ## Download
20
+
21
+ ```python
22
+ from huggingface_hub import snapshot_download
23
+ prefix = "latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1"
24
+ snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
25
+ allow_patterns=[prefix + "/**"])
26
+ ```
27
+
28
+ Use the verified import commit listed in the repository's import report.
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/checkpoint.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b1fc0590189724808f40c0d27f902cbc53ce84614c3f606bdceacc8919799c77
3
+ size 29877
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/config.json ADDED
@@ -0,0 +1,270 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "help": false,
3
+ "algo": "APPO",
4
+ "env": "latency_gymnasium",
5
+ "experiment": "half_cheetah_profile_appo_h1_5fps_20260917",
6
+ "train_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints",
7
+ "restart_behavior": "overwrite",
8
+ "device": "gpu",
9
+ "seed": 2222,
10
+ "initial_model_path": null,
11
+ "num_policies": 1,
12
+ "async_rl": false,
13
+ "serial_mode": false,
14
+ "batched_sampling": false,
15
+ "num_batches_to_accumulate": 2,
16
+ "worker_num_splits": 2,
17
+ "policy_workers_per_policy": 1,
18
+ "max_policy_lag": 10000,
19
+ "num_workers": 8,
20
+ "num_envs_per_worker": 8,
21
+ "batch_size": 1024,
22
+ "num_batches_per_epoch": 4,
23
+ "num_epochs": 2,
24
+ "rollout": 64,
25
+ "fasttd3_replay_capacity": 6553600,
26
+ "fasttd3_replay_batch_size": 32768,
27
+ "fasttd3_action_chunk_horizon": 1,
28
+ "fasttd3_transitions_per_update": 64,
29
+ "fasttd3_train_for_optimizer_steps": 10000000000,
30
+ "fasttd3_v_min": -250.0,
31
+ "fasttd3_v_max": 250.0,
32
+ "fasttd3_actor_action_l2": 0.0,
33
+ "fasttd3_compile": true,
34
+ "recurrence": 1,
35
+ "shuffle_minibatches": false,
36
+ "gamma": 0.99,
37
+ "reward_scale": 1.0,
38
+ "reward_clip": 1000.0,
39
+ "value_bootstrap": false,
40
+ "normalize_returns": true,
41
+ "exploration_loss_coeff": 0.0,
42
+ "value_loss_coeff": 1.3,
43
+ "kl_loss_coeff": 0.1,
44
+ "exploration_loss": "entropy",
45
+ "gae_lambda": 0.95,
46
+ "ppo_clip_ratio": 0.2,
47
+ "ppo_clip_value": 1.0,
48
+ "with_vtrace": false,
49
+ "vtrace_rho": 1.0,
50
+ "vtrace_c": 1.0,
51
+ "optimizer": "adam",
52
+ "adam_eps": 1e-06,
53
+ "adam_beta1": 0.9,
54
+ "adam_beta2": 0.999,
55
+ "max_grad_norm": 3.5,
56
+ "learning_rate": 0.00295,
57
+ "lr_schedule": "linear_decay",
58
+ "lr_schedule_kl_threshold": 0.008,
59
+ "lr_adaptive_min": 1e-06,
60
+ "lr_adaptive_max": 0.01,
61
+ "obs_subtract_mean": 0.0,
62
+ "obs_scale": 1.0,
63
+ "normalize_input": true,
64
+ "normalize_input_keys": null,
65
+ "decorrelate_experience_max_seconds": 10,
66
+ "decorrelate_envs_on_one_worker": true,
67
+ "actor_worker_gpus": [],
68
+ "set_workers_cpu_affinity": true,
69
+ "force_envs_single_thread": true,
70
+ "default_niceness": 0,
71
+ "log_to_file": true,
72
+ "experiment_summaries_interval": 10,
73
+ "flush_summaries_interval": 30,
74
+ "stats_avg": 100,
75
+ "summaries_use_frameskip": true,
76
+ "heartbeat_interval": 20,
77
+ "heartbeat_reporting_interval": 180,
78
+ "train_for_env_steps": 10000000,
79
+ "train_for_seconds": 10000000000,
80
+ "save_every_sec": 600,
81
+ "keep_checkpoints": 3,
82
+ "load_checkpoint_kind": "latest",
83
+ "save_milestones_sec": -1,
84
+ "save_best_every_sec": 60,
85
+ "save_best_metric": "reward",
86
+ "save_best_after": 100000,
87
+ "benchmark": false,
88
+ "encoder_mlp_layers": [
89
+ 64,
90
+ 64
91
+ ],
92
+ "encoder_conv_architecture": "convnet_simple",
93
+ "encoder_conv_mlp_layers": [
94
+ 512
95
+ ],
96
+ "use_rnn": false,
97
+ "rnn_size": 512,
98
+ "rnn_type": "gru",
99
+ "rnn_num_layers": 1,
100
+ "decoder_mlp_layers": [],
101
+ "nonlinearity": "tanh",
102
+ "policy_initialization": "torch_default",
103
+ "policy_init_gain": 1.0,
104
+ "actor_critic_share_weights": true,
105
+ "adaptive_stddev": false,
106
+ "continuous_tanh_scale": 0.0,
107
+ "initial_stddev": 1.0,
108
+ "use_env_info_cache": false,
109
+ "env_gpu_actions": false,
110
+ "env_gpu_observations": true,
111
+ "env_frameskip": 1,
112
+ "env_framestack": 1,
113
+ "pixel_format": "CHW",
114
+ "use_record_episode_statistics": false,
115
+ "with_wandb": true,
116
+ "wandb_user": "dongqianyu99-zhejiang-university",
117
+ "wandb_project": "latency-sensitive-bench",
118
+ "wandb_group": "gr00t-six-env-h1-5fps",
119
+ "wandb_job_type": "profile_teacher",
120
+ "wandb_tags": null,
121
+ "with_pbt": false,
122
+ "pbt_mix_policies_in_one_env": true,
123
+ "pbt_period_env_steps": 5000000,
124
+ "pbt_start_mutation": 20000000,
125
+ "pbt_replace_fraction": 0.3,
126
+ "pbt_mutation_rate": 0.15,
127
+ "pbt_replace_reward_gap": 0.1,
128
+ "pbt_replace_reward_gap_absolute": 1e-06,
129
+ "pbt_optimize_gamma": false,
130
+ "pbt_target_objective": "true_objective",
131
+ "pbt_perturb_min": 1.1,
132
+ "pbt_perturb_max": 1.5,
133
+ "gym_task_name": "half_cheetah",
134
+ "gym_env_id": "LatencyBench/HalfCheetahContinuous-v0",
135
+ "gym_make_kwargs_json": "{\"base_env_id\": \"HalfCheetah-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {}}",
136
+ "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_half_cheetah\"]",
137
+ "gym_action_space_json": "{\"type\": \"box\", \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
138
+ "gym_action_labels_json": null,
139
+ "gym_action_values_json": null,
140
+ "gym_noop_action_id": null,
141
+ "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
142
+ "gym_base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
143
+ "gym_state_labels_json": "[\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"]",
144
+ "env_fps": 5.0,
145
+ "obs_fps": 5.0,
146
+ "frame_stack": 1,
147
+ "export_env_raw_rgb_frames": false,
148
+ "mode": "train",
149
+ "latency_type": "iid",
150
+ "fixed_latency_ms": null,
151
+ "mean_latency_ms": null,
152
+ "std_latency_ms": null,
153
+ "min_latency_ms": null,
154
+ "max_latency_ms": null,
155
+ "latency_seed": 0,
156
+ "latency_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json",
157
+ "latency_profile_worker_slot": 0,
158
+ "simulated_worker_capacity": null,
159
+ "add_latency_info": false,
160
+ "max_pending_actions": null,
161
+ "hold_last_chunk_action": false,
162
+ "hold_policy": "hold",
163
+ "ordering_policy": "issue_order_fifo",
164
+ "eval_episodes": 20,
165
+ "eval_parallel_envs": 1,
166
+ "eval_latency_raw_frame_values": null,
167
+ "eval_max_steps": 1000,
168
+ "eval_deterministic": true,
169
+ "eval_raw_reward": false,
170
+ "episode_metrics_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/episode_metrics.jsonl",
171
+ "ppo": null,
172
+ "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment half_cheetah_profile_appo_h1_5fps_20260917 --train_dir /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints --restart_behavior overwrite --device gpu --seed 2222 --episode_metrics_path /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/episode_metrics.jsonl --train_for_env_steps 10000000 --num_workers 8 --num_envs_per_worker 8 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 1 --num_epochs 2 --num_batches_per_epoch 4 --worker_num_splits 2 --max_policy_lag 10000 --num_batches_to_accumulate 2 --policy_workers_per_policy 1 --learning_rate 0.00295 --kl_loss_coeff 0.1 --lr_schedule_kl_threshold 0.008 --nonlinearity tanh --policy_initialization torch_default --initial_stddev 1.0 --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.2 --ppo_clip_value 1.0 --exploration_loss entropy --exploration_loss_coeff 0.0 --reward_scale 1.0 --reward_clip 1000.0 --value_loss_coeff 1.3 --max_grad_norm 3.5 --decorrelate_experience_max_seconds 10 --save_every_sec 600 --keep_checkpoints 3 --save_best_every_sec 60 --save_best_after 100000 --async_rl False --batched_sampling False --serial_mode False --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --shuffle_minibatches False --value_bootstrap False --with_vtrace False --decorrelate_envs_on_one_worker True --set_workers_cpu_affinity True --force_envs_single_thread True --actor_critic_share_weights True --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json --latency-profile-worker-slot 0 --add-latency-info False --eval-episodes 20 --eval-parallel-envs 1 --eval-max-steps 1000 --eval-deterministic True --with_wandb True --wandb_project latency-sensitive-bench --wandb_group gr00t-six-env-h1-5fps --wandb_job_type profile_teacher --wandb_user dongqianyu99-zhejiang-university --gym-task-name half_cheetah --gym-env-id LatencyBench/HalfCheetahContinuous-v0 --gym-make-kwargs-json {\"base_env_id\": \"HalfCheetah-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {}} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_half_cheetah\"] --gym-action-space-json {\"type\": \"box\", \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"} --gym-noop-action-json [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] --gym-base-prompt Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot. --gym-state-labels-json [\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"] --env-fps 5 --obs-fps 5 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
173
+ "cli_args": {
174
+ "algo": "APPO",
175
+ "env": "latency_gymnasium",
176
+ "experiment": "half_cheetah_profile_appo_h1_5fps_20260917",
177
+ "train_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints",
178
+ "restart_behavior": "overwrite",
179
+ "device": "gpu",
180
+ "seed": 2222,
181
+ "num_policies": 1,
182
+ "async_rl": false,
183
+ "serial_mode": false,
184
+ "batched_sampling": false,
185
+ "num_batches_to_accumulate": 2,
186
+ "worker_num_splits": 2,
187
+ "policy_workers_per_policy": 1,
188
+ "max_policy_lag": 10000,
189
+ "num_workers": 8,
190
+ "num_envs_per_worker": 8,
191
+ "batch_size": 1024,
192
+ "num_batches_per_epoch": 4,
193
+ "num_epochs": 2,
194
+ "rollout": 64,
195
+ "recurrence": 1,
196
+ "shuffle_minibatches": false,
197
+ "gamma": 0.99,
198
+ "reward_scale": 1.0,
199
+ "reward_clip": 1000.0,
200
+ "value_bootstrap": false,
201
+ "normalize_returns": true,
202
+ "exploration_loss_coeff": 0.0,
203
+ "value_loss_coeff": 1.3,
204
+ "kl_loss_coeff": 0.1,
205
+ "exploration_loss": "entropy",
206
+ "gae_lambda": 0.95,
207
+ "ppo_clip_ratio": 0.2,
208
+ "ppo_clip_value": 1.0,
209
+ "with_vtrace": false,
210
+ "max_grad_norm": 3.5,
211
+ "learning_rate": 0.00295,
212
+ "lr_schedule_kl_threshold": 0.008,
213
+ "normalize_input": true,
214
+ "decorrelate_experience_max_seconds": 10,
215
+ "decorrelate_envs_on_one_worker": true,
216
+ "set_workers_cpu_affinity": true,
217
+ "force_envs_single_thread": true,
218
+ "train_for_env_steps": 10000000,
219
+ "save_every_sec": 600,
220
+ "keep_checkpoints": 3,
221
+ "save_best_every_sec": 60,
222
+ "save_best_after": 100000,
223
+ "encoder_mlp_layers": [
224
+ 64,
225
+ 64
226
+ ],
227
+ "use_rnn": false,
228
+ "nonlinearity": "tanh",
229
+ "policy_initialization": "torch_default",
230
+ "actor_critic_share_weights": true,
231
+ "adaptive_stddev": false,
232
+ "initial_stddev": 1.0,
233
+ "use_env_info_cache": false,
234
+ "with_wandb": true,
235
+ "wandb_user": "dongqianyu99-zhejiang-university",
236
+ "wandb_project": "latency-sensitive-bench",
237
+ "wandb_group": "gr00t-six-env-h1-5fps",
238
+ "wandb_job_type": "profile_teacher",
239
+ "gym_task_name": "half_cheetah",
240
+ "gym_env_id": "LatencyBench/HalfCheetahContinuous-v0",
241
+ "gym_make_kwargs_json": "{\"base_env_id\": \"HalfCheetah-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {}}",
242
+ "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_half_cheetah\"]",
243
+ "gym_action_space_json": "{\"type\": \"box\", \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
244
+ "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
245
+ "gym_base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
246
+ "gym_state_labels_json": "[\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"]",
247
+ "env_fps": 5.0,
248
+ "obs_fps": 5.0,
249
+ "frame_stack": 1,
250
+ "mode": "train",
251
+ "latency_type": "iid",
252
+ "latency_seed": 0,
253
+ "latency_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json",
254
+ "latency_profile_worker_slot": 0,
255
+ "add_latency_info": false,
256
+ "hold_policy": "hold",
257
+ "ordering_policy": "issue_order_fifo",
258
+ "eval_episodes": 20,
259
+ "eval_parallel_envs": 1,
260
+ "eval_max_steps": 1000,
261
+ "eval_deterministic": true,
262
+ "episode_metrics_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/episode_metrics.jsonl",
263
+ "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/training"
264
+ },
265
+ "git_hash": "unknown",
266
+ "git_repo_name": "not a git repository",
267
+ "eval_env_frameskip": 1,
268
+ "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/training",
269
+ "wandb_unique_id": "half_cheetah_profile_appo_h1_5fps_20260917"
270
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/evaluation/selection_final/config.yaml ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ experiment:
2
+ name: half_cheetah_profile_appo_h1_5fps_20260917
3
+ seed: 42
4
+ backend:
5
+ type: sample_factory
6
+ algo: APPO
7
+ device: cuda
8
+ train_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints
9
+ restart_behavior: overwrite
10
+ run_mode: eval
11
+ extra_args:
12
+ - --wandb_user
13
+ - dongqianyu99-zhejiang-university
14
+ executor:
15
+ mode: simulated
16
+ simulated_worker_capacity: 1
17
+ simulated_inference_pool: true
18
+ inference_devices:
19
+ - cuda:0
20
+ env:
21
+ name: gymnasium
22
+ task_name: half_cheetah
23
+ env_id: LatencyBench/HalfCheetahContinuous-v0
24
+ registration_imports:
25
+ - latency_bench.envs.gymnasium_half_cheetah
26
+ make_kwargs:
27
+ base_env_id: HalfCheetah-v4
28
+ render_mode: rgb_array
29
+ base_make_kwargs: {}
30
+ env_fps: 5
31
+ obs_fps: 5
32
+ frame_stack: 1
33
+ state_space:
34
+ labels:
35
+ - front_tip_height
36
+ - front_tip_angle
37
+ - back_thigh_angle
38
+ - back_shin_angle
39
+ - back_foot_angle
40
+ - front_thigh_angle
41
+ - front_shin_angle
42
+ - front_foot_angle
43
+ - front_tip_x_velocity
44
+ - front_tip_z_velocity
45
+ - front_tip_angular_velocity
46
+ - back_thigh_angular_velocity
47
+ - back_shin_angular_velocity
48
+ - back_foot_angular_velocity
49
+ - front_thigh_angular_velocity
50
+ - front_shin_angular_velocity
51
+ - front_foot_angular_velocity
52
+ action_space:
53
+ type: box
54
+ labels:
55
+ - back_thigh_torque
56
+ - back_shin_torque
57
+ - back_foot_torque
58
+ - front_thigh_torque
59
+ - front_shin_torque
60
+ - front_foot_torque
61
+ low:
62
+ - -1.0
63
+ - -1.0
64
+ - -1.0
65
+ - -1.0
66
+ - -1.0
67
+ - -1.0
68
+ high:
69
+ - 1.0
70
+ - 1.0
71
+ - 1.0
72
+ - 1.0
73
+ - 1.0
74
+ - 1.0
75
+ dtype: float32
76
+ noop_action:
77
+ - 0.0
78
+ - 0.0
79
+ - 0.0
80
+ - 0.0
81
+ - 0.0
82
+ - 0.0
83
+ base_prompt: Make the Half Cheetah run forward as fast as possible. Predict six
84
+ continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front
85
+ thigh, front shin, and front foot.
86
+ latency:
87
+ method: iid
88
+ profile_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json
89
+ profile_worker_slot: 0
90
+ seed: 0
91
+ add_latency_info: false
92
+ scheduler:
93
+ hold_policy: hold
94
+ ordering_policy: issue_order_fifo
95
+ policy:
96
+ type: gymnasium_sf
97
+ checkpoint_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth
98
+ device: cuda:0
99
+ deterministic: true
100
+ training:
101
+ train_for_env_steps: 10000000
102
+ num_workers: 8
103
+ num_envs_per_worker: 8
104
+ worker_num_splits: 2
105
+ num_policies: 1
106
+ batch_size: 1024
107
+ rollout: 64
108
+ recurrence: 1
109
+ num_epochs: 2
110
+ num_batches_per_epoch: 4
111
+ num_batches_to_accumulate: 2
112
+ policy_workers_per_policy: 1
113
+ max_policy_lag: 10000
114
+ learning_rate: 0.00295
115
+ lr_schedule: linear_decay
116
+ lr_schedule_kl_threshold: 0.008
117
+ gamma: 0.99
118
+ gae_lambda: 0.95
119
+ ppo_clip_ratio: 0.2
120
+ ppo_clip_value: 1.0
121
+ value_loss_coeff: 1.3
122
+ max_grad_norm: 3.5
123
+ exploration_loss: entropy
124
+ exploration_loss_coeff: 0.0
125
+ kl_loss_coeff: 0.1
126
+ reward_scale: 1.0
127
+ reward_clip: 1000.0
128
+ async_rl: false
129
+ serial_mode: false
130
+ batched_sampling: false
131
+ with_vtrace: false
132
+ use_rnn: false
133
+ encoder_mlp_layers:
134
+ - 64
135
+ - 64
136
+ nonlinearity: tanh
137
+ adaptive_stddev: false
138
+ policy_initialization: torch_default
139
+ initial_stddev: 1.0
140
+ actor_critic_share_weights: true
141
+ shuffle_minibatches: false
142
+ value_bootstrap: false
143
+ normalize_input: true
144
+ normalize_returns: true
145
+ decorrelate_experience_max_seconds: 10
146
+ decorrelate_envs_on_one_worker: true
147
+ set_workers_cpu_affinity: true
148
+ force_envs_single_thread: true
149
+ save_every_sec: 600
150
+ keep_checkpoints: 3
151
+ save_best_every_sec: 60
152
+ save_best_after: 100000
153
+ evaluation:
154
+ eval_interval_steps: null
155
+ eval_episodes: 20
156
+ eval_parallel_envs: 1
157
+ eval_max_steps: 1000
158
+ eval_deterministic: true
159
+ eval_latency_values: null
160
+ logging:
161
+ output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final
162
+ video:
163
+ enabled: false
164
+ num_bins: 1
165
+ save_step_records: true
166
+ save_action_records: true
167
+ save_latency_records: true
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/evaluation/selection_final/episode_metrics.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_id": 0, "episode_return": 1857.2374405048977, "episode_return_env": 1857.2374405048977, "game_score": null, "mean_latency_ms": 111.24583427755603, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104771, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.5727127719872, "p99_latency_ms": 118.703630845592, "return_raw": null, "survival_steps": 1000}
2
+ {"episode_id": 1, "episode_return": 1867.494728237067, "episode_return_env": 1867.494728237067, "game_score": null, "mean_latency_ms": 110.89120968248179, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104772, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.4121053434171, "p99_latency_ms": 118.23758657459547, "return_raw": null, "survival_steps": 1000}
3
+ {"episode_id": 2, "episode_return": 1834.5174806519765, "episode_return_env": 1834.5174806519765, "game_score": null, "mean_latency_ms": 110.72416504640468, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104773, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.05834305979504, "p99_latency_ms": 118.36271124083396, "return_raw": null, "survival_steps": 1000}
4
+ {"episode_id": 3, "episode_return": 1865.8690548707461, "episode_return_env": 1865.8690548707461, "game_score": null, "mean_latency_ms": 110.9907417554073, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104774, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.05442772201623, "p99_latency_ms": 118.4610390043948, "return_raw": null, "survival_steps": 1000}
5
+ {"episode_id": 4, "episode_return": 1801.7301131165686, "episode_return_env": 1801.7301131165686, "game_score": null, "mean_latency_ms": 111.04510103247057, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104775, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.0403861199309, "p99_latency_ms": 118.49525461948608, "return_raw": null, "survival_steps": 1000}
6
+ {"episode_id": 5, "episode_return": 1876.8244417767962, "episode_return_env": 1876.8244417767962, "game_score": null, "mean_latency_ms": 110.84752142739005, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104776, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 115.8723213773917, "p99_latency_ms": 118.40766092046617, "return_raw": null, "survival_steps": 1000}
7
+ {"episode_id": 6, "episode_return": 1865.6403856027441, "episode_return_env": 1865.6403856027441, "game_score": null, "mean_latency_ms": 110.93093487552736, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104777, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.17502496369826, "p99_latency_ms": 118.37483083815783, "return_raw": null, "survival_steps": 1000}
8
+ {"episode_id": 7, "episode_return": 1762.3797913309936, "episode_return_env": 1762.3797913309936, "game_score": null, "mean_latency_ms": 110.91768366022798, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104778, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.44383566008594, "p99_latency_ms": 118.9625626349772, "return_raw": null, "survival_steps": 1000}
9
+ {"episode_id": 8, "episode_return": 1835.7552201531942, "episode_return_env": 1835.7552201531942, "game_score": null, "mean_latency_ms": 110.97265965999314, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104779, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.30948159669535, "p99_latency_ms": 118.74422798450378, "return_raw": null, "survival_steps": 1000}
10
+ {"episode_id": 9, "episode_return": 1842.555192265558, "episode_return_env": 1842.555192265558, "game_score": null, "mean_latency_ms": 110.7400888862513, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104780, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.14594901709111, "p99_latency_ms": 118.35435209056368, "return_raw": null, "survival_steps": 1000}
11
+ {"episode_id": 10, "episode_return": 1857.8608419027873, "episode_return_env": 1857.8608419027873, "game_score": null, "mean_latency_ms": 110.9610735286344, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104781, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.08791093680271, "p99_latency_ms": 118.57852585751068, "return_raw": null, "survival_steps": 1000}
12
+ {"episode_id": 11, "episode_return": 1828.4981316832227, "episode_return_env": 1828.4981316832227, "game_score": null, "mean_latency_ms": 111.02514784905733, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104782, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.23220724586743, "p99_latency_ms": 118.30526355507156, "return_raw": null, "survival_steps": 1000}
13
+ {"episode_id": 12, "episode_return": 1858.3761893131157, "episode_return_env": 1858.3761893131157, "game_score": null, "mean_latency_ms": 110.78938788053553, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104783, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.01787974736017, "p99_latency_ms": 118.58826783447219, "return_raw": null, "survival_steps": 1000}
14
+ {"episode_id": 13, "episode_return": 1870.122593021503, "episode_return_env": 1870.122593021503, "game_score": null, "mean_latency_ms": 110.95709203860189, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104784, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.24608836340131, "p99_latency_ms": 118.18154033221496, "return_raw": null, "survival_steps": 1000}
15
+ {"episode_id": 14, "episode_return": 1842.1905916416376, "episode_return_env": 1842.1905916416376, "game_score": null, "mean_latency_ms": 110.89318622702031, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104785, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.2686548252319, "p99_latency_ms": 118.57311098329794, "return_raw": null, "survival_steps": 1000}
16
+ {"episode_id": 15, "episode_return": 1853.096570888896, "episode_return_env": 1853.096570888896, "game_score": null, "mean_latency_ms": 110.91502063789433, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104786, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.58213277385921, "p99_latency_ms": 118.82122257258376, "return_raw": null, "survival_steps": 1000}
17
+ {"episode_id": 16, "episode_return": 1874.5922690761886, "episode_return_env": 1874.5922690761886, "game_score": null, "mean_latency_ms": 110.81657893489775, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104787, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.15639521447764, "p99_latency_ms": 119.11157094082903, "return_raw": null, "survival_steps": 1000}
18
+ {"episode_id": 17, "episode_return": 1804.164970094345, "episode_return_env": 1804.164970094345, "game_score": null, "mean_latency_ms": 110.76658662771891, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104788, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.01034373542693, "p99_latency_ms": 118.40297172363019, "return_raw": null, "survival_steps": 1000}
19
+ {"episode_id": 18, "episode_return": 1864.918328697703, "episode_return_env": 1864.918328697703, "game_score": null, "mean_latency_ms": 110.80282639843057, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104789, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.23651719565382, "p99_latency_ms": 118.4700052289859, "return_raw": null, "survival_steps": 1000}
20
+ {"episode_id": 19, "episode_return": 1799.2772620012308, "episode_return_env": 1799.2772620012308, "game_score": null, "mean_latency_ms": 111.01576867826434, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104790, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_final", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.08249123050322, "p99_latency_ms": 118.64038701855631, "return_raw": null, "survival_steps": 1000}
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/evaluation/selection_training_best/config.yaml ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ experiment:
2
+ name: half_cheetah_profile_appo_h1_5fps_20260917
3
+ seed: 42
4
+ backend:
5
+ type: sample_factory
6
+ algo: APPO
7
+ device: cuda
8
+ train_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints
9
+ restart_behavior: overwrite
10
+ run_mode: eval
11
+ extra_args:
12
+ - --wandb_user
13
+ - dongqianyu99-zhejiang-university
14
+ executor:
15
+ mode: simulated
16
+ simulated_worker_capacity: 1
17
+ simulated_inference_pool: true
18
+ inference_devices:
19
+ - cuda:0
20
+ env:
21
+ name: gymnasium
22
+ task_name: half_cheetah
23
+ env_id: LatencyBench/HalfCheetahContinuous-v0
24
+ registration_imports:
25
+ - latency_bench.envs.gymnasium_half_cheetah
26
+ make_kwargs:
27
+ base_env_id: HalfCheetah-v4
28
+ render_mode: rgb_array
29
+ base_make_kwargs: {}
30
+ env_fps: 5
31
+ obs_fps: 5
32
+ frame_stack: 1
33
+ state_space:
34
+ labels:
35
+ - front_tip_height
36
+ - front_tip_angle
37
+ - back_thigh_angle
38
+ - back_shin_angle
39
+ - back_foot_angle
40
+ - front_thigh_angle
41
+ - front_shin_angle
42
+ - front_foot_angle
43
+ - front_tip_x_velocity
44
+ - front_tip_z_velocity
45
+ - front_tip_angular_velocity
46
+ - back_thigh_angular_velocity
47
+ - back_shin_angular_velocity
48
+ - back_foot_angular_velocity
49
+ - front_thigh_angular_velocity
50
+ - front_shin_angular_velocity
51
+ - front_foot_angular_velocity
52
+ action_space:
53
+ type: box
54
+ labels:
55
+ - back_thigh_torque
56
+ - back_shin_torque
57
+ - back_foot_torque
58
+ - front_thigh_torque
59
+ - front_shin_torque
60
+ - front_foot_torque
61
+ low:
62
+ - -1.0
63
+ - -1.0
64
+ - -1.0
65
+ - -1.0
66
+ - -1.0
67
+ - -1.0
68
+ high:
69
+ - 1.0
70
+ - 1.0
71
+ - 1.0
72
+ - 1.0
73
+ - 1.0
74
+ - 1.0
75
+ dtype: float32
76
+ noop_action:
77
+ - 0.0
78
+ - 0.0
79
+ - 0.0
80
+ - 0.0
81
+ - 0.0
82
+ - 0.0
83
+ base_prompt: Make the Half Cheetah run forward as fast as possible. Predict six
84
+ continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front
85
+ thigh, front shin, and front foot.
86
+ latency:
87
+ method: iid
88
+ profile_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json
89
+ profile_worker_slot: 0
90
+ seed: 0
91
+ add_latency_info: false
92
+ scheduler:
93
+ hold_policy: hold
94
+ ordering_policy: issue_order_fifo
95
+ policy:
96
+ type: gymnasium_sf
97
+ checkpoint_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth
98
+ device: cuda:0
99
+ deterministic: true
100
+ training:
101
+ train_for_env_steps: 10000000
102
+ num_workers: 8
103
+ num_envs_per_worker: 8
104
+ worker_num_splits: 2
105
+ num_policies: 1
106
+ batch_size: 1024
107
+ rollout: 64
108
+ recurrence: 1
109
+ num_epochs: 2
110
+ num_batches_per_epoch: 4
111
+ num_batches_to_accumulate: 2
112
+ policy_workers_per_policy: 1
113
+ max_policy_lag: 10000
114
+ learning_rate: 0.00295
115
+ lr_schedule: linear_decay
116
+ lr_schedule_kl_threshold: 0.008
117
+ gamma: 0.99
118
+ gae_lambda: 0.95
119
+ ppo_clip_ratio: 0.2
120
+ ppo_clip_value: 1.0
121
+ value_loss_coeff: 1.3
122
+ max_grad_norm: 3.5
123
+ exploration_loss: entropy
124
+ exploration_loss_coeff: 0.0
125
+ kl_loss_coeff: 0.1
126
+ reward_scale: 1.0
127
+ reward_clip: 1000.0
128
+ async_rl: false
129
+ serial_mode: false
130
+ batched_sampling: false
131
+ with_vtrace: false
132
+ use_rnn: false
133
+ encoder_mlp_layers:
134
+ - 64
135
+ - 64
136
+ nonlinearity: tanh
137
+ adaptive_stddev: false
138
+ policy_initialization: torch_default
139
+ initial_stddev: 1.0
140
+ actor_critic_share_weights: true
141
+ shuffle_minibatches: false
142
+ value_bootstrap: false
143
+ normalize_input: true
144
+ normalize_returns: true
145
+ decorrelate_experience_max_seconds: 10
146
+ decorrelate_envs_on_one_worker: true
147
+ set_workers_cpu_affinity: true
148
+ force_envs_single_thread: true
149
+ save_every_sec: 600
150
+ keep_checkpoints: 3
151
+ save_best_every_sec: 60
152
+ save_best_after: 100000
153
+ evaluation:
154
+ eval_interval_steps: null
155
+ eval_episodes: 20
156
+ eval_parallel_envs: 1
157
+ eval_max_steps: 1000
158
+ eval_deterministic: true
159
+ eval_latency_values: null
160
+ logging:
161
+ output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best
162
+ video:
163
+ enabled: false
164
+ num_bins: 1
165
+ save_step_records: true
166
+ save_action_records: true
167
+ save_latency_records: true
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/evaluation/selection_training_best/episode_metrics.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_id": 0, "episode_return": 1887.561249494765, "episode_return_env": 1887.561249494765, "game_score": null, "mean_latency_ms": 111.24583427755603, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104771, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.5727127719872, "p99_latency_ms": 118.703630845592, "return_raw": null, "survival_steps": 1000}
2
+ {"episode_id": 1, "episode_return": 1895.0448055201541, "episode_return_env": 1895.0448055201541, "game_score": null, "mean_latency_ms": 110.89120968248179, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104772, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.4121053434171, "p99_latency_ms": 118.23758657459547, "return_raw": null, "survival_steps": 1000}
3
+ {"episode_id": 2, "episode_return": 1858.3344573252318, "episode_return_env": 1858.3344573252318, "game_score": null, "mean_latency_ms": 110.72416504640468, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104773, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.05834305979504, "p99_latency_ms": 118.36271124083396, "return_raw": null, "survival_steps": 1000}
4
+ {"episode_id": 3, "episode_return": 1830.0221069470836, "episode_return_env": 1830.0221069470836, "game_score": null, "mean_latency_ms": 110.9907417554073, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104774, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.05442772201623, "p99_latency_ms": 118.4610390043948, "return_raw": null, "survival_steps": 1000}
5
+ {"episode_id": 4, "episode_return": 1812.0352138530668, "episode_return_env": 1812.0352138530668, "game_score": null, "mean_latency_ms": 111.04510103247057, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104775, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.0403861199309, "p99_latency_ms": 118.49525461948608, "return_raw": null, "survival_steps": 1000}
6
+ {"episode_id": 5, "episode_return": 1793.54399269377, "episode_return_env": 1793.54399269377, "game_score": null, "mean_latency_ms": 110.84752142739005, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104776, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 115.8723213773917, "p99_latency_ms": 118.40766092046617, "return_raw": null, "survival_steps": 1000}
7
+ {"episode_id": 6, "episode_return": 1893.5209629203653, "episode_return_env": 1893.5209629203653, "game_score": null, "mean_latency_ms": 110.93093487552736, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104777, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.17502496369826, "p99_latency_ms": 118.37483083815783, "return_raw": null, "survival_steps": 1000}
8
+ {"episode_id": 7, "episode_return": 1835.4972454347915, "episode_return_env": 1835.4972454347915, "game_score": null, "mean_latency_ms": 110.91768366022798, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104778, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.44383566008594, "p99_latency_ms": 118.9625626349772, "return_raw": null, "survival_steps": 1000}
9
+ {"episode_id": 8, "episode_return": 1888.6783450211715, "episode_return_env": 1888.6783450211715, "game_score": null, "mean_latency_ms": 110.97265965999314, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104779, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.30948159669535, "p99_latency_ms": 118.74422798450378, "return_raw": null, "survival_steps": 1000}
10
+ {"episode_id": 9, "episode_return": 1831.1448449836785, "episode_return_env": 1831.1448449836785, "game_score": null, "mean_latency_ms": 110.7400888862513, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104780, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.14594901709111, "p99_latency_ms": 118.35435209056368, "return_raw": null, "survival_steps": 1000}
11
+ {"episode_id": 10, "episode_return": 1855.0970322771736, "episode_return_env": 1855.0970322771736, "game_score": null, "mean_latency_ms": 110.9610735286344, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104781, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.08791093680271, "p99_latency_ms": 118.57852585751068, "return_raw": null, "survival_steps": 1000}
12
+ {"episode_id": 11, "episode_return": 1855.3305649185393, "episode_return_env": 1855.3305649185393, "game_score": null, "mean_latency_ms": 111.02514784905733, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104782, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.23220724586743, "p99_latency_ms": 118.30526355507156, "return_raw": null, "survival_steps": 1000}
13
+ {"episode_id": 12, "episode_return": 1835.5406847810145, "episode_return_env": 1835.5406847810145, "game_score": null, "mean_latency_ms": 110.78938788053553, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104783, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.01787974736017, "p99_latency_ms": 118.58826783447219, "return_raw": null, "survival_steps": 1000}
14
+ {"episode_id": 13, "episode_return": 1845.6326210025886, "episode_return_env": 1845.6326210025886, "game_score": null, "mean_latency_ms": 110.95709203860189, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104784, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.24608836340131, "p99_latency_ms": 118.18154033221496, "return_raw": null, "survival_steps": 1000}
15
+ {"episode_id": 14, "episode_return": 1803.1661607436554, "episode_return_env": 1803.1661607436554, "game_score": null, "mean_latency_ms": 110.89318622702031, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104785, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.2686548252319, "p99_latency_ms": 118.57311098329794, "return_raw": null, "survival_steps": 1000}
16
+ {"episode_id": 15, "episode_return": 1830.418271781488, "episode_return_env": 1830.418271781488, "game_score": null, "mean_latency_ms": 110.91502063789433, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104786, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.58213277385921, "p99_latency_ms": 118.82122257258376, "return_raw": null, "survival_steps": 1000}
17
+ {"episode_id": 16, "episode_return": 1845.491576391448, "episode_return_env": 1845.491576391448, "game_score": null, "mean_latency_ms": 110.81657893489775, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104787, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.15639521447764, "p99_latency_ms": 119.11157094082903, "return_raw": null, "survival_steps": 1000}
18
+ {"episode_id": 17, "episode_return": 1854.8196809449396, "episode_return_env": 1854.8196809449396, "game_score": null, "mean_latency_ms": 110.76658662771891, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104788, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.01034373542693, "p99_latency_ms": 118.40297172363019, "return_raw": null, "survival_steps": 1000}
19
+ {"episode_id": 18, "episode_return": 1845.2868341282708, "episode_return_env": 1845.2868341282708, "game_score": null, "mean_latency_ms": 110.80282639843057, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104789, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.23651719565382, "p99_latency_ms": 118.4700052289859, "return_raw": null, "survival_steps": 1000}
20
+ {"episode_id": 19, "episode_return": 1848.1539286138711, "episode_return_env": 1848.1539286138711, "game_score": null, "mean_latency_ms": 111.01576867826434, "metadata": {"checkpoint_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth", "config_name": "half_cheetah_profile_appo_h1_5fps_20260917", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/HalfCheetahContinuous-v0", "episode_seed": 104790, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/selection_training_best", "policy_id": "gymnasium_sf", "profile_ref": null, "run_name": "half_cheetah_profile_appo_h1_5fps_20260917", "sim_inference_pool_workers": 1, "simulated_worker_capacity": 1, "source_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json", "source_run_id": "20260917T171246114715Z", "submitted_observation_frames": 1000, "workload_id": "half_cheetah"}, "num_actions": 1000, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.08249123050322, "p99_latency_ms": 118.64038701855631, "return_raw": null, "survival_steps": 1000}
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/gate-summary.json ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": "NO_QUALIFYING_EPISODES",
3
+ "selected": "training_best",
4
+ "selected_mean": 1847.2160289888534,
5
+ "selected_population_std": 27.628393653569436,
6
+ "accepted_evaluation_episodes": 0,
7
+ "evaluation_episodes": 20,
8
+ "strict_gate": ">3000",
9
+ "not_run": [
10
+ "E10",
11
+ "probe",
12
+ "data_collection",
13
+ "profile_VLA",
14
+ "F"
15
+ ],
16
+ "next": "Stop profilepipeline atscientificgate; noadditionalbudgetorlowergate"
17
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/DONE ADDED
File without changes
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/hardware.json ADDED
@@ -0,0 +1,40 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "driver_version": "580.173.02",
3
+ "gpu_class": "1x-rtx3090",
4
+ "gpus": [
5
+ {
6
+ "name": "NVIDIA GeForce RTX 3090",
7
+ "slot": 0
8
+ }
9
+ ],
10
+ "instance_id": "instance_859cf1e47bca6046",
11
+ "topology_links": [],
12
+ "torch": {
13
+ "backends": {
14
+ "cuda_cudnn_sdp_enabled": true,
15
+ "cuda_flash_sdp_enabled": true,
16
+ "cuda_math_sdp_enabled": true,
17
+ "cuda_matmul_allow_tf32": false,
18
+ "cuda_mem_efficient_sdp_enabled": true,
19
+ "cudnn_allow_tf32": true,
20
+ "cudnn_benchmark": false
21
+ },
22
+ "cuda_available": true,
23
+ "cuda_device_count": 1,
24
+ "cuda_version": "12.8",
25
+ "current_device": 0,
26
+ "current_device_name": "NVIDIA GeForce RTX 3090",
27
+ "device_properties": [
28
+ {
29
+ "index": 0,
30
+ "major": 8,
31
+ "minor": 6,
32
+ "multi_processor_count": 82,
33
+ "name": "NVIDIA GeForce RTX 3090",
34
+ "total_memory": 25295257600
35
+ }
36
+ ],
37
+ "float32_matmul_precision": "highest",
38
+ "version": "2.11.0+cu128"
39
+ }
40
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/latency_burst_model.json ADDED
@@ -0,0 +1,1308 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "burst_dwell_distribution": {
3
+ "distribution_type": "inverse_cdf",
4
+ "latency_ms": [
5
+ 1.0,
6
+ 1.0,
7
+ 1.0,
8
+ 1.0,
9
+ 1.0,
10
+ 1.0,
11
+ 1.0,
12
+ 1.0,
13
+ 1.0,
14
+ 1.0,
15
+ 1.0,
16
+ 1.0,
17
+ 1.0,
18
+ 1.0,
19
+ 1.0,
20
+ 1.0,
21
+ 1.0,
22
+ 1.0,
23
+ 1.0,
24
+ 1.0,
25
+ 1.0,
26
+ 1.0,
27
+ 1.0,
28
+ 1.0,
29
+ 1.0,
30
+ 1.0,
31
+ 1.0,
32
+ 1.0,
33
+ 1.0,
34
+ 1.0,
35
+ 1.0,
36
+ 1.0,
37
+ 1.0,
38
+ 1.0,
39
+ 1.0,
40
+ 1.0,
41
+ 1.0,
42
+ 1.0,
43
+ 1.0,
44
+ 1.0,
45
+ 1.0,
46
+ 1.0,
47
+ 1.0,
48
+ 1.0,
49
+ 1.0,
50
+ 1.0,
51
+ 1.0,
52
+ 1.0,
53
+ 1.0,
54
+ 1.0,
55
+ 1.0,
56
+ 1.0,
57
+ 1.0,
58
+ 1.0,
59
+ 1.0,
60
+ 1.0,
61
+ 1.0,
62
+ 1.0,
63
+ 1.0,
64
+ 1.0,
65
+ 1.0,
66
+ 1.0,
67
+ 1.0,
68
+ 1.0,
69
+ 1.0,
70
+ 1.0,
71
+ 1.0,
72
+ 1.0,
73
+ 1.0,
74
+ 1.0,
75
+ 1.0,
76
+ 1.0,
77
+ 1.0,
78
+ 1.0,
79
+ 1.0,
80
+ 1.0,
81
+ 1.0,
82
+ 1.0,
83
+ 1.0,
84
+ 1.0,
85
+ 1.0,
86
+ 1.0,
87
+ 1.0,
88
+ 1.0,
89
+ 1.0,
90
+ 1.0,
91
+ 1.0,
92
+ 1.0,
93
+ 1.0,
94
+ 1.0,
95
+ 1.0,
96
+ 1.0,
97
+ 1.0,
98
+ 1.0,
99
+ 1.0,
100
+ 1.0,
101
+ 1.0,
102
+ 1.0,
103
+ 1.0,
104
+ 1.0,
105
+ 1.0,
106
+ 1.0,
107
+ 1.0,
108
+ 1.0,
109
+ 1.0,
110
+ 1.0,
111
+ 1.0,
112
+ 1.0,
113
+ 1.0,
114
+ 1.0,
115
+ 1.0,
116
+ 1.0,
117
+ 1.0,
118
+ 1.0,
119
+ 1.0,
120
+ 1.0,
121
+ 1.0,
122
+ 1.0,
123
+ 1.0,
124
+ 1.0,
125
+ 1.0,
126
+ 1.0,
127
+ 1.0
128
+ ],
129
+ "quantile_levels": [
130
+ 0.0,
131
+ 0.0001,
132
+ 0.0005,
133
+ 0.001,
134
+ 0.002,
135
+ 0.003,
136
+ 0.004,
137
+ 0.005,
138
+ 0.006,
139
+ 0.007,
140
+ 0.008,
141
+ 0.009,
142
+ 0.01,
143
+ 0.02,
144
+ 0.03,
145
+ 0.04,
146
+ 0.05,
147
+ 0.06,
148
+ 0.07,
149
+ 0.08,
150
+ 0.09,
151
+ 0.1,
152
+ 0.11,
153
+ 0.12,
154
+ 0.13,
155
+ 0.14,
156
+ 0.15,
157
+ 0.16,
158
+ 0.17,
159
+ 0.18,
160
+ 0.19,
161
+ 0.2,
162
+ 0.21,
163
+ 0.22,
164
+ 0.23,
165
+ 0.24,
166
+ 0.25,
167
+ 0.26,
168
+ 0.27,
169
+ 0.28,
170
+ 0.29,
171
+ 0.3,
172
+ 0.31,
173
+ 0.32,
174
+ 0.33,
175
+ 0.34,
176
+ 0.35,
177
+ 0.36,
178
+ 0.37,
179
+ 0.38,
180
+ 0.39,
181
+ 0.4,
182
+ 0.41,
183
+ 0.42,
184
+ 0.43,
185
+ 0.44,
186
+ 0.45,
187
+ 0.46,
188
+ 0.47,
189
+ 0.48,
190
+ 0.49,
191
+ 0.5,
192
+ 0.51,
193
+ 0.52,
194
+ 0.53,
195
+ 0.54,
196
+ 0.55,
197
+ 0.56,
198
+ 0.57,
199
+ 0.58,
200
+ 0.59,
201
+ 0.6,
202
+ 0.61,
203
+ 0.62,
204
+ 0.63,
205
+ 0.64,
206
+ 0.65,
207
+ 0.66,
208
+ 0.67,
209
+ 0.68,
210
+ 0.69,
211
+ 0.7,
212
+ 0.71,
213
+ 0.72,
214
+ 0.73,
215
+ 0.74,
216
+ 0.75,
217
+ 0.76,
218
+ 0.77,
219
+ 0.78,
220
+ 0.79,
221
+ 0.8,
222
+ 0.81,
223
+ 0.82,
224
+ 0.83,
225
+ 0.84,
226
+ 0.85,
227
+ 0.86,
228
+ 0.87,
229
+ 0.88,
230
+ 0.89,
231
+ 0.9,
232
+ 0.91,
233
+ 0.92,
234
+ 0.93,
235
+ 0.94,
236
+ 0.95,
237
+ 0.96,
238
+ 0.97,
239
+ 0.98,
240
+ 0.99,
241
+ 0.991,
242
+ 0.992,
243
+ 0.993,
244
+ 0.994,
245
+ 0.995,
246
+ 0.996,
247
+ 0.997,
248
+ 0.998,
249
+ 0.999,
250
+ 0.9995,
251
+ 0.9999,
252
+ 1.0
253
+ ]
254
+ },
255
+ "burst_dwell_lengths": [
256
+ 1
257
+ ],
258
+ "burst_merge_gap_records": 30,
259
+ "burst_rank_processes": [
260
+ {
261
+ "draw_count": 1,
262
+ "dwell_length_spearman_rho": 0.0,
263
+ "level_ms": {
264
+ "distribution_type": "inverse_cdf",
265
+ "latency_ms": [
266
+ 139.9069287776947,
267
+ 139.9069287776947,
268
+ 139.9069287776947,
269
+ 139.9069287776947,
270
+ 139.9069287776947,
271
+ 139.9069287776947,
272
+ 139.9069287776947,
273
+ 139.9069287776947,
274
+ 139.9069287776947,
275
+ 139.9069287776947,
276
+ 139.9069287776947,
277
+ 139.9069287776947,
278
+ 139.9069287776947,
279
+ 139.9069287776947,
280
+ 139.9069287776947,
281
+ 139.9069287776947,
282
+ 139.9069287776947,
283
+ 139.9069287776947,
284
+ 139.9069287776947,
285
+ 139.9069287776947,
286
+ 139.9069287776947,
287
+ 139.9069287776947,
288
+ 139.9069287776947,
289
+ 139.9069287776947,
290
+ 139.9069287776947,
291
+ 139.9069287776947,
292
+ 139.9069287776947,
293
+ 139.9069287776947,
294
+ 139.9069287776947,
295
+ 139.9069287776947,
296
+ 139.9069287776947,
297
+ 139.9069287776947,
298
+ 139.9069287776947,
299
+ 139.9069287776947,
300
+ 139.9069287776947,
301
+ 139.9069287776947,
302
+ 139.9069287776947,
303
+ 139.9069287776947,
304
+ 139.9069287776947,
305
+ 139.9069287776947,
306
+ 139.9069287776947,
307
+ 139.9069287776947,
308
+ 139.9069287776947,
309
+ 139.9069287776947,
310
+ 139.9069287776947,
311
+ 139.9069287776947,
312
+ 139.9069287776947,
313
+ 139.9069287776947,
314
+ 139.9069287776947,
315
+ 139.9069287776947,
316
+ 139.9069287776947,
317
+ 139.9069287776947,
318
+ 139.9069287776947,
319
+ 139.9069287776947,
320
+ 139.9069287776947,
321
+ 139.9069287776947,
322
+ 139.9069287776947,
323
+ 139.9069287776947,
324
+ 139.9069287776947,
325
+ 139.9069287776947,
326
+ 139.9069287776947,
327
+ 139.9069287776947,
328
+ 139.9069287776947,
329
+ 139.9069287776947,
330
+ 139.9069287776947,
331
+ 139.9069287776947,
332
+ 139.9069287776947,
333
+ 139.9069287776947,
334
+ 139.9069287776947,
335
+ 139.9069287776947,
336
+ 139.9069287776947,
337
+ 139.9069287776947,
338
+ 139.9069287776947,
339
+ 139.9069287776947,
340
+ 139.9069287776947,
341
+ 139.9069287776947,
342
+ 139.9069287776947,
343
+ 139.9069287776947,
344
+ 139.9069287776947,
345
+ 139.9069287776947,
346
+ 139.9069287776947,
347
+ 139.9069287776947,
348
+ 139.9069287776947,
349
+ 139.9069287776947,
350
+ 139.9069287776947,
351
+ 139.9069287776947,
352
+ 139.9069287776947,
353
+ 139.9069287776947,
354
+ 139.9069287776947,
355
+ 139.9069287776947,
356
+ 139.9069287776947,
357
+ 139.9069287776947,
358
+ 139.9069287776947,
359
+ 139.9069287776947,
360
+ 139.9069287776947,
361
+ 139.9069287776947,
362
+ 139.9069287776947,
363
+ 139.9069287776947,
364
+ 139.9069287776947,
365
+ 139.9069287776947,
366
+ 139.9069287776947,
367
+ 139.9069287776947,
368
+ 139.9069287776947,
369
+ 139.9069287776947,
370
+ 139.9069287776947,
371
+ 139.9069287776947,
372
+ 139.9069287776947,
373
+ 139.9069287776947,
374
+ 139.9069287776947,
375
+ 139.9069287776947,
376
+ 139.9069287776947,
377
+ 139.9069287776947,
378
+ 139.9069287776947,
379
+ 139.9069287776947,
380
+ 139.9069287776947,
381
+ 139.9069287776947,
382
+ 139.9069287776947,
383
+ 139.9069287776947,
384
+ 139.9069287776947,
385
+ 139.9069287776947,
386
+ 139.9069287776947,
387
+ 139.9069287776947,
388
+ 139.9069287776947
389
+ ],
390
+ "quantile_levels": [
391
+ 0.0,
392
+ 0.0001,
393
+ 0.0005,
394
+ 0.001,
395
+ 0.002,
396
+ 0.003,
397
+ 0.004,
398
+ 0.005,
399
+ 0.006,
400
+ 0.007,
401
+ 0.008,
402
+ 0.009,
403
+ 0.01,
404
+ 0.02,
405
+ 0.03,
406
+ 0.04,
407
+ 0.05,
408
+ 0.06,
409
+ 0.07,
410
+ 0.08,
411
+ 0.09,
412
+ 0.1,
413
+ 0.11,
414
+ 0.12,
415
+ 0.13,
416
+ 0.14,
417
+ 0.15,
418
+ 0.16,
419
+ 0.17,
420
+ 0.18,
421
+ 0.19,
422
+ 0.2,
423
+ 0.21,
424
+ 0.22,
425
+ 0.23,
426
+ 0.24,
427
+ 0.25,
428
+ 0.26,
429
+ 0.27,
430
+ 0.28,
431
+ 0.29,
432
+ 0.3,
433
+ 0.31,
434
+ 0.32,
435
+ 0.33,
436
+ 0.34,
437
+ 0.35,
438
+ 0.36,
439
+ 0.37,
440
+ 0.38,
441
+ 0.39,
442
+ 0.4,
443
+ 0.41,
444
+ 0.42,
445
+ 0.43,
446
+ 0.44,
447
+ 0.45,
448
+ 0.46,
449
+ 0.47,
450
+ 0.48,
451
+ 0.49,
452
+ 0.5,
453
+ 0.51,
454
+ 0.52,
455
+ 0.53,
456
+ 0.54,
457
+ 0.55,
458
+ 0.56,
459
+ 0.57,
460
+ 0.58,
461
+ 0.59,
462
+ 0.6,
463
+ 0.61,
464
+ 0.62,
465
+ 0.63,
466
+ 0.64,
467
+ 0.65,
468
+ 0.66,
469
+ 0.67,
470
+ 0.68,
471
+ 0.69,
472
+ 0.7,
473
+ 0.71,
474
+ 0.72,
475
+ 0.73,
476
+ 0.74,
477
+ 0.75,
478
+ 0.76,
479
+ 0.77,
480
+ 0.78,
481
+ 0.79,
482
+ 0.8,
483
+ 0.81,
484
+ 0.82,
485
+ 0.83,
486
+ 0.84,
487
+ 0.85,
488
+ 0.86,
489
+ 0.87,
490
+ 0.88,
491
+ 0.89,
492
+ 0.9,
493
+ 0.91,
494
+ 0.92,
495
+ 0.93,
496
+ 0.94,
497
+ 0.95,
498
+ 0.96,
499
+ 0.97,
500
+ 0.98,
501
+ 0.99,
502
+ 0.991,
503
+ 0.992,
504
+ 0.993,
505
+ 0.994,
506
+ 0.995,
507
+ 0.996,
508
+ 0.997,
509
+ 0.998,
510
+ 0.999,
511
+ 0.9995,
512
+ 0.9999,
513
+ 1.0
514
+ ]
515
+ },
516
+ "level_residual_ms": {
517
+ "distribution_type": "inverse_cdf",
518
+ "latency_ms": [
519
+ 0.0,
520
+ 0.0,
521
+ 0.0,
522
+ 0.0,
523
+ 0.0,
524
+ 0.0,
525
+ 0.0,
526
+ 0.0,
527
+ 0.0,
528
+ 0.0,
529
+ 0.0,
530
+ 0.0,
531
+ 0.0,
532
+ 0.0,
533
+ 0.0,
534
+ 0.0,
535
+ 0.0,
536
+ 0.0,
537
+ 0.0,
538
+ 0.0,
539
+ 0.0,
540
+ 0.0,
541
+ 0.0,
542
+ 0.0,
543
+ 0.0,
544
+ 0.0,
545
+ 0.0,
546
+ 0.0,
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 0.0,
551
+ 0.0,
552
+ 0.0,
553
+ 0.0,
554
+ 0.0,
555
+ 0.0,
556
+ 0.0,
557
+ 0.0,
558
+ 0.0,
559
+ 0.0,
560
+ 0.0,
561
+ 0.0,
562
+ 0.0,
563
+ 0.0,
564
+ 0.0,
565
+ 0.0,
566
+ 0.0,
567
+ 0.0,
568
+ 0.0,
569
+ 0.0,
570
+ 0.0,
571
+ 0.0,
572
+ 0.0,
573
+ 0.0,
574
+ 0.0,
575
+ 0.0,
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 0.0,
580
+ 0.0,
581
+ 0.0,
582
+ 0.0,
583
+ 0.0,
584
+ 0.0,
585
+ 0.0,
586
+ 0.0,
587
+ 0.0,
588
+ 0.0,
589
+ 0.0,
590
+ 0.0,
591
+ 0.0,
592
+ 0.0,
593
+ 0.0,
594
+ 0.0,
595
+ 0.0,
596
+ 0.0,
597
+ 0.0,
598
+ 0.0,
599
+ 0.0,
600
+ 0.0,
601
+ 0.0,
602
+ 0.0,
603
+ 0.0,
604
+ 0.0,
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 0.0,
609
+ 0.0,
610
+ 0.0,
611
+ 0.0,
612
+ 0.0,
613
+ 0.0,
614
+ 0.0,
615
+ 0.0,
616
+ 0.0,
617
+ 0.0,
618
+ 0.0,
619
+ 0.0,
620
+ 0.0,
621
+ 0.0,
622
+ 0.0,
623
+ 0.0,
624
+ 0.0,
625
+ 0.0,
626
+ 0.0,
627
+ 0.0,
628
+ 0.0,
629
+ 0.0,
630
+ 0.0,
631
+ 0.0,
632
+ 0.0,
633
+ 0.0,
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 0.0,
638
+ 0.0,
639
+ 0.0,
640
+ 0.0,
641
+ 0.0
642
+ ],
643
+ "quantile_levels": [
644
+ 0.0,
645
+ 0.0001,
646
+ 0.0005,
647
+ 0.001,
648
+ 0.002,
649
+ 0.003,
650
+ 0.004,
651
+ 0.005,
652
+ 0.006,
653
+ 0.007,
654
+ 0.008,
655
+ 0.009,
656
+ 0.01,
657
+ 0.02,
658
+ 0.03,
659
+ 0.04,
660
+ 0.05,
661
+ 0.06,
662
+ 0.07,
663
+ 0.08,
664
+ 0.09,
665
+ 0.1,
666
+ 0.11,
667
+ 0.12,
668
+ 0.13,
669
+ 0.14,
670
+ 0.15,
671
+ 0.16,
672
+ 0.17,
673
+ 0.18,
674
+ 0.19,
675
+ 0.2,
676
+ 0.21,
677
+ 0.22,
678
+ 0.23,
679
+ 0.24,
680
+ 0.25,
681
+ 0.26,
682
+ 0.27,
683
+ 0.28,
684
+ 0.29,
685
+ 0.3,
686
+ 0.31,
687
+ 0.32,
688
+ 0.33,
689
+ 0.34,
690
+ 0.35,
691
+ 0.36,
692
+ 0.37,
693
+ 0.38,
694
+ 0.39,
695
+ 0.4,
696
+ 0.41,
697
+ 0.42,
698
+ 0.43,
699
+ 0.44,
700
+ 0.45,
701
+ 0.46,
702
+ 0.47,
703
+ 0.48,
704
+ 0.49,
705
+ 0.5,
706
+ 0.51,
707
+ 0.52,
708
+ 0.53,
709
+ 0.54,
710
+ 0.55,
711
+ 0.56,
712
+ 0.57,
713
+ 0.58,
714
+ 0.59,
715
+ 0.6,
716
+ 0.61,
717
+ 0.62,
718
+ 0.63,
719
+ 0.64,
720
+ 0.65,
721
+ 0.66,
722
+ 0.67,
723
+ 0.68,
724
+ 0.69,
725
+ 0.7,
726
+ 0.71,
727
+ 0.72,
728
+ 0.73,
729
+ 0.74,
730
+ 0.75,
731
+ 0.76,
732
+ 0.77,
733
+ 0.78,
734
+ 0.79,
735
+ 0.8,
736
+ 0.81,
737
+ 0.82,
738
+ 0.83,
739
+ 0.84,
740
+ 0.85,
741
+ 0.86,
742
+ 0.87,
743
+ 0.88,
744
+ 0.89,
745
+ 0.9,
746
+ 0.91,
747
+ 0.92,
748
+ 0.93,
749
+ 0.94,
750
+ 0.95,
751
+ 0.96,
752
+ 0.97,
753
+ 0.98,
754
+ 0.99,
755
+ 0.991,
756
+ 0.992,
757
+ 0.993,
758
+ 0.994,
759
+ 0.995,
760
+ 0.996,
761
+ 0.997,
762
+ 0.998,
763
+ 0.999,
764
+ 0.9995,
765
+ 0.9999,
766
+ 1.0
767
+ ]
768
+ },
769
+ "severity": {
770
+ "distribution_type": "inverse_cdf",
771
+ "latency_ms": [
772
+ 1.0,
773
+ 1.0,
774
+ 1.0,
775
+ 1.0,
776
+ 1.0,
777
+ 1.0,
778
+ 1.0,
779
+ 1.0,
780
+ 1.0,
781
+ 1.0,
782
+ 1.0,
783
+ 1.0,
784
+ 1.0,
785
+ 1.0,
786
+ 1.0,
787
+ 1.0,
788
+ 1.0,
789
+ 1.0,
790
+ 1.0,
791
+ 1.0,
792
+ 1.0,
793
+ 1.0,
794
+ 1.0,
795
+ 1.0,
796
+ 1.0,
797
+ 1.0,
798
+ 1.0,
799
+ 1.0,
800
+ 1.0,
801
+ 1.0,
802
+ 1.0,
803
+ 1.0,
804
+ 1.0,
805
+ 1.0,
806
+ 1.0,
807
+ 1.0,
808
+ 1.0,
809
+ 1.0,
810
+ 1.0,
811
+ 1.0,
812
+ 1.0,
813
+ 1.0,
814
+ 1.0,
815
+ 1.0,
816
+ 1.0,
817
+ 1.0,
818
+ 1.0,
819
+ 1.0,
820
+ 1.0,
821
+ 1.0,
822
+ 1.0,
823
+ 1.0,
824
+ 1.0,
825
+ 1.0,
826
+ 1.0,
827
+ 1.0,
828
+ 1.0,
829
+ 1.0,
830
+ 1.0,
831
+ 1.0,
832
+ 1.0,
833
+ 1.0,
834
+ 1.0,
835
+ 1.0,
836
+ 1.0,
837
+ 1.0,
838
+ 1.0,
839
+ 1.0,
840
+ 1.0,
841
+ 1.0,
842
+ 1.0,
843
+ 1.0,
844
+ 1.0,
845
+ 1.0,
846
+ 1.0,
847
+ 1.0,
848
+ 1.0,
849
+ 1.0,
850
+ 1.0,
851
+ 1.0,
852
+ 1.0,
853
+ 1.0,
854
+ 1.0,
855
+ 1.0,
856
+ 1.0,
857
+ 1.0,
858
+ 1.0,
859
+ 1.0,
860
+ 1.0,
861
+ 1.0,
862
+ 1.0,
863
+ 1.0,
864
+ 1.0,
865
+ 1.0,
866
+ 1.0,
867
+ 1.0,
868
+ 1.0,
869
+ 1.0,
870
+ 1.0,
871
+ 1.0,
872
+ 1.0,
873
+ 1.0,
874
+ 1.0,
875
+ 1.0,
876
+ 1.0,
877
+ 1.0,
878
+ 1.0,
879
+ 1.0,
880
+ 1.0,
881
+ 1.0,
882
+ 1.0,
883
+ 1.0,
884
+ 1.0,
885
+ 1.0,
886
+ 1.0,
887
+ 1.0,
888
+ 1.0,
889
+ 1.0,
890
+ 1.0,
891
+ 1.0,
892
+ 1.0,
893
+ 1.0,
894
+ 1.0
895
+ ],
896
+ "quantile_levels": [
897
+ 0.0,
898
+ 0.0001,
899
+ 0.0005,
900
+ 0.001,
901
+ 0.002,
902
+ 0.003,
903
+ 0.004,
904
+ 0.005,
905
+ 0.006,
906
+ 0.007,
907
+ 0.008,
908
+ 0.009,
909
+ 0.01,
910
+ 0.02,
911
+ 0.03,
912
+ 0.04,
913
+ 0.05,
914
+ 0.06,
915
+ 0.07,
916
+ 0.08,
917
+ 0.09,
918
+ 0.1,
919
+ 0.11,
920
+ 0.12,
921
+ 0.13,
922
+ 0.14,
923
+ 0.15,
924
+ 0.16,
925
+ 0.17,
926
+ 0.18,
927
+ 0.19,
928
+ 0.2,
929
+ 0.21,
930
+ 0.22,
931
+ 0.23,
932
+ 0.24,
933
+ 0.25,
934
+ 0.26,
935
+ 0.27,
936
+ 0.28,
937
+ 0.29,
938
+ 0.3,
939
+ 0.31,
940
+ 0.32,
941
+ 0.33,
942
+ 0.34,
943
+ 0.35,
944
+ 0.36,
945
+ 0.37,
946
+ 0.38,
947
+ 0.39,
948
+ 0.4,
949
+ 0.41,
950
+ 0.42,
951
+ 0.43,
952
+ 0.44,
953
+ 0.45,
954
+ 0.46,
955
+ 0.47,
956
+ 0.48,
957
+ 0.49,
958
+ 0.5,
959
+ 0.51,
960
+ 0.52,
961
+ 0.53,
962
+ 0.54,
963
+ 0.55,
964
+ 0.56,
965
+ 0.57,
966
+ 0.58,
967
+ 0.59,
968
+ 0.6,
969
+ 0.61,
970
+ 0.62,
971
+ 0.63,
972
+ 0.64,
973
+ 0.65,
974
+ 0.66,
975
+ 0.67,
976
+ 0.68,
977
+ 0.69,
978
+ 0.7,
979
+ 0.71,
980
+ 0.72,
981
+ 0.73,
982
+ 0.74,
983
+ 0.75,
984
+ 0.76,
985
+ 0.77,
986
+ 0.78,
987
+ 0.79,
988
+ 0.8,
989
+ 0.81,
990
+ 0.82,
991
+ 0.83,
992
+ 0.84,
993
+ 0.85,
994
+ 0.86,
995
+ 0.87,
996
+ 0.88,
997
+ 0.89,
998
+ 0.9,
999
+ 0.91,
1000
+ 0.92,
1001
+ 0.93,
1002
+ 0.94,
1003
+ 0.95,
1004
+ 0.96,
1005
+ 0.97,
1006
+ 0.98,
1007
+ 0.99,
1008
+ 0.991,
1009
+ 0.992,
1010
+ 0.993,
1011
+ 0.994,
1012
+ 0.995,
1013
+ 0.996,
1014
+ 0.997,
1015
+ 0.998,
1016
+ 0.999,
1017
+ 0.9995,
1018
+ 0.9999,
1019
+ 1.0
1020
+ ]
1021
+ },
1022
+ "spike_count": 1
1023
+ }
1024
+ ],
1025
+ "burst_slot_rank_templates": [
1026
+ {
1027
+ "dwell_length": 1,
1028
+ "slot_to_rank": {
1029
+ "0": 0
1030
+ }
1031
+ }
1032
+ ],
1033
+ "model_type": "hidden_regime",
1034
+ "pre_worker_time_ms": {
1035
+ "distribution_type": "inverse_cdf",
1036
+ "latency_ms": [
1037
+ 0.30553507804870605,
1038
+ 0.3077211380004883,
1039
+ 0.3164808750152588,
1040
+ 0.31953859329223633,
1041
+ 0.32552826404571533,
1042
+ 0.32983291149139404,
1043
+ 0.33376097679138184,
1044
+ 0.33717095851898193,
1045
+ 0.33983349800109863,
1046
+ 0.34331464767456055,
1047
+ 0.34679698944091797,
1048
+ 0.348968505859375,
1049
+ 0.3508632183074951,
1050
+ 0.368625283241272,
1051
+ 0.38565897941589355,
1052
+ 0.4070460796356201,
1053
+ 0.4611990451812744,
1054
+ 0.6316664218902588,
1055
+ 0.8840409517288211,
1056
+ 1.1662169694900513,
1057
+ 1.1765408515930176,
1058
+ 1.1826759576797485,
1059
+ 1.1880431175231934,
1060
+ 1.192684531211853,
1061
+ 1.1972424983978271,
1062
+ 1.2018431425094604,
1063
+ 1.2057654857635498,
1064
+ 1.2101205587387085,
1065
+ 1.2142618894577026,
1066
+ 1.2186999320983887,
1067
+ 1.222942590713501,
1068
+ 1.2273939847946167,
1069
+ 1.2317519187927246,
1070
+ 1.2365156412124634,
1071
+ 1.2413979768753052,
1072
+ 1.2463014125823975,
1073
+ 1.2513395547866821,
1074
+ 1.2571754455566406,
1075
+ 1.263430118560791,
1076
+ 1.2700271606445312,
1077
+ 1.275714635848999,
1078
+ 1.2796019315719604,
1079
+ 1.2827589511871338,
1080
+ 1.2852050065994263,
1081
+ 1.287244439125061,
1082
+ 1.2892138957977295,
1083
+ 1.2908059358596802,
1084
+ 1.2922614812850952,
1085
+ 1.29354989528656,
1086
+ 1.294797420501709,
1087
+ 1.2959740161895752,
1088
+ 1.2971434593200684,
1089
+ 1.2982224225997925,
1090
+ 1.2992639541625977,
1091
+ 1.3003689050674438,
1092
+ 1.3014429807662964,
1093
+ 1.3025270700454712,
1094
+ 1.3035889863967896,
1095
+ 1.3046104907989502,
1096
+ 1.305594563484192,
1097
+ 1.3065420389175415,
1098
+ 1.3075339794158936,
1099
+ 1.3084988594055176,
1100
+ 1.3095744848251343,
1101
+ 1.3105474710464478,
1102
+ 1.3115888833999634,
1103
+ 1.3126180171966553,
1104
+ 1.3135755062103271,
1105
+ 1.3145705461502075,
1106
+ 1.3156801462173462,
1107
+ 1.31684148311615,
1108
+ 1.3178833723068237,
1109
+ 1.3190351724624634,
1110
+ 1.3201690912246704,
1111
+ 1.321287751197815,
1112
+ 1.3223395347595215,
1113
+ 1.3234862089157104,
1114
+ 1.324728012084961,
1115
+ 1.3260740041732788,
1116
+ 1.3272501230239868,
1117
+ 1.328466534614563,
1118
+ 1.3298245668411255,
1119
+ 1.3311378955841064,
1120
+ 1.3325191736221313,
1121
+ 1.3339595794677734,
1122
+ 1.3355170488357544,
1123
+ 1.3370128870010376,
1124
+ 1.3387715816497803,
1125
+ 1.3404450416564941,
1126
+ 1.342273473739624,
1127
+ 1.3439849615097046,
1128
+ 1.3459140062332153,
1129
+ 1.347856879234314,
1130
+ 1.3500744104385376,
1131
+ 1.352415919303894,
1132
+ 1.3550053834915161,
1133
+ 1.3578065633773804,
1134
+ 1.360755443572998,
1135
+ 1.3641879558563232,
1136
+ 1.3683834075927734,
1137
+ 1.3727985620498657,
1138
+ 1.3783611059188843,
1139
+ 1.3850845098495483,
1140
+ 1.3929460048675537,
1141
+ 1.4022895097732544,
1142
+ 1.4133398532867432,
1143
+ 1.4243890047073364,
1144
+ 1.4366841316223145,
1145
+ 1.4502850770950317,
1146
+ 1.4661744832992554,
1147
+ 1.4898686408996582,
1148
+ 1.4927234649658203,
1149
+ 1.496643304824829,
1150
+ 1.499802827835083,
1151
+ 1.5039091110229492,
1152
+ 1.5099905729293823,
1153
+ 1.5158015489578247,
1154
+ 1.5254449844360352,
1155
+ 1.5403350591659546,
1156
+ 1.587038516998291,
1157
+ 1.626986026763916,
1158
+ 1.685157060623169,
1159
+ 1.759110927581787
1160
+ ],
1161
+ "quantile_levels": [
1162
+ 0.0,
1163
+ 0.0001,
1164
+ 0.0005,
1165
+ 0.001,
1166
+ 0.002,
1167
+ 0.003,
1168
+ 0.004,
1169
+ 0.005,
1170
+ 0.006,
1171
+ 0.007,
1172
+ 0.008,
1173
+ 0.009,
1174
+ 0.01,
1175
+ 0.02,
1176
+ 0.03,
1177
+ 0.04,
1178
+ 0.05,
1179
+ 0.06,
1180
+ 0.07,
1181
+ 0.08,
1182
+ 0.09,
1183
+ 0.1,
1184
+ 0.11,
1185
+ 0.12,
1186
+ 0.13,
1187
+ 0.14,
1188
+ 0.15,
1189
+ 0.16,
1190
+ 0.17,
1191
+ 0.18,
1192
+ 0.19,
1193
+ 0.2,
1194
+ 0.21,
1195
+ 0.22,
1196
+ 0.23,
1197
+ 0.24,
1198
+ 0.25,
1199
+ 0.26,
1200
+ 0.27,
1201
+ 0.28,
1202
+ 0.29,
1203
+ 0.3,
1204
+ 0.31,
1205
+ 0.32,
1206
+ 0.33,
1207
+ 0.34,
1208
+ 0.35,
1209
+ 0.36,
1210
+ 0.37,
1211
+ 0.38,
1212
+ 0.39,
1213
+ 0.4,
1214
+ 0.41,
1215
+ 0.42,
1216
+ 0.43,
1217
+ 0.44,
1218
+ 0.45,
1219
+ 0.46,
1220
+ 0.47,
1221
+ 0.48,
1222
+ 0.49,
1223
+ 0.5,
1224
+ 0.51,
1225
+ 0.52,
1226
+ 0.53,
1227
+ 0.54,
1228
+ 0.55,
1229
+ 0.56,
1230
+ 0.57,
1231
+ 0.58,
1232
+ 0.59,
1233
+ 0.6,
1234
+ 0.61,
1235
+ 0.62,
1236
+ 0.63,
1237
+ 0.64,
1238
+ 0.65,
1239
+ 0.66,
1240
+ 0.67,
1241
+ 0.68,
1242
+ 0.69,
1243
+ 0.7,
1244
+ 0.71,
1245
+ 0.72,
1246
+ 0.73,
1247
+ 0.74,
1248
+ 0.75,
1249
+ 0.76,
1250
+ 0.77,
1251
+ 0.78,
1252
+ 0.79,
1253
+ 0.8,
1254
+ 0.81,
1255
+ 0.82,
1256
+ 0.83,
1257
+ 0.84,
1258
+ 0.85,
1259
+ 0.86,
1260
+ 0.87,
1261
+ 0.88,
1262
+ 0.89,
1263
+ 0.9,
1264
+ 0.91,
1265
+ 0.92,
1266
+ 0.93,
1267
+ 0.94,
1268
+ 0.95,
1269
+ 0.96,
1270
+ 0.97,
1271
+ 0.98,
1272
+ 0.99,
1273
+ 0.991,
1274
+ 0.992,
1275
+ 0.993,
1276
+ 0.994,
1277
+ 0.995,
1278
+ 0.996,
1279
+ 0.997,
1280
+ 0.998,
1281
+ 0.999,
1282
+ 0.9995,
1283
+ 0.9999,
1284
+ 1.0
1285
+ ]
1286
+ },
1287
+ "regime_step_counts": {
1288
+ "burst": 1,
1289
+ "calm": 44999
1290
+ },
1291
+ "regime_transition_counts": {
1292
+ "burst": {
1293
+ "burst": 0,
1294
+ "calm": 1
1295
+ },
1296
+ "calm": {
1297
+ "burst": 1,
1298
+ "calm": 44993
1299
+ }
1300
+ },
1301
+ "reset_scope": "session",
1302
+ "schema_version": 12,
1303
+ "spike_median_multiplier": 1.25,
1304
+ "spike_threshold_ms_by_worker_slot": {
1305
+ "0": 136.5302787721157
1306
+ },
1307
+ "worker_count": 1
1308
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/latency_distribution.json ADDED
@@ -0,0 +1,1027 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 3,
3
+ "worker_slots": {
4
+ "0": {
5
+ "all": {
6
+ "count": 45000,
7
+ "observation_to_action_latency_ms": {
8
+ "distribution_type": "inverse_cdf",
9
+ "latency_ms": [
10
+ 98.70396614074707,
11
+ 98.93569874763489,
12
+ 99.48969292640686,
13
+ 99.74139285087585,
14
+ 99.99378800392151,
15
+ 100.23676657676697,
16
+ 100.45681989192963,
17
+ 100.61310255527496,
18
+ 100.76971435546875,
19
+ 100.91665184497833,
20
+ 101.04355335235596,
21
+ 101.16939151287079,
22
+ 101.26515638828278,
23
+ 102.14995896816254,
24
+ 102.71126055717468,
25
+ 103.18618357181549,
26
+ 103.5731360912323,
27
+ 103.8581645488739,
28
+ 104.08811604976654,
29
+ 104.26839756965637,
30
+ 104.44286751747131,
31
+ 104.59254956245422,
32
+ 104.73005056381226,
33
+ 104.86736297607422,
34
+ 104.99852454662323,
35
+ 105.11451184749603,
36
+ 105.22956800460815,
37
+ 105.34380328655243,
38
+ 105.46738255023956,
39
+ 105.5861269235611,
40
+ 105.72314298152924,
41
+ 105.86401557922363,
42
+ 106.00613284111023,
43
+ 106.1586788892746,
44
+ 106.3304455280304,
45
+ 106.49429941177368,
46
+ 106.6677074432373,
47
+ 106.88013243675232,
48
+ 107.11437559127808,
49
+ 107.39064860343933,
50
+ 107.76535844802856,
51
+ 108.26877391338348,
52
+ 109.1403124332428,
53
+ 109.8295773267746,
54
+ 110.14285898208618,
55
+ 110.38829505443573,
56
+ 110.55411946773529,
57
+ 110.7079405784607,
58
+ 110.84284853935242,
59
+ 110.94373548030853,
60
+ 111.0390625,
61
+ 111.1330189704895,
62
+ 111.21616291999817,
63
+ 111.30723702907562,
64
+ 111.39569699764252,
65
+ 111.4632009267807,
66
+ 111.53299856185913,
67
+ 111.6087236404419,
68
+ 111.68404424190521,
69
+ 111.75892806053162,
70
+ 111.83013546466827,
71
+ 111.89721739292145,
72
+ 111.96227693557739,
73
+ 112.0322414636612,
74
+ 112.09205996990204,
75
+ 112.1550350189209,
76
+ 112.21599662303925,
77
+ 112.27896404266357,
78
+ 112.34797739982605,
79
+ 112.41241264343262,
80
+ 112.47833442687988,
81
+ 112.5394195318222,
82
+ 112.59503257274628,
83
+ 112.66607999801636,
84
+ 112.74150538444519,
85
+ 112.81656002998352,
86
+ 112.88787245750427,
87
+ 112.96066892147064,
88
+ 113.03999197483063,
89
+ 113.12193381786346,
90
+ 113.20433247089386,
91
+ 113.29065752029419,
92
+ 113.38739097118378,
93
+ 113.48024344444275,
94
+ 113.57242012023926,
95
+ 113.67222535610199,
96
+ 113.78520202636719,
97
+ 113.90836346149445,
98
+ 114.03478968143463,
99
+ 114.17524063587189,
100
+ 114.33557045459747,
101
+ 114.5150785446167,
102
+ 114.69101011753082,
103
+ 114.87553763389587,
104
+ 115.04817807674408,
105
+ 115.21558105945587,
106
+ 115.4046676158905,
107
+ 115.56282246112823,
108
+ 115.73450660705566,
109
+ 115.90149509906769,
110
+ 116.06068742275238,
111
+ 116.21335291862488,
112
+ 116.38565921783447,
113
+ 116.53832197189331,
114
+ 116.72133803367615,
115
+ 116.9329149723053,
116
+ 117.14166796207428,
117
+ 117.37930107116699,
118
+ 117.6389229297638,
119
+ 118.00152051448822,
120
+ 118.53854954242706,
121
+ 118.61444401741028,
122
+ 118.718177318573,
123
+ 118.81481945514679,
124
+ 118.91746199131012,
125
+ 119.05122864246368,
126
+ 119.20978999137878,
127
+ 119.4237105846405,
128
+ 119.78174543380737,
129
+ 120.79663491249084,
130
+ 125.07273578643799,
131
+ 131.77028608322144,
132
+ 140.54522109031677
133
+ ],
134
+ "quantile_levels": [
135
+ 0.0,
136
+ 0.0001,
137
+ 0.0005,
138
+ 0.001,
139
+ 0.002,
140
+ 0.003,
141
+ 0.004,
142
+ 0.005,
143
+ 0.006,
144
+ 0.007,
145
+ 0.008,
146
+ 0.009,
147
+ 0.01,
148
+ 0.02,
149
+ 0.03,
150
+ 0.04,
151
+ 0.05,
152
+ 0.06,
153
+ 0.07,
154
+ 0.08,
155
+ 0.09,
156
+ 0.1,
157
+ 0.11,
158
+ 0.12,
159
+ 0.13,
160
+ 0.14,
161
+ 0.15,
162
+ 0.16,
163
+ 0.17,
164
+ 0.18,
165
+ 0.19,
166
+ 0.2,
167
+ 0.21,
168
+ 0.22,
169
+ 0.23,
170
+ 0.24,
171
+ 0.25,
172
+ 0.26,
173
+ 0.27,
174
+ 0.28,
175
+ 0.29,
176
+ 0.3,
177
+ 0.31,
178
+ 0.32,
179
+ 0.33,
180
+ 0.34,
181
+ 0.35,
182
+ 0.36,
183
+ 0.37,
184
+ 0.38,
185
+ 0.39,
186
+ 0.4,
187
+ 0.41,
188
+ 0.42,
189
+ 0.43,
190
+ 0.44,
191
+ 0.45,
192
+ 0.46,
193
+ 0.47,
194
+ 0.48,
195
+ 0.49,
196
+ 0.5,
197
+ 0.51,
198
+ 0.52,
199
+ 0.53,
200
+ 0.54,
201
+ 0.55,
202
+ 0.56,
203
+ 0.57,
204
+ 0.58,
205
+ 0.59,
206
+ 0.6,
207
+ 0.61,
208
+ 0.62,
209
+ 0.63,
210
+ 0.64,
211
+ 0.65,
212
+ 0.66,
213
+ 0.67,
214
+ 0.68,
215
+ 0.69,
216
+ 0.7,
217
+ 0.71,
218
+ 0.72,
219
+ 0.73,
220
+ 0.74,
221
+ 0.75,
222
+ 0.76,
223
+ 0.77,
224
+ 0.78,
225
+ 0.79,
226
+ 0.8,
227
+ 0.81,
228
+ 0.82,
229
+ 0.83,
230
+ 0.84,
231
+ 0.85,
232
+ 0.86,
233
+ 0.87,
234
+ 0.88,
235
+ 0.89,
236
+ 0.9,
237
+ 0.91,
238
+ 0.92,
239
+ 0.93,
240
+ 0.94,
241
+ 0.95,
242
+ 0.96,
243
+ 0.97,
244
+ 0.98,
245
+ 0.99,
246
+ 0.991,
247
+ 0.992,
248
+ 0.993,
249
+ 0.994,
250
+ 0.995,
251
+ 0.996,
252
+ 0.997,
253
+ 0.998,
254
+ 0.999,
255
+ 0.9995,
256
+ 0.9999,
257
+ 1.0
258
+ ]
259
+ },
260
+ "spearman_rho": 0.9992538887917277,
261
+ "worker_service_time_ms": {
262
+ "distribution_type": "inverse_cdf",
263
+ "latency_ms": [
264
+ 98.31866312026978,
265
+ 98.56582283973694,
266
+ 99.09732794761658,
267
+ 99.34384250640869,
268
+ 99.60134279727936,
269
+ 99.86176609992981,
270
+ 100.06919705867767,
271
+ 100.20859134197235,
272
+ 100.35521805286407,
273
+ 100.51889312267303,
274
+ 100.64560198783875,
275
+ 100.76041841506958,
276
+ 100.85606694221497,
277
+ 101.66479992866516,
278
+ 102.09854483604431,
279
+ 102.38846600055695,
280
+ 102.62049758434296,
281
+ 102.81858789920807,
282
+ 102.98463356494904,
283
+ 103.14342212677002,
284
+ 103.28345096111298,
285
+ 103.41380250453949,
286
+ 103.54721701145172,
287
+ 103.67480552196503,
288
+ 103.77950954437256,
289
+ 103.88921844959259,
290
+ 104.00332796573639,
291
+ 104.11410200595856,
292
+ 104.23153555393219,
293
+ 104.35140717029572,
294
+ 104.48387706279755,
295
+ 104.61716043949127,
296
+ 104.76020801067352,
297
+ 104.91312956809998,
298
+ 105.07158708572388,
299
+ 105.24114692211151,
300
+ 105.41247749328613,
301
+ 105.62178659439087,
302
+ 105.85350358486176,
303
+ 106.14066958427429,
304
+ 106.5293470621109,
305
+ 107.06386351585388,
306
+ 107.92944240570068,
307
+ 108.54334259033203,
308
+ 108.85813748836517,
309
+ 109.0984525680542,
310
+ 109.2556928396225,
311
+ 109.41076350212097,
312
+ 109.53469741344452,
313
+ 109.63675737380981,
314
+ 109.73488652706146,
315
+ 109.83300447463989,
316
+ 109.91255807876587,
317
+ 110.00031197071075,
318
+ 110.08124887943268,
319
+ 110.15699744224548,
320
+ 110.22898960113525,
321
+ 110.29925954341888,
322
+ 110.37904095649719,
323
+ 110.44585633277893,
324
+ 110.51946687698364,
325
+ 110.5860960483551,
326
+ 110.6517504453659,
327
+ 110.72050642967224,
328
+ 110.77966952323914,
329
+ 110.84107339382172,
330
+ 110.89812338352203,
331
+ 110.96228384971619,
332
+ 111.02794694900513,
333
+ 111.09109902381897,
334
+ 111.15636229515076,
335
+ 111.21828901767731,
336
+ 111.28044390678406,
337
+ 111.34816014766693,
338
+ 111.42458152770996,
339
+ 111.49758005142212,
340
+ 111.57378840446472,
341
+ 111.6487375497818,
342
+ 111.72672939300537,
343
+ 111.80910456180573,
344
+ 111.88192296028137,
345
+ 111.97343039512634,
346
+ 112.0639683008194,
347
+ 112.15919697284698,
348
+ 112.25180351734161,
349
+ 112.35117554664612,
350
+ 112.46263563632965,
351
+ 112.585289478302,
352
+ 112.71991741657257,
353
+ 112.85827541351318,
354
+ 113.02608108520508,
355
+ 113.19591450691223,
356
+ 113.37514591217041,
357
+ 113.5558249950409,
358
+ 113.73285055160522,
359
+ 113.89902758598328,
360
+ 114.09989607334137,
361
+ 114.25527513027191,
362
+ 114.43847215175629,
363
+ 114.60090148448944,
364
+ 114.7521880865097,
365
+ 114.90961241722107,
366
+ 115.07374906539917,
367
+ 115.23099088668823,
368
+ 115.41548895835876,
369
+ 115.63097894191742,
370
+ 115.84239614009857,
371
+ 116.07322025299072,
372
+ 116.32566285133362,
373
+ 116.69259297847748,
374
+ 117.25221645832062,
375
+ 117.32926750183105,
376
+ 117.41624450683594,
377
+ 117.49305152893066,
378
+ 117.62031185626984,
379
+ 117.74097692966461,
380
+ 117.92407608032227,
381
+ 118.13507807254791,
382
+ 118.49272584915161,
383
+ 119.61601066589355,
384
+ 123.79435396194458,
385
+ 131.1158401966095,
386
+ 139.9069287776947
387
+ ],
388
+ "quantile_levels": [
389
+ 0.0,
390
+ 0.0001,
391
+ 0.0005,
392
+ 0.001,
393
+ 0.002,
394
+ 0.003,
395
+ 0.004,
396
+ 0.005,
397
+ 0.006,
398
+ 0.007,
399
+ 0.008,
400
+ 0.009,
401
+ 0.01,
402
+ 0.02,
403
+ 0.03,
404
+ 0.04,
405
+ 0.05,
406
+ 0.06,
407
+ 0.07,
408
+ 0.08,
409
+ 0.09,
410
+ 0.1,
411
+ 0.11,
412
+ 0.12,
413
+ 0.13,
414
+ 0.14,
415
+ 0.15,
416
+ 0.16,
417
+ 0.17,
418
+ 0.18,
419
+ 0.19,
420
+ 0.2,
421
+ 0.21,
422
+ 0.22,
423
+ 0.23,
424
+ 0.24,
425
+ 0.25,
426
+ 0.26,
427
+ 0.27,
428
+ 0.28,
429
+ 0.29,
430
+ 0.3,
431
+ 0.31,
432
+ 0.32,
433
+ 0.33,
434
+ 0.34,
435
+ 0.35,
436
+ 0.36,
437
+ 0.37,
438
+ 0.38,
439
+ 0.39,
440
+ 0.4,
441
+ 0.41,
442
+ 0.42,
443
+ 0.43,
444
+ 0.44,
445
+ 0.45,
446
+ 0.46,
447
+ 0.47,
448
+ 0.48,
449
+ 0.49,
450
+ 0.5,
451
+ 0.51,
452
+ 0.52,
453
+ 0.53,
454
+ 0.54,
455
+ 0.55,
456
+ 0.56,
457
+ 0.57,
458
+ 0.58,
459
+ 0.59,
460
+ 0.6,
461
+ 0.61,
462
+ 0.62,
463
+ 0.63,
464
+ 0.64,
465
+ 0.65,
466
+ 0.66,
467
+ 0.67,
468
+ 0.68,
469
+ 0.69,
470
+ 0.7,
471
+ 0.71,
472
+ 0.72,
473
+ 0.73,
474
+ 0.74,
475
+ 0.75,
476
+ 0.76,
477
+ 0.77,
478
+ 0.78,
479
+ 0.79,
480
+ 0.8,
481
+ 0.81,
482
+ 0.82,
483
+ 0.83,
484
+ 0.84,
485
+ 0.85,
486
+ 0.86,
487
+ 0.87,
488
+ 0.88,
489
+ 0.89,
490
+ 0.9,
491
+ 0.91,
492
+ 0.92,
493
+ 0.93,
494
+ 0.94,
495
+ 0.95,
496
+ 0.96,
497
+ 0.97,
498
+ 0.98,
499
+ 0.99,
500
+ 0.991,
501
+ 0.992,
502
+ 0.993,
503
+ 0.994,
504
+ 0.995,
505
+ 0.996,
506
+ 0.997,
507
+ 0.998,
508
+ 0.999,
509
+ 0.9995,
510
+ 0.9999,
511
+ 1.0
512
+ ]
513
+ }
514
+ },
515
+ "steady": {
516
+ "count": 44999,
517
+ "observation_to_action_latency_ms": {
518
+ "distribution_type": "inverse_cdf",
519
+ "latency_ms": [
520
+ 98.70396614074707,
521
+ 98.93569474406242,
522
+ 99.48969086396694,
523
+ 99.7413560910225,
524
+ 99.99378479576112,
525
+ 100.23674687576293,
526
+ 100.45678990745544,
527
+ 100.61309240221978,
528
+ 100.76970933151244,
529
+ 100.91663708996772,
530
+ 101.04355195236207,
531
+ 101.16937319874764,
532
+ 101.26514303922653,
533
+ 102.1499203300476,
534
+ 102.71111395835877,
535
+ 103.18615472316742,
536
+ 103.5730320930481,
537
+ 103.8581521320343,
538
+ 104.08799927473068,
539
+ 104.26837124824524,
540
+ 104.44285610198975,
541
+ 104.59245924949646,
542
+ 104.72997303962707,
543
+ 104.86732120513916,
544
+ 104.9985189986229,
545
+ 105.11449979782104,
546
+ 105.2294695854187,
547
+ 105.3437799024582,
548
+ 105.46737934827804,
549
+ 105.58610138893127,
550
+ 105.7231175684929,
551
+ 105.86395378112793,
552
+ 106.00595810413361,
553
+ 106.15865334510804,
554
+ 106.3304360961914,
555
+ 106.49419790267945,
556
+ 106.66770577430725,
557
+ 106.87996209144592,
558
+ 107.11434404850006,
559
+ 107.3905671596527,
560
+ 107.76500264644622,
561
+ 108.26873979568481,
562
+ 109.13974598884583,
563
+ 109.82951240062714,
564
+ 110.14282467842102,
565
+ 110.38825346946716,
566
+ 110.55410786867142,
567
+ 110.7078928565979,
568
+ 110.842807431221,
569
+ 110.94358916282654,
570
+ 111.0390558052063,
571
+ 111.13293657302856,
572
+ 111.2161580324173,
573
+ 111.30711696624756,
574
+ 111.39564727544784,
575
+ 111.46318865299224,
576
+ 111.532990193367,
577
+ 111.60866814613343,
578
+ 111.68401275396347,
579
+ 111.75892714500428,
580
+ 111.83005964517594,
581
+ 111.89674973487854,
582
+ 111.96217710733414,
583
+ 112.03223152160645,
584
+ 112.09183992862701,
585
+ 112.15503047943115,
586
+ 112.21598188877105,
587
+ 112.27885273933411,
588
+ 112.34791289329529,
589
+ 112.4121667098999,
590
+ 112.47822159051896,
591
+ 112.53936698436738,
592
+ 112.59497592687607,
593
+ 112.66591523170472,
594
+ 112.74125365257264,
595
+ 112.81647316932678,
596
+ 112.88769792318344,
597
+ 112.96064425468445,
598
+ 113.03990176916122,
599
+ 113.1216405916214,
600
+ 113.20431551218033,
601
+ 113.29031753540039,
602
+ 113.38733742952347,
603
+ 113.47987905025482,
604
+ 113.5723169875145,
605
+ 113.67212121963502,
606
+ 113.78512352705002,
607
+ 113.90804686069488,
608
+ 114.03463499546051,
609
+ 114.17505489349365,
610
+ 114.33522748231888,
611
+ 114.51444413661957,
612
+ 114.69055737257004,
613
+ 114.87542158126831,
614
+ 115.04800778150559,
615
+ 115.21496387481689,
616
+ 115.40456523895264,
617
+ 115.56248826980591,
618
+ 115.73442641496658,
619
+ 115.90141519069671,
620
+ 116.06050712585449,
621
+ 116.2129159450531,
622
+ 116.38519371986389,
623
+ 116.53765635490417,
624
+ 116.72071683883667,
625
+ 116.93244757652283,
626
+ 117.14148443937302,
627
+ 117.37877433776856,
628
+ 117.63874564647675,
629
+ 118.00030923843383,
630
+ 118.53773995399476,
631
+ 118.61231872749327,
632
+ 118.71476497268677,
633
+ 118.81297756981849,
634
+ 118.9169585442543,
635
+ 119.04759360313415,
636
+ 119.20824273872375,
637
+ 119.41981980085372,
638
+ 119.77135396146775,
639
+ 120.72904401683795,
640
+ 123.87360811496012,
641
+ 131.25776838946214,
642
+ 135.37514996528625
643
+ ],
644
+ "quantile_levels": [
645
+ 0.0,
646
+ 0.0001,
647
+ 0.0005,
648
+ 0.001,
649
+ 0.002,
650
+ 0.003,
651
+ 0.004,
652
+ 0.005,
653
+ 0.006,
654
+ 0.007,
655
+ 0.008,
656
+ 0.009,
657
+ 0.01,
658
+ 0.02,
659
+ 0.03,
660
+ 0.04,
661
+ 0.05,
662
+ 0.06,
663
+ 0.07,
664
+ 0.08,
665
+ 0.09,
666
+ 0.1,
667
+ 0.11,
668
+ 0.12,
669
+ 0.13,
670
+ 0.14,
671
+ 0.15,
672
+ 0.16,
673
+ 0.17,
674
+ 0.18,
675
+ 0.19,
676
+ 0.2,
677
+ 0.21,
678
+ 0.22,
679
+ 0.23,
680
+ 0.24,
681
+ 0.25,
682
+ 0.26,
683
+ 0.27,
684
+ 0.28,
685
+ 0.29,
686
+ 0.3,
687
+ 0.31,
688
+ 0.32,
689
+ 0.33,
690
+ 0.34,
691
+ 0.35,
692
+ 0.36,
693
+ 0.37,
694
+ 0.38,
695
+ 0.39,
696
+ 0.4,
697
+ 0.41,
698
+ 0.42,
699
+ 0.43,
700
+ 0.44,
701
+ 0.45,
702
+ 0.46,
703
+ 0.47,
704
+ 0.48,
705
+ 0.49,
706
+ 0.5,
707
+ 0.51,
708
+ 0.52,
709
+ 0.53,
710
+ 0.54,
711
+ 0.55,
712
+ 0.56,
713
+ 0.57,
714
+ 0.58,
715
+ 0.59,
716
+ 0.6,
717
+ 0.61,
718
+ 0.62,
719
+ 0.63,
720
+ 0.64,
721
+ 0.65,
722
+ 0.66,
723
+ 0.67,
724
+ 0.68,
725
+ 0.69,
726
+ 0.7,
727
+ 0.71,
728
+ 0.72,
729
+ 0.73,
730
+ 0.74,
731
+ 0.75,
732
+ 0.76,
733
+ 0.77,
734
+ 0.78,
735
+ 0.79,
736
+ 0.8,
737
+ 0.81,
738
+ 0.82,
739
+ 0.83,
740
+ 0.84,
741
+ 0.85,
742
+ 0.86,
743
+ 0.87,
744
+ 0.88,
745
+ 0.89,
746
+ 0.9,
747
+ 0.91,
748
+ 0.92,
749
+ 0.93,
750
+ 0.94,
751
+ 0.95,
752
+ 0.96,
753
+ 0.97,
754
+ 0.98,
755
+ 0.99,
756
+ 0.991,
757
+ 0.992,
758
+ 0.993,
759
+ 0.994,
760
+ 0.995,
761
+ 0.996,
762
+ 0.997,
763
+ 0.998,
764
+ 0.999,
765
+ 0.9995,
766
+ 0.9999,
767
+ 1.0
768
+ ]
769
+ },
770
+ "spearman_rho": 0.9992538390487696,
771
+ "worker_service_time_ms": {
772
+ "distribution_type": "inverse_cdf",
773
+ "latency_ms": [
774
+ 98.31866312026978,
775
+ 98.56581710674763,
776
+ 99.09732095921039,
777
+ 99.34383623552323,
778
+ 99.60132966184617,
779
+ 99.86176584815979,
780
+ 100.06919284248352,
781
+ 100.20857570767403,
782
+ 100.35520109701157,
783
+ 100.51886550021172,
784
+ 100.64558459663391,
785
+ 100.76037700605393,
786
+ 100.85604187965393,
787
+ 101.66479192733765,
788
+ 102.09853091716766,
789
+ 102.38840856075286,
790
+ 102.62048434019088,
791
+ 102.81856811523437,
792
+ 102.98463207960128,
793
+ 103.143373336792,
794
+ 103.28344969511032,
795
+ 103.41374378204345,
796
+ 103.54720513105393,
797
+ 103.67479965686798,
798
+ 103.77949875831604,
799
+ 103.88920065879822,
800
+ 104.00327035188675,
801
+ 104.11408411502838,
802
+ 104.23152489423752,
803
+ 104.35132833480834,
804
+ 104.48386677980423,
805
+ 104.61714541912079,
806
+ 104.76005975961685,
807
+ 104.91307124137879,
808
+ 105.07148816108703,
809
+ 105.24111230373383,
810
+ 105.4121242761612,
811
+ 105.6217562198639,
812
+ 105.85334130048751,
813
+ 106.14065583229065,
814
+ 106.52853278398514,
815
+ 107.06374320983886,
816
+ 107.92898904323577,
817
+ 108.54316497802735,
818
+ 108.8574897313118,
819
+ 109.09838366508484,
820
+ 109.25567122697831,
821
+ 109.41071063041687,
822
+ 109.5345829987526,
823
+ 109.63613604545593,
824
+ 109.73469749212265,
825
+ 109.83290796279907,
826
+ 109.91245387554169,
827
+ 110.00021874427796,
828
+ 110.08120243787765,
829
+ 110.15696618080139,
830
+ 110.22889561653137,
831
+ 110.29889290809632,
832
+ 110.37904006004334,
833
+ 110.44581078529357,
834
+ 110.51936477184296,
835
+ 110.58607697486877,
836
+ 110.65169381380082,
837
+ 110.7204720878601,
838
+ 110.77962331056595,
839
+ 110.84104709625244,
840
+ 110.89811874628067,
841
+ 110.96207599163056,
842
+ 111.02792620897293,
843
+ 111.09100631713868,
844
+ 111.15635010957718,
845
+ 111.2181872367859,
846
+ 111.28041862487792,
847
+ 111.34810885429383,
848
+ 111.42450404405594,
849
+ 111.49753837585449,
850
+ 111.57377830743789,
851
+ 111.64865688323975,
852
+ 111.72656315088273,
853
+ 111.80902991771698,
854
+ 111.88165298700332,
855
+ 111.9731110572815,
856
+ 112.06394392251968,
857
+ 112.15879735469818,
858
+ 112.25163966655731,
859
+ 112.35110059738159,
860
+ 112.46214687824249,
861
+ 112.58521132946015,
862
+ 112.71982661724091,
863
+ 112.85818910598755,
864
+ 113.0256680059433,
865
+ 113.19586725234986,
866
+ 113.3748426270485,
867
+ 113.55558583259582,
868
+ 113.73247645378113,
869
+ 113.89891651153565,
870
+ 114.09933540821075,
871
+ 114.25469061851501,
872
+ 114.4374224114418,
873
+ 114.60077642917634,
874
+ 114.75160539627075,
875
+ 114.90944337844849,
876
+ 115.07355502843858,
877
+ 115.2304388999939,
878
+ 115.41513421297073,
879
+ 115.63058570861817,
880
+ 115.84229958057404,
881
+ 116.0729815864563,
882
+ 116.32491849422455,
883
+ 116.69249981880188,
884
+ 117.25177101373673,
885
+ 117.32898230147362,
886
+ 117.41230021953584,
887
+ 117.49239917516708,
888
+ 117.61818783283233,
889
+ 117.73604384064673,
890
+ 117.91679067230226,
891
+ 118.13051911377906,
892
+ 118.48173347473144,
893
+ 119.57613303613635,
894
+ 122.88888999116595,
895
+ 130.4164038644296,
896
+ 134.48226380348206
897
+ ],
898
+ "quantile_levels": [
899
+ 0.0,
900
+ 0.0001,
901
+ 0.0005,
902
+ 0.001,
903
+ 0.002,
904
+ 0.003,
905
+ 0.004,
906
+ 0.005,
907
+ 0.006,
908
+ 0.007,
909
+ 0.008,
910
+ 0.009,
911
+ 0.01,
912
+ 0.02,
913
+ 0.03,
914
+ 0.04,
915
+ 0.05,
916
+ 0.06,
917
+ 0.07,
918
+ 0.08,
919
+ 0.09,
920
+ 0.1,
921
+ 0.11,
922
+ 0.12,
923
+ 0.13,
924
+ 0.14,
925
+ 0.15,
926
+ 0.16,
927
+ 0.17,
928
+ 0.18,
929
+ 0.19,
930
+ 0.2,
931
+ 0.21,
932
+ 0.22,
933
+ 0.23,
934
+ 0.24,
935
+ 0.25,
936
+ 0.26,
937
+ 0.27,
938
+ 0.28,
939
+ 0.29,
940
+ 0.3,
941
+ 0.31,
942
+ 0.32,
943
+ 0.33,
944
+ 0.34,
945
+ 0.35,
946
+ 0.36,
947
+ 0.37,
948
+ 0.38,
949
+ 0.39,
950
+ 0.4,
951
+ 0.41,
952
+ 0.42,
953
+ 0.43,
954
+ 0.44,
955
+ 0.45,
956
+ 0.46,
957
+ 0.47,
958
+ 0.48,
959
+ 0.49,
960
+ 0.5,
961
+ 0.51,
962
+ 0.52,
963
+ 0.53,
964
+ 0.54,
965
+ 0.55,
966
+ 0.56,
967
+ 0.57,
968
+ 0.58,
969
+ 0.59,
970
+ 0.6,
971
+ 0.61,
972
+ 0.62,
973
+ 0.63,
974
+ 0.64,
975
+ 0.65,
976
+ 0.66,
977
+ 0.67,
978
+ 0.68,
979
+ 0.69,
980
+ 0.7,
981
+ 0.71,
982
+ 0.72,
983
+ 0.73,
984
+ 0.74,
985
+ 0.75,
986
+ 0.76,
987
+ 0.77,
988
+ 0.78,
989
+ 0.79,
990
+ 0.8,
991
+ 0.81,
992
+ 0.82,
993
+ 0.83,
994
+ 0.84,
995
+ 0.85,
996
+ 0.86,
997
+ 0.87,
998
+ 0.88,
999
+ 0.89,
1000
+ 0.9,
1001
+ 0.91,
1002
+ 0.92,
1003
+ 0.93,
1004
+ 0.94,
1005
+ 0.95,
1006
+ 0.96,
1007
+ 0.97,
1008
+ 0.98,
1009
+ 0.99,
1010
+ 0.991,
1011
+ 0.992,
1012
+ 0.993,
1013
+ 0.994,
1014
+ 0.995,
1015
+ 0.996,
1016
+ 0.997,
1017
+ 0.998,
1018
+ 0.999,
1019
+ 0.9995,
1020
+ 0.9999,
1021
+ 1.0
1022
+ ]
1023
+ }
1024
+ }
1025
+ }
1026
+ }
1027
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/latency_profile.png ADDED
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/profile.json ADDED
@@ -0,0 +1,71 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "burst_model_path": "latency_burst_model.json",
3
+ "distribution_path": "latency_distribution.json",
4
+ "env_fps": 5,
5
+ "frame_ms": 200.0,
6
+ "gpu_class": "1x-rtx3090",
7
+ "instance_id": "instance_859cf1e47bca6046",
8
+ "latency_kind": "observation_to_action_latency",
9
+ "latency_method": "temporal",
10
+ "model_id": "gr00t",
11
+ "n_admitted_observations": 45000,
12
+ "n_capacity_drops": 0,
13
+ "n_observation_attempts": 45000,
14
+ "per_slot_summary": {
15
+ "0": {
16
+ "admitted_count": 45000,
17
+ "mean_observation_to_action_latency_ms": 110.87737190819317,
18
+ "mean_worker_service_time_ms": 109.62982732170953,
19
+ "p95_observation_to_action_latency_ms": 117.14155541658401,
20
+ "p95_worker_service_time_ms": 115.84231406450272,
21
+ "p99_worker_service_time_ms": 117.25199367284775
22
+ }
23
+ },
24
+ "provenance": {
25
+ "base_config": "/workspace/lzj/latency-sensitive-bench/runs/half_cheetah/gr00t_h1_5fps_20260917/P.yaml",
26
+ "checkpoint_kind": "latest",
27
+ "model_artifact": {
28
+ "action_horizon": 1,
29
+ "checkpoint_sha256": "8f007f801c45ed8476546ebf7cc96e60283d2ffd05a6d30feaa529d7ea7f658f",
30
+ "clock_fps": 5,
31
+ "hf_prefix": "half_cheetah/zero_latency/GR00T",
32
+ "hf_repo": "latency-sensitive-bench/Standard-Pipeline",
33
+ "hf_revision": "543d6d4ab81112a0307af9f0a5c9cf4d6cd355de",
34
+ "published": true,
35
+ "source": "huggingface",
36
+ "training_condition": "zero_latency",
37
+ "training_updates": 5000
38
+ },
39
+ "session_ids": [
40
+ 0,
41
+ 1,
42
+ 2,
43
+ 3,
44
+ 4
45
+ ]
46
+ },
47
+ "sample_model_type": "hidden_regime",
48
+ "source_run_id": "20260917T171246114715Z",
49
+ "summary": {
50
+ "frame_ms": 200.0,
51
+ "max_ms": 140.54522109031677,
52
+ "mean_effective_frames": 0.5543868595409659,
53
+ "mean_ms": 110.87737190819317,
54
+ "min_ms": 98.70396614074707,
55
+ "n_samples": 45000,
56
+ "p50_frames": 0.5594860869646072,
57
+ "p50_ms": 111.89721739292145,
58
+ "p90_frames": 0.5810652406215668,
59
+ "p90_ms": 116.21304812431336,
60
+ "p95_frames": 0.5857077770829201,
61
+ "p95_ms": 117.14155541658401,
62
+ "p99_frames": 0.5926902026772499,
63
+ "p99_ms": 118.53804053544998,
64
+ "prob_latency_gt_1_frame": 0.0,
65
+ "prob_latency_gt_2_frames": 0.0,
66
+ "prob_latency_gt_3_frames": 0.0,
67
+ "std_ms": 4.364779955431135
68
+ },
69
+ "visualization_path": "latency_profile.png",
70
+ "workload_id": "half_cheetah"
71
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/provenance.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "half-cheetah",
3
+ "model": "sample-factory-appo",
4
+ "training_condition": "latency-aware",
5
+ "training_run_id": "half_cheetah_profile_appo_h1_5fps_20260917",
6
+ "source": {
7
+ "repo_id": "latency-sensitive-bench/Standard-Pipeline",
8
+ "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
9
+ "path": "half_cheetah/profile_latency/small_model/GR00T",
10
+ "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/half_cheetah/profile_latency/small_model/GR00T"
11
+ },
12
+ "hf_repo_id": "latency-sensitive-bench/benchmark-models",
13
+ "hf_path": "latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1",
14
+ "checkpoint": {
15
+ "source_file": "half_cheetah/profile_latency/small_model/GR00T/checkpoints/best_000018736_9592832_reward_1793.350.pth",
16
+ "source_sha256": "01e50eb4902c9c6cc99879bbd8bc34333921ffc02a7371f092f51b7e8795bd59",
17
+ "source_bytes": 83973,
18
+ "file": "checkpoint.pth",
19
+ "selection_rule": "training_best",
20
+ "method": "inference_export",
21
+ "sha256": "b1fc0590189724808f40c0d27f902cbc53ce84614c3f606bdceacc8919799c77",
22
+ "bytes": 29877,
23
+ "train_step": 18736,
24
+ "env_steps": 9592832,
25
+ "tensor_count": 15,
26
+ "tensor_equality_verified": true,
27
+ "removed_fields": [
28
+ "best_performance",
29
+ "curr_lr",
30
+ "optimizer"
31
+ ]
32
+ },
33
+ "config_source": "half_cheetah/profile_latency/small_model/GR00T/config.json",
34
+ "task_contract_file": null,
35
+ "missing_source_files": [],
36
+ "migration": {
37
+ "operation": "copy_selected_inference_bundle",
38
+ "source_modified": false,
39
+ "evaluation_performed": false,
40
+ "experiment_status": "preserved_in_source_evidence"
41
+ },
42
+ "algorithm": "APPO",
43
+ "latency_model": "qwengr00t"
44
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/recipe.yaml ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ experiment:
2
+ name: half_cheetah_profile_appo_h1_5fps_20260917
3
+ seed: 2222
4
+ backend:
5
+ type: sample_factory
6
+ algo: APPO
7
+ device: cuda
8
+ train_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints
9
+ restart_behavior: overwrite
10
+ run_mode: train
11
+ extra_args:
12
+ - --wandb_user
13
+ - dongqianyu99-zhejiang-university
14
+ executor:
15
+ mode: simulated
16
+ env:
17
+ name: gymnasium
18
+ task_name: half_cheetah
19
+ env_id: LatencyBench/HalfCheetahContinuous-v0
20
+ registration_imports:
21
+ - latency_bench.envs.gymnasium_half_cheetah
22
+ make_kwargs:
23
+ base_env_id: HalfCheetah-v4
24
+ render_mode: rgb_array
25
+ base_make_kwargs: {}
26
+ env_fps: 5
27
+ obs_fps: 5
28
+ frame_stack: 1
29
+ state_space:
30
+ labels:
31
+ - front_tip_height
32
+ - front_tip_angle
33
+ - back_thigh_angle
34
+ - back_shin_angle
35
+ - back_foot_angle
36
+ - front_thigh_angle
37
+ - front_shin_angle
38
+ - front_foot_angle
39
+ - front_tip_x_velocity
40
+ - front_tip_z_velocity
41
+ - front_tip_angular_velocity
42
+ - back_thigh_angular_velocity
43
+ - back_shin_angular_velocity
44
+ - back_foot_angular_velocity
45
+ - front_thigh_angular_velocity
46
+ - front_shin_angular_velocity
47
+ - front_foot_angular_velocity
48
+ action_space:
49
+ type: box
50
+ labels:
51
+ - back_thigh_torque
52
+ - back_shin_torque
53
+ - back_foot_torque
54
+ - front_thigh_torque
55
+ - front_shin_torque
56
+ - front_foot_torque
57
+ low:
58
+ - -1.0
59
+ - -1.0
60
+ - -1.0
61
+ - -1.0
62
+ - -1.0
63
+ - -1.0
64
+ high:
65
+ - 1.0
66
+ - 1.0
67
+ - 1.0
68
+ - 1.0
69
+ - 1.0
70
+ - 1.0
71
+ dtype: float32
72
+ noop_action:
73
+ - 0.0
74
+ - 0.0
75
+ - 0.0
76
+ - 0.0
77
+ - 0.0
78
+ - 0.0
79
+ base_prompt: Make the Half Cheetah run forward as fast as possible. Predict six
80
+ continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front
81
+ thigh, front shin, and front foot.
82
+ latency:
83
+ method: iid
84
+ profile_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/profile_3090_20260917T171246114715Z/profile.json
85
+ profile_worker_slot: 0
86
+ seed: 0
87
+ add_latency_info: false
88
+ scheduler:
89
+ hold_policy: hold
90
+ ordering_policy: issue_order_fifo
91
+ policy:
92
+ type: random
93
+ training:
94
+ train_for_env_steps: 10000000
95
+ num_workers: 8
96
+ num_envs_per_worker: 8
97
+ worker_num_splits: 2
98
+ num_policies: 1
99
+ batch_size: 1024
100
+ rollout: 64
101
+ recurrence: 1
102
+ num_epochs: 2
103
+ num_batches_per_epoch: 4
104
+ num_batches_to_accumulate: 2
105
+ policy_workers_per_policy: 1
106
+ max_policy_lag: 10000
107
+ learning_rate: 0.00295
108
+ lr_schedule: linear_decay
109
+ lr_schedule_kl_threshold: 0.008
110
+ gamma: 0.99
111
+ gae_lambda: 0.95
112
+ ppo_clip_ratio: 0.2
113
+ ppo_clip_value: 1.0
114
+ value_loss_coeff: 1.3
115
+ max_grad_norm: 3.5
116
+ exploration_loss: entropy
117
+ exploration_loss_coeff: 0.0
118
+ kl_loss_coeff: 0.1
119
+ reward_scale: 1.0
120
+ reward_clip: 1000.0
121
+ async_rl: false
122
+ serial_mode: false
123
+ batched_sampling: false
124
+ with_vtrace: false
125
+ use_rnn: false
126
+ encoder_mlp_layers:
127
+ - 64
128
+ - 64
129
+ nonlinearity: tanh
130
+ adaptive_stddev: false
131
+ policy_initialization: torch_default
132
+ initial_stddev: 1.0
133
+ actor_critic_share_weights: true
134
+ shuffle_minibatches: false
135
+ value_bootstrap: false
136
+ normalize_input: true
137
+ normalize_returns: true
138
+ decorrelate_experience_max_seconds: 10
139
+ decorrelate_envs_on_one_worker: true
140
+ set_workers_cpu_affinity: true
141
+ force_envs_single_thread: true
142
+ save_every_sec: 600
143
+ keep_checkpoints: 3
144
+ save_best_every_sec: 60
145
+ save_best_after: 100000
146
+ evaluation:
147
+ eval_interval_steps: null
148
+ eval_episodes: 20
149
+ eval_parallel_envs: 1
150
+ eval_max_steps: 1000
151
+ eval_deterministic: true
152
+ eval_latency_values: null
153
+ logging:
154
+ output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/training
155
+ video:
156
+ enabled: false
157
+ num_bins: 1
158
+ save_step_records: false
159
+ save_action_records: false
160
+ save_latency_records: false
161
+ wandb_project: latency-sensitive-bench
162
+ wandb_group: gr00t-six-env-h1-5fps
163
+ wandb_job_type: profile_teacher
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/selection.json ADDED
@@ -0,0 +1,66 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "selected": "training_best",
3
+ "candidates": {
4
+ "final": {
5
+ "checkpoint": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth",
6
+ "sha256": "d99185b8e6af48bdaf4f3a152b7eb391d96c7d8fdbcda6a7d9b9f36f25b8b7b8",
7
+ "episodes": 20,
8
+ "returns": [
9
+ 1857.2374405048977,
10
+ 1867.494728237067,
11
+ 1834.5174806519765,
12
+ 1865.8690548707461,
13
+ 1801.7301131165686,
14
+ 1876.8244417767962,
15
+ 1865.6403856027441,
16
+ 1762.3797913309936,
17
+ 1835.7552201531942,
18
+ 1842.555192265558,
19
+ 1857.8608419027873,
20
+ 1828.4981316832227,
21
+ 1858.3761893131157,
22
+ 1870.122593021503,
23
+ 1842.1905916416376,
24
+ 1853.096570888896,
25
+ 1874.5922690761886,
26
+ 1804.164970094345,
27
+ 1864.918328697703,
28
+ 1799.2772620012308
29
+ ],
30
+ "mean": 1843.1550798415585,
31
+ "std": 29.76027331862149,
32
+ "strict_gt3000": 0
33
+ },
34
+ "training_best": {
35
+ "checkpoint": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/half_cheetah/profile_latency/teacher/checkpoints/half_cheetah_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000018736_9592832_reward_1793.350.pth",
36
+ "sha256": "01e50eb4902c9c6cc99879bbd8bc34333921ffc02a7371f092f51b7e8795bd59",
37
+ "episodes": 20,
38
+ "returns": [
39
+ 1887.561249494765,
40
+ 1895.0448055201541,
41
+ 1858.3344573252318,
42
+ 1830.0221069470836,
43
+ 1812.0352138530668,
44
+ 1793.54399269377,
45
+ 1893.5209629203653,
46
+ 1835.4972454347915,
47
+ 1888.6783450211715,
48
+ 1831.1448449836785,
49
+ 1855.0970322771736,
50
+ 1855.3305649185393,
51
+ 1835.5406847810145,
52
+ 1845.6326210025886,
53
+ 1803.1661607436554,
54
+ 1830.418271781488,
55
+ 1845.491576391448,
56
+ 1854.8196809449396,
57
+ 1845.2868341282708,
58
+ 1848.1539286138711
59
+ ],
60
+ "mean": 1847.2160289888534,
61
+ "std": 27.628393653569436,
62
+ "strict_gt3000": 0
63
+ }
64
+ },
65
+ "completed_at": "2026-09-17T20:08:30.143735+00:00"
66
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/source/README.md ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # HalfCheetah H1 / 5 FPS: verified stage status
2
+
3
+ Zero-latency GR00T training completed 5000 updates. L0 simulated evaluation: **5012.472804 ± 742.293683** (population SD), 20 episodes, seeds 42–61, all 1000 raw steps.
4
+
5
+ Measured P and B are complete. B20 return: **-262.465910 ± 74.942120**, all 1000 raw steps, zero dropped/invalid actions. B combines 16 completed original episodes whose core metrics were reconstructed with frozen `compute_episode_metrics`, plus four newly evaluated remaining seeds 58–61 after the container restart. P and the completed 16 episodes were not rerun. Some metadata for those 16 episodes, including actual environment FPS and end-drain counters, could not be recovered and remains `None`; this is not lossless full-aggregate metadata recovery.
6
+
7
+ The actual-profile APPO teacher completed its original 10M budget (10,002,432 actual environment steps). Final20: 1843.155080 ± 29.760273; training-best20: 1847.216029 ± 27.628394. Both had **0/20 returns strictly greater than 3000**. Training-best was selected, but the scientific gate failed. E10, probe, profile data collection, profile VLA training and F were not run. The budget and gate were not relaxed. Full pipeline acceptance is not established.
8
+
9
+ - [Pinned final B and recovery evidence](https://huggingface.co/datasets/latency-sensitive-bench/Standard-Pipeline/tree/223f2106c10b264b820963391ec546d8dce039a5/half_cheetah/profile_latency/GR00T/h1_5fps_20260917/baseline)
10
+ - [Pinned teacher gate audit](https://huggingface.co/datasets/latency-sensitive-bench/Standard-Pipeline/tree/6391d8254f2b9d38d6f4a8c5d5168cfd5f10e30a/half_cheetah/profile_latency/GR00T/h1_5fps_20260917/small_model/evaluation)
11
+
12
+ Existing inference weights and historical validation receipts are unchanged.
latency-aware/half-cheetah/small-policy/sample-factory-qwengr00t-rtx3090-v1/teacher-verification.json ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": "TEACHER_GATE_FAILED_VERIFIED",
3
+ "verified_at": "2026-09-17T20:16:11.793455+00:00",
4
+ "seed": 2222,
5
+ "target_env_steps": 10000000,
6
+ "actual_final_env_steps": 10002432,
7
+ "state_dim": 17,
8
+ "action_dim": 6,
9
+ "env_fps": 5,
10
+ "obs_fps": 5,
11
+ "latency": "actualprofileIIDseed0",
12
+ "profile_sha256": "bec664bd742b851acad96d46b8d0ecde5447f26097c4bea79ae839bba440037f",
13
+ "selected": "training_best",
14
+ "evaluations": {
15
+ "final": {
16
+ "mean": 1843.1550798415585,
17
+ "population_std": 29.76027331862149,
18
+ "episodes": 20,
19
+ "seeds": [
20
+ 104771,
21
+ 104772,
22
+ 104773,
23
+ 104774,
24
+ 104775,
25
+ 104776,
26
+ 104777,
27
+ 104778,
28
+ 104779,
29
+ 104780,
30
+ 104781,
31
+ 104782,
32
+ 104783,
33
+ 104784,
34
+ 104785,
35
+ 104786,
36
+ 104787,
37
+ 104788,
38
+ 104789,
39
+ 104790
40
+ ],
41
+ "lengths": [
42
+ 1000,
43
+ 1000,
44
+ 1000,
45
+ 1000,
46
+ 1000,
47
+ 1000,
48
+ 1000,
49
+ 1000,
50
+ 1000,
51
+ 1000,
52
+ 1000,
53
+ 1000,
54
+ 1000,
55
+ 1000,
56
+ 1000,
57
+ 1000,
58
+ 1000,
59
+ 1000,
60
+ 1000,
61
+ 1000
62
+ ],
63
+ "strict_gt3000": 0,
64
+ "invalid_actions": 0,
65
+ "raw_step_rewards_and_indices_verified": true,
66
+ "checkpoint_sha256": "d99185b8e6af48bdaf4f3a152b7eb391d96c7d8fdbcda6a7d9b9f36f25b8b7b8"
67
+ },
68
+ "training_best": {
69
+ "mean": 1847.2160289888534,
70
+ "population_std": 27.628393653569436,
71
+ "episodes": 20,
72
+ "seeds": [
73
+ 104771,
74
+ 104772,
75
+ 104773,
76
+ 104774,
77
+ 104775,
78
+ 104776,
79
+ 104777,
80
+ 104778,
81
+ 104779,
82
+ 104780,
83
+ 104781,
84
+ 104782,
85
+ 104783,
86
+ 104784,
87
+ 104785,
88
+ 104786,
89
+ 104787,
90
+ 104788,
91
+ 104789,
92
+ 104790
93
+ ],
94
+ "lengths": [
95
+ 1000,
96
+ 1000,
97
+ 1000,
98
+ 1000,
99
+ 1000,
100
+ 1000,
101
+ 1000,
102
+ 1000,
103
+ 1000,
104
+ 1000,
105
+ 1000,
106
+ 1000,
107
+ 1000,
108
+ 1000,
109
+ 1000,
110
+ 1000,
111
+ 1000,
112
+ 1000,
113
+ 1000,
114
+ 1000
115
+ ],
116
+ "strict_gt3000": 0,
117
+ "invalid_actions": 0,
118
+ "raw_step_rewards_and_indices_verified": true,
119
+ "checkpoint_sha256": "01e50eb4902c9c6cc99879bbd8bc34333921ffc02a7371f092f51b7e8795bd59"
120
+ }
121
+ },
122
+ "strict_gate": ">3000",
123
+ "not_run": [
124
+ "E10",
125
+ "probe",
126
+ "data_collection",
127
+ "profile_VLA",
128
+ "F"
129
+ ],
130
+ "B": "Still running as reported by parent; not inspected by this audit",
131
+ "budget_or_gate_changed": false
132
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/README.md ADDED
@@ -0,0 +1,26 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # half-cheetah / sample-factory-appo
2
+
3
+ Training condition: `latency-aware`. Run: `half_cheetah_profile_20260912T023319Z`.
4
+
5
+ Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/half_cheetah/profile_latency/small_model) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
6
+
7
+ - Checkpoint: `checkpoint.pth`
8
+ - Selection: best_reward_after_full_training_budget
9
+ - Checkpoint SHA256: `323a1b8a6b7050ad692bf684645ec03e518fb0f2b20cbe3ec98fb92df0ceb640`
10
+ - Configuration, FPS, actions, normalization and latency semantics retain their source values.
11
+ - This import does not run evaluations or change training/evaluation/acceptance status.
12
+
13
+ Sample Factory APPO inference bundle: `config.json` and the explicit `checkpoint.pth`.
14
+ The checkpoint contains `model`, `train_step`, and `env_steps`; every exported model
15
+ tensor was reloaded and compared bit-for-bit with the selected source checkpoint.
16
+
17
+ ## Download
18
+
19
+ ```python
20
+ from huggingface_hub import snapshot_download
21
+ prefix = "latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1"
22
+ snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
23
+ allow_patterns=[prefix + "/**"])
24
+ ```
25
+
26
+ Use the verified import commit listed in the repository's import report.
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/checkpoint.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:323a1b8a6b7050ad692bf684645ec03e518fb0f2b20cbe3ec98fb92df0ceb640
3
+ size 29877
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/config.json ADDED
@@ -0,0 +1,276 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "help": false,
3
+ "algo": "APPO",
4
+ "env": "latency_gymnasium",
5
+ "experiment": "half_cheetah_profile_20260912T023319Z",
6
+ "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models",
7
+ "restart_behavior": "overwrite",
8
+ "device": "gpu",
9
+ "seed": 2222,
10
+ "initial_model_path": null,
11
+ "num_policies": 1,
12
+ "async_rl": false,
13
+ "serial_mode": false,
14
+ "batched_sampling": false,
15
+ "num_batches_to_accumulate": 2,
16
+ "worker_num_splits": 2,
17
+ "policy_workers_per_policy": 1,
18
+ "max_policy_lag": 10000,
19
+ "num_workers": 8,
20
+ "num_envs_per_worker": 8,
21
+ "batch_size": 1024,
22
+ "num_batches_per_epoch": 4,
23
+ "num_epochs": 2,
24
+ "rollout": 64,
25
+ "fasttd3_replay_capacity": 6553600,
26
+ "fasttd3_replay_batch_size": 32768,
27
+ "fasttd3_transitions_per_update": 64,
28
+ "fasttd3_v_min": -250.0,
29
+ "fasttd3_v_max": 250.0,
30
+ "fasttd3_actor_action_l2": 0.0,
31
+ "fasttd3_compile": true,
32
+ "fasttd3_sonic_decoder_path": null,
33
+ "recurrence": 1,
34
+ "shuffle_minibatches": false,
35
+ "gamma": 0.99,
36
+ "reward_scale": 1.0,
37
+ "reward_clip": 1000.0,
38
+ "value_bootstrap": false,
39
+ "normalize_returns": true,
40
+ "exploration_loss_coeff": 0.0,
41
+ "value_loss_coeff": 1.3,
42
+ "kl_loss_coeff": 0.1,
43
+ "exploration_loss": "entropy",
44
+ "gae_lambda": 0.95,
45
+ "ppo_clip_ratio": 0.2,
46
+ "ppo_clip_value": 1.0,
47
+ "with_vtrace": false,
48
+ "vtrace_rho": 1.0,
49
+ "vtrace_c": 1.0,
50
+ "optimizer": "adam",
51
+ "adam_eps": 1e-06,
52
+ "adam_beta1": 0.9,
53
+ "adam_beta2": 0.999,
54
+ "max_grad_norm": 3.5,
55
+ "learning_rate": 0.00295,
56
+ "lr_schedule": "linear_decay",
57
+ "lr_schedule_kl_threshold": 0.008,
58
+ "lr_adaptive_min": 1e-06,
59
+ "lr_adaptive_max": 0.01,
60
+ "obs_subtract_mean": 0.0,
61
+ "obs_scale": 1.0,
62
+ "normalize_input": true,
63
+ "normalize_input_keys": null,
64
+ "decorrelate_experience_max_seconds": 10,
65
+ "decorrelate_envs_on_one_worker": true,
66
+ "actor_worker_gpus": [],
67
+ "set_workers_cpu_affinity": true,
68
+ "force_envs_single_thread": true,
69
+ "default_niceness": 0,
70
+ "log_to_file": true,
71
+ "experiment_summaries_interval": 10,
72
+ "flush_summaries_interval": 30,
73
+ "stats_avg": 100,
74
+ "summaries_use_frameskip": true,
75
+ "heartbeat_interval": 20,
76
+ "heartbeat_reporting_interval": 180,
77
+ "train_for_env_steps": 10000000,
78
+ "train_for_seconds": 10000000000,
79
+ "save_every_sec": 600,
80
+ "keep_checkpoints": 3,
81
+ "load_checkpoint_kind": "latest",
82
+ "save_milestones_sec": -1,
83
+ "save_best_every_sec": 60,
84
+ "save_best_metric": "reward",
85
+ "save_best_after": 100000,
86
+ "benchmark": false,
87
+ "encoder_mlp_layers": [
88
+ 64,
89
+ 64
90
+ ],
91
+ "encoder_conv_architecture": "convnet_simple",
92
+ "encoder_conv_mlp_layers": [
93
+ 512
94
+ ],
95
+ "use_rnn": false,
96
+ "rnn_size": 512,
97
+ "rnn_type": "gru",
98
+ "rnn_num_layers": 1,
99
+ "decoder_mlp_layers": [],
100
+ "nonlinearity": "tanh",
101
+ "policy_initialization": "torch_default",
102
+ "policy_init_gain": 1.0,
103
+ "actor_critic_share_weights": true,
104
+ "adaptive_stddev": false,
105
+ "continuous_tanh_scale": 0.0,
106
+ "initial_stddev": 1.0,
107
+ "use_env_info_cache": false,
108
+ "env_gpu_actions": false,
109
+ "env_gpu_observations": true,
110
+ "env_frameskip": 1,
111
+ "env_framestack": 1,
112
+ "pixel_format": "CHW",
113
+ "use_record_episode_statistics": false,
114
+ "with_wandb": false,
115
+ "wandb_user": null,
116
+ "wandb_project": "sample_factory",
117
+ "wandb_group": null,
118
+ "wandb_job_type": "SF",
119
+ "wandb_tags": [],
120
+ "with_pbt": false,
121
+ "pbt_mix_policies_in_one_env": true,
122
+ "pbt_period_env_steps": 5000000,
123
+ "pbt_start_mutation": 20000000,
124
+ "pbt_replace_fraction": 0.3,
125
+ "pbt_mutation_rate": 0.15,
126
+ "pbt_replace_reward_gap": 0.1,
127
+ "pbt_replace_reward_gap_absolute": 1e-06,
128
+ "pbt_optimize_gamma": false,
129
+ "pbt_target_objective": "true_objective",
130
+ "pbt_perturb_min": 1.1,
131
+ "pbt_perturb_max": 1.5,
132
+ "gym_task_name": "half_cheetah_rgb_state",
133
+ "gym_env_id": "LatencyBench/HalfCheetahContinuous-v0",
134
+ "gym_make_kwargs_json": "{\"base_env_id\": \"HalfCheetah-v4\", \"base_make_kwargs\": {}, \"render_mode\": \"rgb_array\"}",
135
+ "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_half_cheetah\"]",
136
+ "gym_action_space_json": "{\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"type\": \"box\"}",
137
+ "gym_action_labels_json": null,
138
+ "gym_action_values_json": null,
139
+ "gym_noop_action_id": null,
140
+ "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
141
+ "gym_base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
142
+ "gym_state_labels_json": "[\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"]",
143
+ "env_fps": 10.0,
144
+ "obs_fps": 10.0,
145
+ "frame_stack": 1,
146
+ "export_env_raw_rgb_frames": false,
147
+ "mode": "train",
148
+ "latency_type": "iid",
149
+ "fixed_latency_ms": null,
150
+ "mean_latency_ms": null,
151
+ "std_latency_ms": null,
152
+ "min_latency_ms": null,
153
+ "max_latency_ms": null,
154
+ "latency_seed": 0,
155
+ "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/profile/profile.json",
156
+ "latency_profile_worker_slot": 0,
157
+ "simulated_worker_capacity": null,
158
+ "add_latency_info": false,
159
+ "max_pending_actions": null,
160
+ "hold_policy": "hold",
161
+ "ordering_policy": "issue_order_fifo",
162
+ "eval_episodes": 10,
163
+ "eval_parallel_envs": 1,
164
+ "eval_latency_raw_frame_values": null,
165
+ "eval_max_steps": 1000,
166
+ "eval_deterministic": true,
167
+ "eval_raw_reward": false,
168
+ "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/episode_metrics.jsonl",
169
+ "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment half_cheetah_profile_20260912T023319Z --train_dir /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models --restart_behavior overwrite --device gpu --seed 2222 --episode_metrics_path /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/episode_metrics.jsonl --train_for_env_steps 10000000 --num_workers 8 --num_envs_per_worker 8 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 1 --num_epochs 2 --num_batches_per_epoch 4 --worker_num_splits 2 --max_policy_lag 10000 --num_batches_to_accumulate 2 --policy_workers_per_policy 1 --learning_rate 0.00295 --kl_loss_coeff 0.1 --lr_schedule_kl_threshold 0.008 --nonlinearity tanh --policy_initialization torch_default --continuous_tanh_scale 0.0 --initial_stddev 1.0 --env_framestack 1 --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.2 --ppo_clip_value 1.0 --exploration_loss entropy --exploration_loss_coeff 0.0 --reward_scale 1.0 --reward_clip 1000.0 --value_loss_coeff 1.3 --max_grad_norm 3.5 --optimizer adam --adam_eps 1e-06 --adam_beta1 0.9 --adam_beta2 0.999 --obs_subtract_mean 0.0 --obs_scale 1.0 --decorrelate_experience_max_seconds 10 --default_niceness 0 --rnn_type gru --rnn_size 512 --save_every_sec 600 --keep_checkpoints 3 --save_milestones_sec -1 --save_best_every_sec 60 --save_best_after 100000 --stats_avg 100 --experiment_summaries_interval 10 --async_rl False --batched_sampling False --serial_mode False --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --shuffle_minibatches False --value_bootstrap False --with_vtrace False --decorrelate_envs_on_one_worker True --set_workers_cpu_affinity True --force_envs_single_thread True --actor_critic_share_weights True --with_wandb False --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/profile/profile.json --latency-profile-worker-slot 0 --add-latency-info False --eval-episodes 10 --eval-parallel-envs 1 --eval-max-steps 1000 --eval-deterministic True --gym-task-name half_cheetah_rgb_state --gym-env-id LatencyBench/HalfCheetahContinuous-v0 --gym-make-kwargs-json {\"base_env_id\": \"HalfCheetah-v4\", \"base_make_kwargs\": {}, \"render_mode\": \"rgb_array\"} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_half_cheetah\"] --gym-action-space-json {\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"type\": \"box\"} --gym-noop-action-json [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] --gym-base-prompt Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot. --gym-state-labels-json [\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"] --env-fps 10.0 --obs-fps 10.0 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
170
+ "cli_args": {
171
+ "algo": "APPO",
172
+ "env": "latency_gymnasium",
173
+ "experiment": "half_cheetah_profile_20260912T023319Z",
174
+ "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models",
175
+ "restart_behavior": "overwrite",
176
+ "device": "gpu",
177
+ "seed": 2222,
178
+ "num_policies": 1,
179
+ "async_rl": false,
180
+ "serial_mode": false,
181
+ "batched_sampling": false,
182
+ "num_batches_to_accumulate": 2,
183
+ "worker_num_splits": 2,
184
+ "policy_workers_per_policy": 1,
185
+ "max_policy_lag": 10000,
186
+ "num_workers": 8,
187
+ "num_envs_per_worker": 8,
188
+ "batch_size": 1024,
189
+ "num_batches_per_epoch": 4,
190
+ "num_epochs": 2,
191
+ "rollout": 64,
192
+ "recurrence": 1,
193
+ "shuffle_minibatches": false,
194
+ "gamma": 0.99,
195
+ "reward_scale": 1.0,
196
+ "reward_clip": 1000.0,
197
+ "value_bootstrap": false,
198
+ "normalize_returns": true,
199
+ "exploration_loss_coeff": 0.0,
200
+ "value_loss_coeff": 1.3,
201
+ "kl_loss_coeff": 0.1,
202
+ "exploration_loss": "entropy",
203
+ "gae_lambda": 0.95,
204
+ "ppo_clip_ratio": 0.2,
205
+ "ppo_clip_value": 1.0,
206
+ "with_vtrace": false,
207
+ "optimizer": "adam",
208
+ "adam_eps": 1e-06,
209
+ "adam_beta1": 0.9,
210
+ "adam_beta2": 0.999,
211
+ "max_grad_norm": 3.5,
212
+ "learning_rate": 0.00295,
213
+ "lr_schedule_kl_threshold": 0.008,
214
+ "obs_subtract_mean": 0.0,
215
+ "obs_scale": 1.0,
216
+ "normalize_input": true,
217
+ "decorrelate_experience_max_seconds": 10,
218
+ "decorrelate_envs_on_one_worker": true,
219
+ "set_workers_cpu_affinity": true,
220
+ "force_envs_single_thread": true,
221
+ "default_niceness": 0,
222
+ "experiment_summaries_interval": 10,
223
+ "stats_avg": 100,
224
+ "train_for_env_steps": 10000000,
225
+ "save_every_sec": 600,
226
+ "keep_checkpoints": 3,
227
+ "save_milestones_sec": -1,
228
+ "save_best_every_sec": 60,
229
+ "save_best_after": 100000,
230
+ "encoder_mlp_layers": [
231
+ 64,
232
+ 64
233
+ ],
234
+ "use_rnn": false,
235
+ "rnn_size": 512,
236
+ "rnn_type": "gru",
237
+ "nonlinearity": "tanh",
238
+ "policy_initialization": "torch_default",
239
+ "actor_critic_share_weights": true,
240
+ "adaptive_stddev": false,
241
+ "continuous_tanh_scale": 0.0,
242
+ "initial_stddev": 1.0,
243
+ "use_env_info_cache": false,
244
+ "env_framestack": 1,
245
+ "with_wandb": false,
246
+ "gym_task_name": "half_cheetah_rgb_state",
247
+ "gym_env_id": "LatencyBench/HalfCheetahContinuous-v0",
248
+ "gym_make_kwargs_json": "{\"base_env_id\": \"HalfCheetah-v4\", \"base_make_kwargs\": {}, \"render_mode\": \"rgb_array\"}",
249
+ "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_half_cheetah\"]",
250
+ "gym_action_space_json": "{\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"type\": \"box\"}",
251
+ "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
252
+ "gym_base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
253
+ "gym_state_labels_json": "[\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"]",
254
+ "env_fps": 10.0,
255
+ "obs_fps": 10.0,
256
+ "frame_stack": 1,
257
+ "mode": "train",
258
+ "latency_type": "iid",
259
+ "latency_seed": 0,
260
+ "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/profile/profile.json",
261
+ "latency_profile_worker_slot": 0,
262
+ "add_latency_info": false,
263
+ "hold_policy": "hold",
264
+ "ordering_policy": "issue_order_fifo",
265
+ "eval_episodes": 10,
266
+ "eval_parallel_envs": 1,
267
+ "eval_max_steps": 1000,
268
+ "eval_deterministic": true,
269
+ "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/episode_metrics.jsonl",
270
+ "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_train"
271
+ },
272
+ "git_hash": "unknown",
273
+ "git_repo_name": "not a git repository",
274
+ "eval_env_frameskip": 1,
275
+ "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_train"
276
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/DONE ADDED
File without changes
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/hardware.json ADDED
@@ -0,0 +1,40 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "driver_version": "580.173.02",
3
+ "gpu_class": "1x-rtx3090",
4
+ "gpus": [
5
+ {
6
+ "name": "NVIDIA GeForce RTX 3090",
7
+ "slot": 0
8
+ }
9
+ ],
10
+ "instance_id": "instance_859cf1e47bca6046",
11
+ "topology_links": [],
12
+ "torch": {
13
+ "backends": {
14
+ "cuda_cudnn_sdp_enabled": true,
15
+ "cuda_flash_sdp_enabled": true,
16
+ "cuda_math_sdp_enabled": true,
17
+ "cuda_matmul_allow_tf32": false,
18
+ "cuda_mem_efficient_sdp_enabled": true,
19
+ "cudnn_allow_tf32": true,
20
+ "cudnn_benchmark": false
21
+ },
22
+ "cuda_available": true,
23
+ "cuda_device_count": 1,
24
+ "cuda_version": "12.8",
25
+ "current_device": 0,
26
+ "current_device_name": "NVIDIA GeForce RTX 3090",
27
+ "device_properties": [
28
+ {
29
+ "index": 0,
30
+ "major": 8,
31
+ "minor": 6,
32
+ "multi_processor_count": 82,
33
+ "name": "NVIDIA GeForce RTX 3090",
34
+ "total_memory": 25295257600
35
+ }
36
+ ],
37
+ "float32_matmul_precision": "highest",
38
+ "version": "2.11.0+cu128"
39
+ }
40
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/latency_burst_model.json ADDED
@@ -0,0 +1,1329 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "burst_dwell_distribution": {
3
+ "distribution_type": "inverse_cdf",
4
+ "latency_ms": [
5
+ 1.0,
6
+ 1.0,
7
+ 1.0,
8
+ 1.0,
9
+ 1.0,
10
+ 1.0,
11
+ 1.0,
12
+ 1.0,
13
+ 1.0,
14
+ 1.0,
15
+ 1.0,
16
+ 1.0,
17
+ 1.0,
18
+ 1.0,
19
+ 1.0,
20
+ 1.0,
21
+ 1.0,
22
+ 1.0,
23
+ 1.0,
24
+ 1.0,
25
+ 1.0,
26
+ 1.0,
27
+ 1.0,
28
+ 1.0,
29
+ 1.0,
30
+ 1.0,
31
+ 1.0,
32
+ 1.0,
33
+ 1.0,
34
+ 1.0,
35
+ 1.0,
36
+ 1.0,
37
+ 1.0,
38
+ 1.0,
39
+ 1.0,
40
+ 1.0,
41
+ 1.0,
42
+ 1.0,
43
+ 1.0,
44
+ 1.0,
45
+ 1.0,
46
+ 1.0,
47
+ 1.0,
48
+ 1.0,
49
+ 1.0,
50
+ 1.0,
51
+ 1.0,
52
+ 1.0,
53
+ 1.0,
54
+ 1.0,
55
+ 1.0,
56
+ 1.0,
57
+ 1.0,
58
+ 1.0,
59
+ 1.0,
60
+ 1.0,
61
+ 1.0,
62
+ 1.0,
63
+ 1.0,
64
+ 1.0,
65
+ 1.0,
66
+ 1.0,
67
+ 1.0,
68
+ 1.0,
69
+ 1.0,
70
+ 1.0,
71
+ 1.0,
72
+ 1.0,
73
+ 1.0,
74
+ 1.0,
75
+ 1.0,
76
+ 1.0,
77
+ 1.0,
78
+ 1.0,
79
+ 1.0,
80
+ 1.0,
81
+ 1.0,
82
+ 1.0,
83
+ 1.0,
84
+ 1.0,
85
+ 1.0,
86
+ 1.0,
87
+ 1.0,
88
+ 1.0,
89
+ 1.0,
90
+ 1.0,
91
+ 1.0,
92
+ 1.0,
93
+ 1.0,
94
+ 1.0,
95
+ 1.0,
96
+ 1.0,
97
+ 1.0,
98
+ 1.0,
99
+ 1.0,
100
+ 1.0,
101
+ 1.0,
102
+ 1.0,
103
+ 1.0,
104
+ 1.0,
105
+ 1.0,
106
+ 1.0,
107
+ 1.0,
108
+ 1.0,
109
+ 1.0,
110
+ 1.0,
111
+ 1.0,
112
+ 1.0,
113
+ 1.0,
114
+ 1.0,
115
+ 1.0,
116
+ 1.0,
117
+ 1.0,
118
+ 1.0,
119
+ 1.0,
120
+ 1.0,
121
+ 1.0,
122
+ 1.0,
123
+ 1.0,
124
+ 1.0,
125
+ 1.0,
126
+ 1.0,
127
+ 1.0
128
+ ],
129
+ "quantile_levels": [
130
+ 0.0,
131
+ 0.0001,
132
+ 0.0005,
133
+ 0.001,
134
+ 0.002,
135
+ 0.003,
136
+ 0.004,
137
+ 0.005,
138
+ 0.006,
139
+ 0.007,
140
+ 0.008,
141
+ 0.009,
142
+ 0.01,
143
+ 0.02,
144
+ 0.03,
145
+ 0.04,
146
+ 0.05,
147
+ 0.06,
148
+ 0.07,
149
+ 0.08,
150
+ 0.09,
151
+ 0.1,
152
+ 0.11,
153
+ 0.12,
154
+ 0.13,
155
+ 0.14,
156
+ 0.15,
157
+ 0.16,
158
+ 0.17,
159
+ 0.18,
160
+ 0.19,
161
+ 0.2,
162
+ 0.21,
163
+ 0.22,
164
+ 0.23,
165
+ 0.24,
166
+ 0.25,
167
+ 0.26,
168
+ 0.27,
169
+ 0.28,
170
+ 0.29,
171
+ 0.3,
172
+ 0.31,
173
+ 0.32,
174
+ 0.33,
175
+ 0.34,
176
+ 0.35,
177
+ 0.36,
178
+ 0.37,
179
+ 0.38,
180
+ 0.39,
181
+ 0.4,
182
+ 0.41,
183
+ 0.42,
184
+ 0.43,
185
+ 0.44,
186
+ 0.45,
187
+ 0.46,
188
+ 0.47,
189
+ 0.48,
190
+ 0.49,
191
+ 0.5,
192
+ 0.51,
193
+ 0.52,
194
+ 0.53,
195
+ 0.54,
196
+ 0.55,
197
+ 0.56,
198
+ 0.57,
199
+ 0.58,
200
+ 0.59,
201
+ 0.6,
202
+ 0.61,
203
+ 0.62,
204
+ 0.63,
205
+ 0.64,
206
+ 0.65,
207
+ 0.66,
208
+ 0.67,
209
+ 0.68,
210
+ 0.69,
211
+ 0.7,
212
+ 0.71,
213
+ 0.72,
214
+ 0.73,
215
+ 0.74,
216
+ 0.75,
217
+ 0.76,
218
+ 0.77,
219
+ 0.78,
220
+ 0.79,
221
+ 0.8,
222
+ 0.81,
223
+ 0.82,
224
+ 0.83,
225
+ 0.84,
226
+ 0.85,
227
+ 0.86,
228
+ 0.87,
229
+ 0.88,
230
+ 0.89,
231
+ 0.9,
232
+ 0.91,
233
+ 0.92,
234
+ 0.93,
235
+ 0.94,
236
+ 0.95,
237
+ 0.96,
238
+ 0.97,
239
+ 0.98,
240
+ 0.99,
241
+ 0.991,
242
+ 0.992,
243
+ 0.993,
244
+ 0.994,
245
+ 0.995,
246
+ 0.996,
247
+ 0.997,
248
+ 0.998,
249
+ 0.999,
250
+ 0.9995,
251
+ 0.9999,
252
+ 1.0
253
+ ]
254
+ },
255
+ "burst_dwell_lengths": [
256
+ 1,
257
+ 1,
258
+ 1,
259
+ 1
260
+ ],
261
+ "burst_merge_gap_records": 30,
262
+ "burst_rank_processes": [
263
+ {
264
+ "draw_count": 4,
265
+ "dwell_length_spearman_rho": 0.0,
266
+ "level_ms": {
267
+ "distribution_type": "inverse_cdf",
268
+ "latency_ms": [
269
+ 91.29252696037292,
270
+ 91.29252696037292,
271
+ 91.29252696037292,
272
+ 91.29252696037292,
273
+ 91.29252696037292,
274
+ 91.29252696037292,
275
+ 91.29252696037292,
276
+ 91.29252696037292,
277
+ 91.29252696037292,
278
+ 91.29252696037292,
279
+ 91.29252696037292,
280
+ 91.29252696037292,
281
+ 91.29252696037292,
282
+ 91.29252696037292,
283
+ 91.29252696037292,
284
+ 91.29252696037292,
285
+ 91.29252696037292,
286
+ 91.29252696037292,
287
+ 91.29252696037292,
288
+ 91.29252696037292,
289
+ 91.29252696037292,
290
+ 91.29252696037292,
291
+ 91.29252696037292,
292
+ 91.29252696037292,
293
+ 91.48080760002136,
294
+ 91.85736887931824,
295
+ 92.23393015861511,
296
+ 92.61049143791199,
297
+ 92.98705271720887,
298
+ 93.36361399650573,
299
+ 93.74017527580261,
300
+ 94.1167365550995,
301
+ 94.49329783439636,
302
+ 94.86985911369324,
303
+ 95.24642039299012,
304
+ 95.62298167228698,
305
+ 95.99954295158386,
306
+ 96.37610423088074,
307
+ 96.75266551017761,
308
+ 97.12922678947449,
309
+ 97.50578806877137,
310
+ 97.88234934806823,
311
+ 98.25891062736511,
312
+ 98.63547190666199,
313
+ 99.01203318595887,
314
+ 99.38859446525574,
315
+ 99.76515574455262,
316
+ 100.14171702384948,
317
+ 100.51827830314636,
318
+ 100.78247780323028,
319
+ 100.93431552410125,
320
+ 101.08615324497222,
321
+ 101.2379909658432,
322
+ 101.38982868671417,
323
+ 101.54166640758514,
324
+ 101.69350412845611,
325
+ 101.84534184932708,
326
+ 101.99717957019806,
327
+ 102.14901729106903,
328
+ 102.30085501194,
329
+ 102.45269273281097,
330
+ 102.60453045368195,
331
+ 102.75636817455292,
332
+ 102.90820589542389,
333
+ 103.06004361629486,
334
+ 103.21188133716583,
335
+ 103.3637190580368,
336
+ 103.51555677890778,
337
+ 103.66739449977875,
338
+ 103.81923222064972,
339
+ 103.9710699415207,
340
+ 104.12290766239167,
341
+ 104.27474538326264,
342
+ 104.42658310413361,
343
+ 104.64846988677978,
344
+ 104.94040573120117,
345
+ 105.23234157562256,
346
+ 105.52427742004394,
347
+ 105.81621326446533,
348
+ 106.10814910888672,
349
+ 106.40008495330811,
350
+ 106.6920207977295,
351
+ 106.98395664215087,
352
+ 107.27589248657226,
353
+ 107.56782833099365,
354
+ 107.85976417541504,
355
+ 108.15170001983643,
356
+ 108.44363586425781,
357
+ 108.7355717086792,
358
+ 109.02750755310059,
359
+ 109.31944339752198,
360
+ 109.61137924194335,
361
+ 109.90331508636474,
362
+ 110.19525093078613,
363
+ 110.48718677520752,
364
+ 110.77912261962891,
365
+ 111.0710584640503,
366
+ 111.36299430847168,
367
+ 111.65493015289307,
368
+ 111.80089807510376,
369
+ 111.80089807510376,
370
+ 111.80089807510376,
371
+ 111.80089807510376,
372
+ 111.80089807510376,
373
+ 111.80089807510376,
374
+ 111.80089807510376,
375
+ 111.80089807510376,
376
+ 111.80089807510376,
377
+ 111.80089807510376,
378
+ 111.80089807510376,
379
+ 111.80089807510376,
380
+ 111.80089807510376,
381
+ 111.80089807510376,
382
+ 111.80089807510376,
383
+ 111.80089807510376,
384
+ 111.80089807510376,
385
+ 111.80089807510376,
386
+ 111.80089807510376,
387
+ 111.80089807510376,
388
+ 111.80089807510376,
389
+ 111.80089807510376,
390
+ 111.80089807510376,
391
+ 111.80089807510376
392
+ ],
393
+ "quantile_levels": [
394
+ 0.0,
395
+ 0.0001,
396
+ 0.0005,
397
+ 0.001,
398
+ 0.002,
399
+ 0.003,
400
+ 0.004,
401
+ 0.005,
402
+ 0.006,
403
+ 0.007,
404
+ 0.008,
405
+ 0.009,
406
+ 0.01,
407
+ 0.02,
408
+ 0.03,
409
+ 0.04,
410
+ 0.05,
411
+ 0.06,
412
+ 0.07,
413
+ 0.08,
414
+ 0.09,
415
+ 0.1,
416
+ 0.11,
417
+ 0.12,
418
+ 0.13,
419
+ 0.14,
420
+ 0.15,
421
+ 0.16,
422
+ 0.17,
423
+ 0.18,
424
+ 0.19,
425
+ 0.2,
426
+ 0.21,
427
+ 0.22,
428
+ 0.23,
429
+ 0.24,
430
+ 0.25,
431
+ 0.26,
432
+ 0.27,
433
+ 0.28,
434
+ 0.29,
435
+ 0.3,
436
+ 0.31,
437
+ 0.32,
438
+ 0.33,
439
+ 0.34,
440
+ 0.35,
441
+ 0.36,
442
+ 0.37,
443
+ 0.38,
444
+ 0.39,
445
+ 0.4,
446
+ 0.41,
447
+ 0.42,
448
+ 0.43,
449
+ 0.44,
450
+ 0.45,
451
+ 0.46,
452
+ 0.47,
453
+ 0.48,
454
+ 0.49,
455
+ 0.5,
456
+ 0.51,
457
+ 0.52,
458
+ 0.53,
459
+ 0.54,
460
+ 0.55,
461
+ 0.56,
462
+ 0.57,
463
+ 0.58,
464
+ 0.59,
465
+ 0.6,
466
+ 0.61,
467
+ 0.62,
468
+ 0.63,
469
+ 0.64,
470
+ 0.65,
471
+ 0.66,
472
+ 0.67,
473
+ 0.68,
474
+ 0.69,
475
+ 0.7,
476
+ 0.71,
477
+ 0.72,
478
+ 0.73,
479
+ 0.74,
480
+ 0.75,
481
+ 0.76,
482
+ 0.77,
483
+ 0.78,
484
+ 0.79,
485
+ 0.8,
486
+ 0.81,
487
+ 0.82,
488
+ 0.83,
489
+ 0.84,
490
+ 0.85,
491
+ 0.86,
492
+ 0.87,
493
+ 0.88,
494
+ 0.89,
495
+ 0.9,
496
+ 0.91,
497
+ 0.92,
498
+ 0.93,
499
+ 0.94,
500
+ 0.95,
501
+ 0.96,
502
+ 0.97,
503
+ 0.98,
504
+ 0.99,
505
+ 0.991,
506
+ 0.992,
507
+ 0.993,
508
+ 0.994,
509
+ 0.995,
510
+ 0.996,
511
+ 0.997,
512
+ 0.998,
513
+ 0.999,
514
+ 0.9995,
515
+ 0.9999,
516
+ 1.0
517
+ ]
518
+ },
519
+ "level_residual_ms": {
520
+ "distribution_type": "inverse_cdf",
521
+ "latency_ms": [
522
+ 0.0,
523
+ 0.0,
524
+ 0.0,
525
+ 0.0,
526
+ 0.0,
527
+ 0.0,
528
+ 0.0,
529
+ 0.0,
530
+ 0.0,
531
+ 0.0,
532
+ 0.0,
533
+ 0.0,
534
+ 0.0,
535
+ 0.0,
536
+ 0.0,
537
+ 0.0,
538
+ 0.0,
539
+ 0.0,
540
+ 0.0,
541
+ 0.0,
542
+ 0.0,
543
+ 0.0,
544
+ 0.0,
545
+ 0.0,
546
+ 0.0,
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 0.0,
551
+ 0.0,
552
+ 0.0,
553
+ 0.0,
554
+ 0.0,
555
+ 0.0,
556
+ 0.0,
557
+ 0.0,
558
+ 0.0,
559
+ 0.0,
560
+ 0.0,
561
+ 0.0,
562
+ 0.0,
563
+ 0.0,
564
+ 0.0,
565
+ 0.0,
566
+ 0.0,
567
+ 0.0,
568
+ 0.0,
569
+ 0.0,
570
+ 0.0,
571
+ 0.0,
572
+ 0.0,
573
+ 0.0,
574
+ 0.0,
575
+ 0.0,
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 0.0,
580
+ 0.0,
581
+ 0.0,
582
+ 0.0,
583
+ 0.0,
584
+ 0.0,
585
+ 0.0,
586
+ 0.0,
587
+ 0.0,
588
+ 0.0,
589
+ 0.0,
590
+ 0.0,
591
+ 0.0,
592
+ 0.0,
593
+ 0.0,
594
+ 0.0,
595
+ 0.0,
596
+ 0.0,
597
+ 0.0,
598
+ 0.0,
599
+ 0.0,
600
+ 0.0,
601
+ 0.0,
602
+ 0.0,
603
+ 0.0,
604
+ 0.0,
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 0.0,
609
+ 0.0,
610
+ 0.0,
611
+ 0.0,
612
+ 0.0,
613
+ 0.0,
614
+ 0.0,
615
+ 0.0,
616
+ 0.0,
617
+ 0.0,
618
+ 0.0,
619
+ 0.0,
620
+ 0.0,
621
+ 0.0,
622
+ 0.0,
623
+ 0.0,
624
+ 0.0,
625
+ 0.0,
626
+ 0.0,
627
+ 0.0,
628
+ 0.0,
629
+ 0.0,
630
+ 0.0,
631
+ 0.0,
632
+ 0.0,
633
+ 0.0,
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 0.0,
638
+ 0.0,
639
+ 0.0,
640
+ 0.0,
641
+ 0.0,
642
+ 0.0,
643
+ 0.0,
644
+ 0.0
645
+ ],
646
+ "quantile_levels": [
647
+ 0.0,
648
+ 0.0001,
649
+ 0.0005,
650
+ 0.001,
651
+ 0.002,
652
+ 0.003,
653
+ 0.004,
654
+ 0.005,
655
+ 0.006,
656
+ 0.007,
657
+ 0.008,
658
+ 0.009,
659
+ 0.01,
660
+ 0.02,
661
+ 0.03,
662
+ 0.04,
663
+ 0.05,
664
+ 0.06,
665
+ 0.07,
666
+ 0.08,
667
+ 0.09,
668
+ 0.1,
669
+ 0.11,
670
+ 0.12,
671
+ 0.13,
672
+ 0.14,
673
+ 0.15,
674
+ 0.16,
675
+ 0.17,
676
+ 0.18,
677
+ 0.19,
678
+ 0.2,
679
+ 0.21,
680
+ 0.22,
681
+ 0.23,
682
+ 0.24,
683
+ 0.25,
684
+ 0.26,
685
+ 0.27,
686
+ 0.28,
687
+ 0.29,
688
+ 0.3,
689
+ 0.31,
690
+ 0.32,
691
+ 0.33,
692
+ 0.34,
693
+ 0.35,
694
+ 0.36,
695
+ 0.37,
696
+ 0.38,
697
+ 0.39,
698
+ 0.4,
699
+ 0.41,
700
+ 0.42,
701
+ 0.43,
702
+ 0.44,
703
+ 0.45,
704
+ 0.46,
705
+ 0.47,
706
+ 0.48,
707
+ 0.49,
708
+ 0.5,
709
+ 0.51,
710
+ 0.52,
711
+ 0.53,
712
+ 0.54,
713
+ 0.55,
714
+ 0.56,
715
+ 0.57,
716
+ 0.58,
717
+ 0.59,
718
+ 0.6,
719
+ 0.61,
720
+ 0.62,
721
+ 0.63,
722
+ 0.64,
723
+ 0.65,
724
+ 0.66,
725
+ 0.67,
726
+ 0.68,
727
+ 0.69,
728
+ 0.7,
729
+ 0.71,
730
+ 0.72,
731
+ 0.73,
732
+ 0.74,
733
+ 0.75,
734
+ 0.76,
735
+ 0.77,
736
+ 0.78,
737
+ 0.79,
738
+ 0.8,
739
+ 0.81,
740
+ 0.82,
741
+ 0.83,
742
+ 0.84,
743
+ 0.85,
744
+ 0.86,
745
+ 0.87,
746
+ 0.88,
747
+ 0.89,
748
+ 0.9,
749
+ 0.91,
750
+ 0.92,
751
+ 0.93,
752
+ 0.94,
753
+ 0.95,
754
+ 0.96,
755
+ 0.97,
756
+ 0.98,
757
+ 0.99,
758
+ 0.991,
759
+ 0.992,
760
+ 0.993,
761
+ 0.994,
762
+ 0.995,
763
+ 0.996,
764
+ 0.997,
765
+ 0.998,
766
+ 0.999,
767
+ 0.9995,
768
+ 0.9999,
769
+ 1.0
770
+ ]
771
+ },
772
+ "severity": {
773
+ "distribution_type": "inverse_cdf",
774
+ "latency_ms": [
775
+ 1.0,
776
+ 1.0,
777
+ 1.0,
778
+ 1.0,
779
+ 1.0,
780
+ 1.0,
781
+ 1.0,
782
+ 1.0,
783
+ 1.0,
784
+ 1.0,
785
+ 1.0,
786
+ 1.0,
787
+ 1.0,
788
+ 1.0,
789
+ 1.0,
790
+ 1.0,
791
+ 1.0,
792
+ 1.0,
793
+ 1.0,
794
+ 1.0,
795
+ 1.0,
796
+ 1.0,
797
+ 1.0,
798
+ 1.0,
799
+ 1.0,
800
+ 1.0,
801
+ 1.0,
802
+ 1.0,
803
+ 1.0,
804
+ 1.0,
805
+ 1.0,
806
+ 1.0,
807
+ 1.0,
808
+ 1.0,
809
+ 1.0,
810
+ 1.0,
811
+ 1.0,
812
+ 1.0,
813
+ 1.0,
814
+ 1.0,
815
+ 1.0,
816
+ 1.0,
817
+ 1.0,
818
+ 1.0,
819
+ 1.0,
820
+ 1.0,
821
+ 1.0,
822
+ 1.0,
823
+ 1.0,
824
+ 1.0,
825
+ 1.0,
826
+ 1.0,
827
+ 1.0,
828
+ 1.0,
829
+ 1.0,
830
+ 1.0,
831
+ 1.0,
832
+ 1.0,
833
+ 1.0,
834
+ 1.0,
835
+ 1.0,
836
+ 1.0,
837
+ 1.0,
838
+ 1.0,
839
+ 1.0,
840
+ 1.0,
841
+ 1.0,
842
+ 1.0,
843
+ 1.0,
844
+ 1.0,
845
+ 1.0,
846
+ 1.0,
847
+ 1.0,
848
+ 1.0,
849
+ 1.0,
850
+ 1.0,
851
+ 1.0,
852
+ 1.0,
853
+ 1.0,
854
+ 1.0,
855
+ 1.0,
856
+ 1.0,
857
+ 1.0,
858
+ 1.0,
859
+ 1.0,
860
+ 1.0,
861
+ 1.0,
862
+ 1.0,
863
+ 1.0,
864
+ 1.0,
865
+ 1.0,
866
+ 1.0,
867
+ 1.0,
868
+ 1.0,
869
+ 1.0,
870
+ 1.0,
871
+ 1.0,
872
+ 1.0,
873
+ 1.0,
874
+ 1.0,
875
+ 1.0,
876
+ 1.0,
877
+ 1.0,
878
+ 1.0,
879
+ 1.0,
880
+ 1.0,
881
+ 1.0,
882
+ 1.0,
883
+ 1.0,
884
+ 1.0,
885
+ 1.0,
886
+ 1.0,
887
+ 1.0,
888
+ 1.0,
889
+ 1.0,
890
+ 1.0,
891
+ 1.0,
892
+ 1.0,
893
+ 1.0,
894
+ 1.0,
895
+ 1.0,
896
+ 1.0,
897
+ 1.0
898
+ ],
899
+ "quantile_levels": [
900
+ 0.0,
901
+ 0.0001,
902
+ 0.0005,
903
+ 0.001,
904
+ 0.002,
905
+ 0.003,
906
+ 0.004,
907
+ 0.005,
908
+ 0.006,
909
+ 0.007,
910
+ 0.008,
911
+ 0.009,
912
+ 0.01,
913
+ 0.02,
914
+ 0.03,
915
+ 0.04,
916
+ 0.05,
917
+ 0.06,
918
+ 0.07,
919
+ 0.08,
920
+ 0.09,
921
+ 0.1,
922
+ 0.11,
923
+ 0.12,
924
+ 0.13,
925
+ 0.14,
926
+ 0.15,
927
+ 0.16,
928
+ 0.17,
929
+ 0.18,
930
+ 0.19,
931
+ 0.2,
932
+ 0.21,
933
+ 0.22,
934
+ 0.23,
935
+ 0.24,
936
+ 0.25,
937
+ 0.26,
938
+ 0.27,
939
+ 0.28,
940
+ 0.29,
941
+ 0.3,
942
+ 0.31,
943
+ 0.32,
944
+ 0.33,
945
+ 0.34,
946
+ 0.35,
947
+ 0.36,
948
+ 0.37,
949
+ 0.38,
950
+ 0.39,
951
+ 0.4,
952
+ 0.41,
953
+ 0.42,
954
+ 0.43,
955
+ 0.44,
956
+ 0.45,
957
+ 0.46,
958
+ 0.47,
959
+ 0.48,
960
+ 0.49,
961
+ 0.5,
962
+ 0.51,
963
+ 0.52,
964
+ 0.53,
965
+ 0.54,
966
+ 0.55,
967
+ 0.56,
968
+ 0.57,
969
+ 0.58,
970
+ 0.59,
971
+ 0.6,
972
+ 0.61,
973
+ 0.62,
974
+ 0.63,
975
+ 0.64,
976
+ 0.65,
977
+ 0.66,
978
+ 0.67,
979
+ 0.68,
980
+ 0.69,
981
+ 0.7,
982
+ 0.71,
983
+ 0.72,
984
+ 0.73,
985
+ 0.74,
986
+ 0.75,
987
+ 0.76,
988
+ 0.77,
989
+ 0.78,
990
+ 0.79,
991
+ 0.8,
992
+ 0.81,
993
+ 0.82,
994
+ 0.83,
995
+ 0.84,
996
+ 0.85,
997
+ 0.86,
998
+ 0.87,
999
+ 0.88,
1000
+ 0.89,
1001
+ 0.9,
1002
+ 0.91,
1003
+ 0.92,
1004
+ 0.93,
1005
+ 0.94,
1006
+ 0.95,
1007
+ 0.96,
1008
+ 0.97,
1009
+ 0.98,
1010
+ 0.99,
1011
+ 0.991,
1012
+ 0.992,
1013
+ 0.993,
1014
+ 0.994,
1015
+ 0.995,
1016
+ 0.996,
1017
+ 0.997,
1018
+ 0.998,
1019
+ 0.999,
1020
+ 0.9995,
1021
+ 0.9999,
1022
+ 1.0
1023
+ ]
1024
+ },
1025
+ "spike_count": 4
1026
+ }
1027
+ ],
1028
+ "burst_slot_rank_templates": [
1029
+ {
1030
+ "dwell_length": 1,
1031
+ "slot_to_rank": {
1032
+ "0": 0
1033
+ }
1034
+ },
1035
+ {
1036
+ "dwell_length": 1,
1037
+ "slot_to_rank": {
1038
+ "0": 0
1039
+ }
1040
+ },
1041
+ {
1042
+ "dwell_length": 1,
1043
+ "slot_to_rank": {
1044
+ "0": 0
1045
+ }
1046
+ },
1047
+ {
1048
+ "dwell_length": 1,
1049
+ "slot_to_rank": {
1050
+ "0": 0
1051
+ }
1052
+ }
1053
+ ],
1054
+ "model_type": "hidden_regime",
1055
+ "pre_worker_time_ms": {
1056
+ "distribution_type": "inverse_cdf",
1057
+ "latency_ms": [
1058
+ 0.28966736793518066,
1059
+ 0.29661628777980803,
1060
+ 0.30831514048576353,
1061
+ 0.31727498722076414,
1062
+ 0.338593578338623,
1063
+ 0.3461133544445038,
1064
+ 0.3511757125854492,
1065
+ 0.3563822603225708,
1066
+ 0.3618279318809509,
1067
+ 0.3671014323234558,
1068
+ 0.3725587911605835,
1069
+ 0.3779346108436584,
1070
+ 0.38324137926101687,
1071
+ 0.4556529235839844,
1072
+ 0.509889326095581,
1073
+ 0.5281284952163696,
1074
+ 0.5403126955032349,
1075
+ 0.5479220390319824,
1076
+ 0.5539253664016723,
1077
+ 0.5594458866119385,
1078
+ 0.5640100693702698,
1079
+ 0.5677289962768555,
1080
+ 0.5709687566757202,
1081
+ 0.5738528633117675,
1082
+ 0.5767292833328247,
1083
+ 0.5795547199249268,
1084
+ 0.5822810411453248,
1085
+ 0.5850470447540284,
1086
+ 0.5876750636100769,
1087
+ 0.5903967952728272,
1088
+ 0.592800943851471,
1089
+ 0.5953300476074219,
1090
+ 0.5980806803703308,
1091
+ 0.6004024124145508,
1092
+ 0.6025746560096741,
1093
+ 0.6047077465057373,
1094
+ 0.6067898273468018,
1095
+ 0.6086850166320801,
1096
+ 0.6106685948371887,
1097
+ 0.612722282409668,
1098
+ 0.6146113967895508,
1099
+ 0.6165520191192627,
1100
+ 0.6182403135299682,
1101
+ 0.6199717569351196,
1102
+ 0.6218879985809326,
1103
+ 0.6237829494476318,
1104
+ 0.6255278944969177,
1105
+ 0.6274885368347168,
1106
+ 0.6292352557182312,
1107
+ 0.6305854225158691,
1108
+ 0.6320900011062622,
1109
+ 0.6335686922073365,
1110
+ 0.6350811290740966,
1111
+ 0.6365709590911866,
1112
+ 0.6379385328292847,
1113
+ 0.6395668697357177,
1114
+ 0.640962290763855,
1115
+ 0.642304630279541,
1116
+ 0.6439359402656555,
1117
+ 0.645436725616455,
1118
+ 0.6472484803199768,
1119
+ 0.6488471031188965,
1120
+ 0.6504889988899231,
1121
+ 0.6521338987350463,
1122
+ 0.6537751984596253,
1123
+ 0.655202226638794,
1124
+ 0.6567079544067383,
1125
+ 0.6582039451599122,
1126
+ 0.6598467111587524,
1127
+ 0.6612679958343506,
1128
+ 0.6625553750991822,
1129
+ 0.6639010190963746,
1130
+ 0.6652205157279968,
1131
+ 0.6667079925537109,
1132
+ 0.6680989265441895,
1133
+ 0.6693964767456054,
1134
+ 0.6709147572517395,
1135
+ 0.6722634792327881,
1136
+ 0.6739575719833374,
1137
+ 0.6756732177734375,
1138
+ 0.6773415374755859,
1139
+ 0.6790953636169433,
1140
+ 0.6808587408065796,
1141
+ 0.6830189752578736,
1142
+ 0.6850442719459534,
1143
+ 0.687199592590332,
1144
+ 0.68963623046875,
1145
+ 0.6920534992218017,
1146
+ 0.6945298147201538,
1147
+ 0.6971553516387939,
1148
+ 0.6997041010856628,
1149
+ 0.7023355007171631,
1150
+ 0.7050988674163818,
1151
+ 0.7076102638244629,
1152
+ 0.7099640583992004,
1153
+ 0.7127210712432861,
1154
+ 0.7153138279914856,
1155
+ 0.7181663990020751,
1156
+ 0.7208955335617065,
1157
+ 0.7237677955627442,
1158
+ 0.7270624494552612,
1159
+ 0.7306365489959716,
1160
+ 0.7349855732917786,
1161
+ 0.739589581489563,
1162
+ 0.7454291129112245,
1163
+ 0.7518837356567382,
1164
+ 0.7594980955123901,
1165
+ 0.7684542274475097,
1166
+ 0.7794348359107971,
1167
+ 0.799935255050659,
1168
+ 0.8361522078514098,
1169
+ 0.841301315307617,
1170
+ 0.8511774196624763,
1171
+ 0.858581780910492,
1172
+ 0.8691914596557617,
1173
+ 0.8781117153167721,
1174
+ 0.8919882164001455,
1175
+ 0.9130556282997128,
1176
+ 0.9367391667366031,
1177
+ 0.9679305844306949,
1178
+ 1.0121961189508684,
1179
+ 1.2404262654781233,
1180
+ 1.388310194015503
1181
+ ],
1182
+ "quantile_levels": [
1183
+ 0.0,
1184
+ 0.0001,
1185
+ 0.0005,
1186
+ 0.001,
1187
+ 0.002,
1188
+ 0.003,
1189
+ 0.004,
1190
+ 0.005,
1191
+ 0.006,
1192
+ 0.007,
1193
+ 0.008,
1194
+ 0.009,
1195
+ 0.01,
1196
+ 0.02,
1197
+ 0.03,
1198
+ 0.04,
1199
+ 0.05,
1200
+ 0.06,
1201
+ 0.07,
1202
+ 0.08,
1203
+ 0.09,
1204
+ 0.1,
1205
+ 0.11,
1206
+ 0.12,
1207
+ 0.13,
1208
+ 0.14,
1209
+ 0.15,
1210
+ 0.16,
1211
+ 0.17,
1212
+ 0.18,
1213
+ 0.19,
1214
+ 0.2,
1215
+ 0.21,
1216
+ 0.22,
1217
+ 0.23,
1218
+ 0.24,
1219
+ 0.25,
1220
+ 0.26,
1221
+ 0.27,
1222
+ 0.28,
1223
+ 0.29,
1224
+ 0.3,
1225
+ 0.31,
1226
+ 0.32,
1227
+ 0.33,
1228
+ 0.34,
1229
+ 0.35,
1230
+ 0.36,
1231
+ 0.37,
1232
+ 0.38,
1233
+ 0.39,
1234
+ 0.4,
1235
+ 0.41,
1236
+ 0.42,
1237
+ 0.43,
1238
+ 0.44,
1239
+ 0.45,
1240
+ 0.46,
1241
+ 0.47,
1242
+ 0.48,
1243
+ 0.49,
1244
+ 0.5,
1245
+ 0.51,
1246
+ 0.52,
1247
+ 0.53,
1248
+ 0.54,
1249
+ 0.55,
1250
+ 0.56,
1251
+ 0.57,
1252
+ 0.58,
1253
+ 0.59,
1254
+ 0.6,
1255
+ 0.61,
1256
+ 0.62,
1257
+ 0.63,
1258
+ 0.64,
1259
+ 0.65,
1260
+ 0.66,
1261
+ 0.67,
1262
+ 0.68,
1263
+ 0.69,
1264
+ 0.7,
1265
+ 0.71,
1266
+ 0.72,
1267
+ 0.73,
1268
+ 0.74,
1269
+ 0.75,
1270
+ 0.76,
1271
+ 0.77,
1272
+ 0.78,
1273
+ 0.79,
1274
+ 0.8,
1275
+ 0.81,
1276
+ 0.82,
1277
+ 0.83,
1278
+ 0.84,
1279
+ 0.85,
1280
+ 0.86,
1281
+ 0.87,
1282
+ 0.88,
1283
+ 0.89,
1284
+ 0.9,
1285
+ 0.91,
1286
+ 0.92,
1287
+ 0.93,
1288
+ 0.94,
1289
+ 0.95,
1290
+ 0.96,
1291
+ 0.97,
1292
+ 0.98,
1293
+ 0.99,
1294
+ 0.991,
1295
+ 0.992,
1296
+ 0.993,
1297
+ 0.994,
1298
+ 0.995,
1299
+ 0.996,
1300
+ 0.997,
1301
+ 0.998,
1302
+ 0.999,
1303
+ 0.9995,
1304
+ 0.9999,
1305
+ 1.0
1306
+ ]
1307
+ },
1308
+ "regime_step_counts": {
1309
+ "burst": 4,
1310
+ "calm": 29993
1311
+ },
1312
+ "regime_transition_counts": {
1313
+ "burst": {
1314
+ "burst": 0,
1315
+ "calm": 4
1316
+ },
1317
+ "calm": {
1318
+ "burst": 4,
1319
+ "calm": 29984
1320
+ }
1321
+ },
1322
+ "reset_scope": "session",
1323
+ "schema_version": 12,
1324
+ "spike_median_multiplier": 1.25,
1325
+ "spike_threshold_ms_by_worker_slot": {
1326
+ "0": 88.3233892917633
1327
+ },
1328
+ "worker_count": 1
1329
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/latency_distribution.json ADDED
@@ -0,0 +1,1027 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 3,
3
+ "worker_slots": {
4
+ "0": {
5
+ "all": {
6
+ "count": 29997,
7
+ "observation_to_action_latency_ms": {
8
+ "distribution_type": "inverse_cdf",
9
+ "latency_ms": [
10
+ 65.39556503295898,
11
+ 65.90319257864952,
12
+ 66.34795825266838,
13
+ 66.52524732637406,
14
+ 66.76708299684525,
15
+ 67.02418623113633,
16
+ 67.17869547843934,
17
+ 67.26114100694656,
18
+ 67.40597652959823,
19
+ 67.50079720020294,
20
+ 67.60124465465546,
21
+ 67.68513790631295,
22
+ 67.77476126432418,
23
+ 69.4245816898346,
24
+ 70.02091380119323,
25
+ 70.28190787315368,
26
+ 70.46180428266526,
27
+ 70.5905613231659,
28
+ 70.6786233663559,
29
+ 70.76199055194854,
30
+ 70.82302750349045,
31
+ 70.87952952384948,
32
+ 70.93279217720031,
33
+ 70.97876193523408,
34
+ 71.02215361356735,
35
+ 71.05534663200379,
36
+ 71.08903501033782,
37
+ 71.12099472522736,
38
+ 71.14889664411545,
39
+ 71.17835633277893,
40
+ 71.20590738773346,
41
+ 71.23764076232911,
42
+ 71.26494863510132,
43
+ 71.29445910453796,
44
+ 71.31955314636231,
45
+ 71.3448329114914,
46
+ 71.370949447155,
47
+ 71.39764987945557,
48
+ 71.42063557147979,
49
+ 71.44203779697418,
50
+ 71.46336093187332,
51
+ 71.48176407814026,
52
+ 71.50155672311783,
53
+ 71.52068632602692,
54
+ 71.53738250017166,
55
+ 71.55426707267762,
56
+ 71.5741131901741,
57
+ 71.59390948295594,
58
+ 71.61351494789123,
59
+ 71.63126242637634,
60
+ 71.65004153251648,
61
+ 71.6698139667511,
62
+ 71.68906754732132,
63
+ 71.7093546485901,
64
+ 71.72822314500809,
65
+ 71.74877698421479,
66
+ 71.77002807855607,
67
+ 71.79165102005005,
68
+ 71.81265570163727,
69
+ 71.83448543548585,
70
+ 71.85390951871872,
71
+ 71.872318983078,
72
+ 71.88918613672257,
73
+ 71.90831651687623,
74
+ 71.92598719120025,
75
+ 71.94410138130188,
76
+ 71.96174719333649,
77
+ 71.97731454849243,
78
+ 71.99444168806076,
79
+ 72.01067091941833,
80
+ 72.02784201383591,
81
+ 72.04347264766693,
82
+ 72.06015002250672,
83
+ 72.07703278541565,
84
+ 72.09355116605758,
85
+ 72.11092311382293,
86
+ 72.12674032449722,
87
+ 72.14582781791687,
88
+ 72.1675558257103,
89
+ 72.18711300849914,
90
+ 72.20661722660064,
91
+ 72.22612509727477,
92
+ 72.24460446119309,
93
+ 72.26352282524108,
94
+ 72.28893879890443,
95
+ 72.3113342666626,
96
+ 72.33358442783356,
97
+ 72.35914145946502,
98
+ 72.38095099925995,
99
+ 72.40431155204773,
100
+ 72.42851207256317,
101
+ 72.45446176528931,
102
+ 72.48137830018997,
103
+ 72.5092474937439,
104
+ 72.53562726974488,
105
+ 72.56389167308808,
106
+ 72.59069626331329,
107
+ 72.62336647033692,
108
+ 72.65377742528915,
109
+ 72.68993539810181,
110
+ 72.72776058673858,
111
+ 72.770436668396,
112
+ 72.82028721570968,
113
+ 72.8761532688141,
114
+ 72.93663378715515,
115
+ 73.01012805938721,
116
+ 73.0942009806633,
117
+ 73.18615770816803,
118
+ 73.34689612150193,
119
+ 73.59420322418212,
120
+ 74.26737931489944,
121
+ 74.39098821926116,
122
+ 74.46888185977936,
123
+ 74.59232448458671,
124
+ 74.7213032426834,
125
+ 74.85509558796882,
126
+ 75.02051337623595,
127
+ 75.32228709888452,
128
+ 75.84211740064622,
129
+ 78.21195779466629,
130
+ 80.96420217287572,
131
+ 96.67231945006563,
132
+ 112.48595118522644
133
+ ],
134
+ "quantile_levels": [
135
+ 0.0,
136
+ 0.0001,
137
+ 0.0005,
138
+ 0.001,
139
+ 0.002,
140
+ 0.003,
141
+ 0.004,
142
+ 0.005,
143
+ 0.006,
144
+ 0.007,
145
+ 0.008,
146
+ 0.009,
147
+ 0.01,
148
+ 0.02,
149
+ 0.03,
150
+ 0.04,
151
+ 0.05,
152
+ 0.06,
153
+ 0.07,
154
+ 0.08,
155
+ 0.09,
156
+ 0.1,
157
+ 0.11,
158
+ 0.12,
159
+ 0.13,
160
+ 0.14,
161
+ 0.15,
162
+ 0.16,
163
+ 0.17,
164
+ 0.18,
165
+ 0.19,
166
+ 0.2,
167
+ 0.21,
168
+ 0.22,
169
+ 0.23,
170
+ 0.24,
171
+ 0.25,
172
+ 0.26,
173
+ 0.27,
174
+ 0.28,
175
+ 0.29,
176
+ 0.3,
177
+ 0.31,
178
+ 0.32,
179
+ 0.33,
180
+ 0.34,
181
+ 0.35,
182
+ 0.36,
183
+ 0.37,
184
+ 0.38,
185
+ 0.39,
186
+ 0.4,
187
+ 0.41,
188
+ 0.42,
189
+ 0.43,
190
+ 0.44,
191
+ 0.45,
192
+ 0.46,
193
+ 0.47,
194
+ 0.48,
195
+ 0.49,
196
+ 0.5,
197
+ 0.51,
198
+ 0.52,
199
+ 0.53,
200
+ 0.54,
201
+ 0.55,
202
+ 0.56,
203
+ 0.57,
204
+ 0.58,
205
+ 0.59,
206
+ 0.6,
207
+ 0.61,
208
+ 0.62,
209
+ 0.63,
210
+ 0.64,
211
+ 0.65,
212
+ 0.66,
213
+ 0.67,
214
+ 0.68,
215
+ 0.69,
216
+ 0.7,
217
+ 0.71,
218
+ 0.72,
219
+ 0.73,
220
+ 0.74,
221
+ 0.75,
222
+ 0.76,
223
+ 0.77,
224
+ 0.78,
225
+ 0.79,
226
+ 0.8,
227
+ 0.81,
228
+ 0.82,
229
+ 0.83,
230
+ 0.84,
231
+ 0.85,
232
+ 0.86,
233
+ 0.87,
234
+ 0.88,
235
+ 0.89,
236
+ 0.9,
237
+ 0.91,
238
+ 0.92,
239
+ 0.93,
240
+ 0.94,
241
+ 0.95,
242
+ 0.96,
243
+ 0.97,
244
+ 0.98,
245
+ 0.99,
246
+ 0.991,
247
+ 0.992,
248
+ 0.993,
249
+ 0.994,
250
+ 0.995,
251
+ 0.996,
252
+ 0.997,
253
+ 0.998,
254
+ 0.999,
255
+ 0.9995,
256
+ 0.9999,
257
+ 1.0
258
+ ]
259
+ },
260
+ "spearman_rho": 0.9963489496805269,
261
+ "worker_service_time_ms": {
262
+ "distribution_type": "inverse_cdf",
263
+ "latency_ms": [
264
+ 65.03665804862976,
265
+ 65.55401456711293,
266
+ 65.98787849330903,
267
+ 66.16043975687028,
268
+ 66.39510622596741,
269
+ 66.65682306718826,
270
+ 66.81381133651733,
271
+ 66.91495643734932,
272
+ 67.01536854743958,
273
+ 67.10630764722823,
274
+ 67.22047565555573,
275
+ 67.31252860784531,
276
+ 67.39065796613693,
277
+ 68.88474659919738,
278
+ 69.45113959550858,
279
+ 69.69205457687377,
280
+ 69.84725253582,
281
+ 69.97218856811523,
282
+ 70.05851617097855,
283
+ 70.12988825798034,
284
+ 70.19403784513473,
285
+ 70.24813051223755,
286
+ 70.29781345844269,
287
+ 70.34338568687438,
288
+ 70.38068360805511,
289
+ 70.41919645309449,
290
+ 70.44898892641068,
291
+ 70.4820789384842,
292
+ 70.50974248409271,
293
+ 70.53648761749268,
294
+ 70.5667546749115,
295
+ 70.59351196289063,
296
+ 70.61864386320114,
297
+ 70.64630803108216,
298
+ 70.6727023935318,
299
+ 70.69872972011567,
300
+ 70.72493976354599,
301
+ 70.7476874256134,
302
+ 70.77046714782715,
303
+ 70.79256957054139,
304
+ 70.81106184720993,
305
+ 70.83241534233093,
306
+ 70.8515542602539,
307
+ 70.86944600582123,
308
+ 70.89099317789078,
309
+ 70.90784223556518,
310
+ 70.926378428936,
311
+ 70.94538230895996,
312
+ 70.96381083726882,
313
+ 70.98396788597107,
314
+ 71.00406824111938,
315
+ 71.02347581386566,
316
+ 71.04286310195923,
317
+ 71.06384484291077,
318
+ 71.08473001003266,
319
+ 71.10399283409119,
320
+ 71.12429804801941,
321
+ 71.14437225341797,
322
+ 71.1641768026352,
323
+ 71.1816377735138,
324
+ 71.20087228775024,
325
+ 71.21854376792908,
326
+ 71.23626034259796,
327
+ 71.25274047851562,
328
+ 71.27102743148804,
329
+ 71.28886438369751,
330
+ 71.30608870983124,
331
+ 71.32378898143769,
332
+ 71.33962363481521,
333
+ 71.35465386390686,
334
+ 71.371551156044,
335
+ 71.3889540195465,
336
+ 71.40592097759247,
337
+ 71.42115729331971,
338
+ 71.43740501642228,
339
+ 71.45302256584168,
340
+ 71.47052863836288,
341
+ 71.4882806968689,
342
+ 71.50748840570449,
343
+ 71.52952627658844,
344
+ 71.55059865713119,
345
+ 71.57056875228882,
346
+ 71.58898196697236,
347
+ 71.60883347988128,
348
+ 71.6305475282669,
349
+ 71.65208287239075,
350
+ 71.67324340343475,
351
+ 71.69656970024108,
352
+ 71.71778207540513,
353
+ 71.7423820400238,
354
+ 71.76660402297973,
355
+ 71.79135773181915,
356
+ 71.8179384636879,
357
+ 71.84612865447998,
358
+ 71.87385843992233,
359
+ 71.90183074951172,
360
+ 71.92967116832733,
361
+ 71.96011421203613,
362
+ 71.99151601076126,
363
+ 72.02691771984101,
364
+ 72.06483766317368,
365
+ 72.10874972343444,
366
+ 72.15644047737122,
367
+ 72.21186874389649,
368
+ 72.2747768831253,
369
+ 72.34141691207886,
370
+ 72.41462646722793,
371
+ 72.5150628232956,
372
+ 72.65761122465133,
373
+ 72.89338689804077,
374
+ 73.48060830593109,
375
+ 73.56621590280531,
376
+ 73.65627765464784,
377
+ 73.81442364430428,
378
+ 73.93480096769333,
379
+ 74.05676769256591,
380
+ 74.22994810676575,
381
+ 74.53286233878123,
382
+ 75.0761570343972,
383
+ 77.40913844251634,
384
+ 80.2655718396903,
385
+ 96.00236716117574,
386
+ 111.80089807510376
387
+ ],
388
+ "quantile_levels": [
389
+ 0.0,
390
+ 0.0001,
391
+ 0.0005,
392
+ 0.001,
393
+ 0.002,
394
+ 0.003,
395
+ 0.004,
396
+ 0.005,
397
+ 0.006,
398
+ 0.007,
399
+ 0.008,
400
+ 0.009,
401
+ 0.01,
402
+ 0.02,
403
+ 0.03,
404
+ 0.04,
405
+ 0.05,
406
+ 0.06,
407
+ 0.07,
408
+ 0.08,
409
+ 0.09,
410
+ 0.1,
411
+ 0.11,
412
+ 0.12,
413
+ 0.13,
414
+ 0.14,
415
+ 0.15,
416
+ 0.16,
417
+ 0.17,
418
+ 0.18,
419
+ 0.19,
420
+ 0.2,
421
+ 0.21,
422
+ 0.22,
423
+ 0.23,
424
+ 0.24,
425
+ 0.25,
426
+ 0.26,
427
+ 0.27,
428
+ 0.28,
429
+ 0.29,
430
+ 0.3,
431
+ 0.31,
432
+ 0.32,
433
+ 0.33,
434
+ 0.34,
435
+ 0.35,
436
+ 0.36,
437
+ 0.37,
438
+ 0.38,
439
+ 0.39,
440
+ 0.4,
441
+ 0.41,
442
+ 0.42,
443
+ 0.43,
444
+ 0.44,
445
+ 0.45,
446
+ 0.46,
447
+ 0.47,
448
+ 0.48,
449
+ 0.49,
450
+ 0.5,
451
+ 0.51,
452
+ 0.52,
453
+ 0.53,
454
+ 0.54,
455
+ 0.55,
456
+ 0.56,
457
+ 0.57,
458
+ 0.58,
459
+ 0.59,
460
+ 0.6,
461
+ 0.61,
462
+ 0.62,
463
+ 0.63,
464
+ 0.64,
465
+ 0.65,
466
+ 0.66,
467
+ 0.67,
468
+ 0.68,
469
+ 0.69,
470
+ 0.7,
471
+ 0.71,
472
+ 0.72,
473
+ 0.73,
474
+ 0.74,
475
+ 0.75,
476
+ 0.76,
477
+ 0.77,
478
+ 0.78,
479
+ 0.79,
480
+ 0.8,
481
+ 0.81,
482
+ 0.82,
483
+ 0.83,
484
+ 0.84,
485
+ 0.85,
486
+ 0.86,
487
+ 0.87,
488
+ 0.88,
489
+ 0.89,
490
+ 0.9,
491
+ 0.91,
492
+ 0.92,
493
+ 0.93,
494
+ 0.94,
495
+ 0.95,
496
+ 0.96,
497
+ 0.97,
498
+ 0.98,
499
+ 0.99,
500
+ 0.991,
501
+ 0.992,
502
+ 0.993,
503
+ 0.994,
504
+ 0.995,
505
+ 0.996,
506
+ 0.997,
507
+ 0.998,
508
+ 0.999,
509
+ 0.9995,
510
+ 0.9999,
511
+ 1.0
512
+ ]
513
+ }
514
+ },
515
+ "steady": {
516
+ "count": 29993,
517
+ "observation_to_action_latency_ms": {
518
+ "distribution_type": "inverse_cdf",
519
+ "latency_ms": [
520
+ 65.39556503295898,
521
+ 65.90317262949944,
522
+ 66.34794480299949,
523
+ 66.52523650598526,
524
+ 66.76706639719009,
525
+ 67.02408304548264,
526
+ 67.17864943504334,
527
+ 67.26108434915542,
528
+ 67.40594648313522,
529
+ 67.5005348443985,
530
+ 67.6011360502243,
531
+ 67.68505244469642,
532
+ 67.77472558736801,
533
+ 69.4243199634552,
534
+ 70.02058695793151,
535
+ 70.28187300682067,
536
+ 70.46149944067001,
537
+ 70.59055726051331,
538
+ 70.67848117351532,
539
+ 70.76189371585846,
540
+ 70.82301428794861,
541
+ 70.87942266464233,
542
+ 70.93270378589631,
543
+ 70.97858119487762,
544
+ 71.02201527357101,
545
+ 71.05530756950378,
546
+ 71.0888930439949,
547
+ 71.12097437858581,
548
+ 71.14887702703476,
549
+ 71.17826912879944,
550
+ 71.2058483171463,
551
+ 71.23736724853515,
552
+ 71.26493341445922,
553
+ 71.2944363117218,
554
+ 71.31952383756638,
555
+ 71.34473480701446,
556
+ 71.3709145784378,
557
+ 71.39759300231934,
558
+ 71.42056230068206,
559
+ 71.44201333999634,
560
+ 71.46333529710769,
561
+ 71.4817370414734,
562
+ 71.50154428243637,
563
+ 71.52057462692261,
564
+ 71.5372909116745,
565
+ 71.55419871330261,
566
+ 71.5740326166153,
567
+ 71.59386352539063,
568
+ 71.61349762916565,
569
+ 71.6311550617218,
570
+ 71.64978809833526,
571
+ 71.6697144985199,
572
+ 71.68892177343369,
573
+ 71.70919153213501,
574
+ 71.72815980434417,
575
+ 71.74859975814819,
576
+ 71.7698770403862,
577
+ 71.79157061576844,
578
+ 71.81258868217468,
579
+ 71.83437560558319,
580
+ 71.8536979842186,
581
+ 71.87217211723328,
582
+ 71.88915539979935,
583
+ 71.90820856571197,
584
+ 71.92582542896271,
585
+ 71.94395114898681,
586
+ 71.96166801452637,
587
+ 71.97716438293457,
588
+ 71.99436103343963,
589
+ 72.01059600830078,
590
+ 72.02775737524033,
591
+ 72.04330060482025,
592
+ 72.0600642299652,
593
+ 72.07685089111328,
594
+ 72.09341137647628,
595
+ 72.11067230224609,
596
+ 72.12661106586457,
597
+ 72.14578086853027,
598
+ 72.16744079828263,
599
+ 72.18705845355987,
600
+ 72.20654620409012,
601
+ 72.22568397521972,
602
+ 72.2445086312294,
603
+ 72.26336144447326,
604
+ 72.28845200538635,
605
+ 72.3110949420929,
606
+ 72.33329623937607,
607
+ 72.35886358737946,
608
+ 72.38054457426071,
609
+ 72.40417922973633,
610
+ 72.42825816869735,
611
+ 72.45425968170166,
612
+ 72.48099433660508,
613
+ 72.50895282745361,
614
+ 72.53547874927521,
615
+ 72.56302463531495,
616
+ 72.59042900800705,
617
+ 72.62289143562317,
618
+ 72.65363789081573,
619
+ 72.68952176094055,
620
+ 72.72733676195145,
621
+ 72.76983900070191,
622
+ 72.81949627876281,
623
+ 72.87578072071075,
624
+ 72.93594701766968,
625
+ 73.00869238853454,
626
+ 73.09237577915192,
627
+ 73.1850743484497,
628
+ 73.34378555059433,
629
+ 73.58954241752625,
630
+ 74.25404654741287,
631
+ 74.377984126091,
632
+ 74.45795891284942,
633
+ 74.56692840909957,
634
+ 74.68882406949997,
635
+ 74.83917311906815,
636
+ 74.99441411018371,
637
+ 75.2778499314785,
638
+ 75.79855277395247,
639
+ 77.6527411787511,
640
+ 79.8600849787,
641
+ 83.74479532060701,
642
+ 87.96991801261902
643
+ ],
644
+ "quantile_levels": [
645
+ 0.0,
646
+ 0.0001,
647
+ 0.0005,
648
+ 0.001,
649
+ 0.002,
650
+ 0.003,
651
+ 0.004,
652
+ 0.005,
653
+ 0.006,
654
+ 0.007,
655
+ 0.008,
656
+ 0.009,
657
+ 0.01,
658
+ 0.02,
659
+ 0.03,
660
+ 0.04,
661
+ 0.05,
662
+ 0.06,
663
+ 0.07,
664
+ 0.08,
665
+ 0.09,
666
+ 0.1,
667
+ 0.11,
668
+ 0.12,
669
+ 0.13,
670
+ 0.14,
671
+ 0.15,
672
+ 0.16,
673
+ 0.17,
674
+ 0.18,
675
+ 0.19,
676
+ 0.2,
677
+ 0.21,
678
+ 0.22,
679
+ 0.23,
680
+ 0.24,
681
+ 0.25,
682
+ 0.26,
683
+ 0.27,
684
+ 0.28,
685
+ 0.29,
686
+ 0.3,
687
+ 0.31,
688
+ 0.32,
689
+ 0.33,
690
+ 0.34,
691
+ 0.35,
692
+ 0.36,
693
+ 0.37,
694
+ 0.38,
695
+ 0.39,
696
+ 0.4,
697
+ 0.41,
698
+ 0.42,
699
+ 0.43,
700
+ 0.44,
701
+ 0.45,
702
+ 0.46,
703
+ 0.47,
704
+ 0.48,
705
+ 0.49,
706
+ 0.5,
707
+ 0.51,
708
+ 0.52,
709
+ 0.53,
710
+ 0.54,
711
+ 0.55,
712
+ 0.56,
713
+ 0.57,
714
+ 0.58,
715
+ 0.59,
716
+ 0.6,
717
+ 0.61,
718
+ 0.62,
719
+ 0.63,
720
+ 0.64,
721
+ 0.65,
722
+ 0.66,
723
+ 0.67,
724
+ 0.68,
725
+ 0.69,
726
+ 0.7,
727
+ 0.71,
728
+ 0.72,
729
+ 0.73,
730
+ 0.74,
731
+ 0.75,
732
+ 0.76,
733
+ 0.77,
734
+ 0.78,
735
+ 0.79,
736
+ 0.8,
737
+ 0.81,
738
+ 0.82,
739
+ 0.83,
740
+ 0.84,
741
+ 0.85,
742
+ 0.86,
743
+ 0.87,
744
+ 0.88,
745
+ 0.89,
746
+ 0.9,
747
+ 0.91,
748
+ 0.92,
749
+ 0.93,
750
+ 0.94,
751
+ 0.95,
752
+ 0.96,
753
+ 0.97,
754
+ 0.98,
755
+ 0.99,
756
+ 0.991,
757
+ 0.992,
758
+ 0.993,
759
+ 0.994,
760
+ 0.995,
761
+ 0.996,
762
+ 0.997,
763
+ 0.998,
764
+ 0.999,
765
+ 0.9995,
766
+ 0.9999,
767
+ 1.0
768
+ ]
769
+ },
770
+ "spearman_rho": 0.9963474887247316,
771
+ "worker_service_time_ms": {
772
+ "distribution_type": "inverse_cdf",
773
+ "latency_ms": [
774
+ 65.03665804862976,
775
+ 65.55398055746555,
776
+ 65.9878485212326,
777
+ 66.16043788576125,
778
+ 66.39510260963439,
779
+ 66.65668116617202,
780
+ 66.81379850769044,
781
+ 66.91483943581581,
782
+ 67.0153457736969,
783
+ 67.10624616384506,
784
+ 67.22031239414216,
785
+ 67.31242878675461,
786
+ 67.39064136266708,
787
+ 68.884574842453,
788
+ 69.4511189675331,
789
+ 69.69204290390014,
790
+ 69.84723336696625,
791
+ 69.97216024398804,
792
+ 70.05845548868179,
793
+ 70.1298413324356,
794
+ 70.19400545597077,
795
+ 70.24808297157287,
796
+ 70.29777021169663,
797
+ 70.34335553169251,
798
+ 70.3806136393547,
799
+ 70.41918155670166,
800
+ 70.448968064785,
801
+ 70.48199189662934,
802
+ 70.50970908641816,
803
+ 70.53647972106934,
804
+ 70.56663146018983,
805
+ 70.59342155456542,
806
+ 70.61852590322495,
807
+ 70.64628098487854,
808
+ 70.67265600442886,
809
+ 70.69867686271668,
810
+ 70.72488385438919,
811
+ 70.7476558971405,
812
+ 70.7703990483284,
813
+ 70.79254083633423,
814
+ 70.81092375040055,
815
+ 70.83221793174744,
816
+ 70.85147241830826,
817
+ 70.8694316148758,
818
+ 70.89091994285583,
819
+ 70.9078179550171,
820
+ 70.92635341882706,
821
+ 70.94532262325286,
822
+ 70.9637482881546,
823
+ 70.98387693405151,
824
+ 71.00404205799103,
825
+ 71.02344303131103,
826
+ 71.04280935287476,
827
+ 71.06381531715392,
828
+ 71.08464890480042,
829
+ 71.10389989852905,
830
+ 71.12422089576721,
831
+ 71.14431077003479,
832
+ 71.16399006843567,
833
+ 71.18156445026398,
834
+ 71.2007286643982,
835
+ 71.21847820281982,
836
+ 71.23595291376114,
837
+ 71.25258999824524,
838
+ 71.27089961290359,
839
+ 71.28884199142456,
840
+ 71.3059007525444,
841
+ 71.32369264602661,
842
+ 71.33935357570648,
843
+ 71.35447284698486,
844
+ 71.37133013010025,
845
+ 71.38878374099731,
846
+ 71.40563994407654,
847
+ 71.42104347229004,
848
+ 71.43730006217956,
849
+ 71.4528238105774,
850
+ 71.47043471336364,
851
+ 71.48799346923828,
852
+ 71.50737279176712,
853
+ 71.52930597782135,
854
+ 71.55040246009827,
855
+ 71.57041568756104,
856
+ 71.58885224580764,
857
+ 71.60867823123932,
858
+ 71.63035848617554,
859
+ 71.65184557914733,
860
+ 71.67304146289825,
861
+ 71.69649241924286,
862
+ 71.71739944934845,
863
+ 71.74205615997315,
864
+ 71.76628437042237,
865
+ 71.79092388153076,
866
+ 71.81759873390197,
867
+ 71.84595065116882,
868
+ 71.87376455783844,
869
+ 71.9015589761734,
870
+ 71.92951682806014,
871
+ 71.95996829032897,
872
+ 71.99123099327088,
873
+ 72.02651390075684,
874
+ 72.06419330596924,
875
+ 72.10861415863037,
876
+ 72.15558389186859,
877
+ 72.21108134746551,
878
+ 72.27408450841904,
879
+ 72.34028102874755,
880
+ 72.4134205698967,
881
+ 72.51264576911926,
882
+ 72.65399513483048,
883
+ 72.89117924690247,
884
+ 73.4721660399437,
885
+ 73.55530694293975,
886
+ 73.64461615943908,
887
+ 73.80222330904007,
888
+ 73.91535479927065,
889
+ 74.04386379599572,
890
+ 74.20484306907652,
891
+ 74.46073522233964,
892
+ 75.0037772812843,
893
+ 76.84873060560238,
894
+ 79.33595724523077,
895
+ 82.89885435822055,
896
+ 87.28808784484863
897
+ ],
898
+ "quantile_levels": [
899
+ 0.0,
900
+ 0.0001,
901
+ 0.0005,
902
+ 0.001,
903
+ 0.002,
904
+ 0.003,
905
+ 0.004,
906
+ 0.005,
907
+ 0.006,
908
+ 0.007,
909
+ 0.008,
910
+ 0.009,
911
+ 0.01,
912
+ 0.02,
913
+ 0.03,
914
+ 0.04,
915
+ 0.05,
916
+ 0.06,
917
+ 0.07,
918
+ 0.08,
919
+ 0.09,
920
+ 0.1,
921
+ 0.11,
922
+ 0.12,
923
+ 0.13,
924
+ 0.14,
925
+ 0.15,
926
+ 0.16,
927
+ 0.17,
928
+ 0.18,
929
+ 0.19,
930
+ 0.2,
931
+ 0.21,
932
+ 0.22,
933
+ 0.23,
934
+ 0.24,
935
+ 0.25,
936
+ 0.26,
937
+ 0.27,
938
+ 0.28,
939
+ 0.29,
940
+ 0.3,
941
+ 0.31,
942
+ 0.32,
943
+ 0.33,
944
+ 0.34,
945
+ 0.35,
946
+ 0.36,
947
+ 0.37,
948
+ 0.38,
949
+ 0.39,
950
+ 0.4,
951
+ 0.41,
952
+ 0.42,
953
+ 0.43,
954
+ 0.44,
955
+ 0.45,
956
+ 0.46,
957
+ 0.47,
958
+ 0.48,
959
+ 0.49,
960
+ 0.5,
961
+ 0.51,
962
+ 0.52,
963
+ 0.53,
964
+ 0.54,
965
+ 0.55,
966
+ 0.56,
967
+ 0.57,
968
+ 0.58,
969
+ 0.59,
970
+ 0.6,
971
+ 0.61,
972
+ 0.62,
973
+ 0.63,
974
+ 0.64,
975
+ 0.65,
976
+ 0.66,
977
+ 0.67,
978
+ 0.68,
979
+ 0.69,
980
+ 0.7,
981
+ 0.71,
982
+ 0.72,
983
+ 0.73,
984
+ 0.74,
985
+ 0.75,
986
+ 0.76,
987
+ 0.77,
988
+ 0.78,
989
+ 0.79,
990
+ 0.8,
991
+ 0.81,
992
+ 0.82,
993
+ 0.83,
994
+ 0.84,
995
+ 0.85,
996
+ 0.86,
997
+ 0.87,
998
+ 0.88,
999
+ 0.89,
1000
+ 0.9,
1001
+ 0.91,
1002
+ 0.92,
1003
+ 0.93,
1004
+ 0.94,
1005
+ 0.95,
1006
+ 0.96,
1007
+ 0.97,
1008
+ 0.98,
1009
+ 0.99,
1010
+ 0.991,
1011
+ 0.992,
1012
+ 0.993,
1013
+ 0.994,
1014
+ 0.995,
1015
+ 0.996,
1016
+ 0.997,
1017
+ 0.998,
1018
+ 0.999,
1019
+ 0.9995,
1020
+ 0.9999,
1021
+ 1.0
1022
+ ]
1023
+ }
1024
+ }
1025
+ }
1026
+ }
1027
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/latency_profile.png ADDED
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/profile.json ADDED
@@ -0,0 +1,66 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "burst_model_path": "latency_burst_model.json",
3
+ "distribution_path": "latency_distribution.json",
4
+ "env_fps": 10,
5
+ "frame_ms": 100.0,
6
+ "gpu_class": "1x-rtx3090",
7
+ "instance_id": "instance_859cf1e47bca6046",
8
+ "latency_kind": "observation_to_action_latency",
9
+ "latency_method": "temporal",
10
+ "model_id": "qwenoft",
11
+ "n_admitted_observations": 29997,
12
+ "n_capacity_drops": 3,
13
+ "n_observation_attempts": 30000,
14
+ "per_slot_summary": {
15
+ "0": {
16
+ "admitted_count": 29997,
17
+ "mean_observation_to_action_latency_ms": 71.8201196935092,
18
+ "mean_worker_service_time_ms": 71.17275555820454,
19
+ "p95_observation_to_action_latency_ms": 73.09400281906129,
20
+ "p95_worker_service_time_ms": 72.4146143436432,
21
+ "p99_worker_service_time_ms": 73.4799683380127
22
+ }
23
+ },
24
+ "provenance": {
25
+ "base_config": "/workspace/tasks/20260911T023128Z-p-only4/half_cheetah/profile.yaml",
26
+ "checkpoint_kind": "best",
27
+ "model_artifact": {
28
+ "checkpoint": "checkpoints/steps_5000_pytorch_model.pt",
29
+ "model_config": "config.full.yaml",
30
+ "path_in_repo": "OpenVLA/zero-latency/half_cheetah_rgb_state_l0_return_gt3000_100ep_openvla_native_sft_5k",
31
+ "repo_id": "latency-sensitive-bench/extra-envs-checkpoints",
32
+ "source": "local"
33
+ },
34
+ "session_ids": [
35
+ 0,
36
+ 1,
37
+ 2,
38
+ 3,
39
+ 4
40
+ ]
41
+ },
42
+ "sample_model_type": "hidden_regime",
43
+ "source_run_id": "20260911T035806295710Z",
44
+ "summary": {
45
+ "frame_ms": 100.0,
46
+ "max_ms": 112.48595118522644,
47
+ "mean_effective_frames": 0.718201196935092,
48
+ "mean_ms": 71.8201196935092,
49
+ "min_ms": 65.39556503295898,
50
+ "n_samples": 29997,
51
+ "p50_frames": 0.71872318983078,
52
+ "p50_ms": 71.872318983078,
53
+ "p90_frames": 0.7277030391693116,
54
+ "p90_ms": 72.77030391693116,
55
+ "p95_frames": 0.7309400281906128,
56
+ "p95_ms": 73.09400281906127,
57
+ "p99_frames": 0.7426679273605348,
58
+ "p99_ms": 74.26679273605347,
59
+ "prob_latency_gt_1_frame": 0.00010001000100010001,
60
+ "prob_latency_gt_2_frames": 0.0,
61
+ "prob_latency_gt_3_frames": 0.0,
62
+ "std_ms": 1.0660114911848162
63
+ },
64
+ "visualization_path": "latency_profile.png",
65
+ "workload_id": "half_cheetah"
66
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/provenance.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "half-cheetah",
3
+ "model": "sample-factory-appo",
4
+ "training_condition": "latency-aware",
5
+ "training_run_id": "half_cheetah_profile_20260912T023319Z",
6
+ "source": {
7
+ "repo_id": "latency-sensitive-bench/Standard-Pipeline",
8
+ "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
9
+ "path": "half_cheetah/profile_latency/small_model",
10
+ "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/half_cheetah/profile_latency/small_model"
11
+ },
12
+ "hf_repo_id": "latency-sensitive-bench/benchmark-models",
13
+ "hf_path": "latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1",
14
+ "checkpoint": {
15
+ "source_file": "half_cheetah/profile_latency/small_model/checkpoint_p0/best_000019544_10006528_reward_4867.430.pth",
16
+ "source_sha256": "0692b81428ca7c99d327185e68f53f19d14e775aba15a7586351bc06c9c370e5",
17
+ "source_bytes": 83973,
18
+ "file": "checkpoint.pth",
19
+ "selection_rule": "best_reward_after_full_training_budget",
20
+ "method": "inference_export",
21
+ "sha256": "323a1b8a6b7050ad692bf684645ec03e518fb0f2b20cbe3ec98fb92df0ceb640",
22
+ "bytes": 29877,
23
+ "train_step": 19544,
24
+ "env_steps": 10006528,
25
+ "tensor_count": 15,
26
+ "tensor_equality_verified": true,
27
+ "removed_fields": [
28
+ "best_performance",
29
+ "curr_lr",
30
+ "optimizer"
31
+ ]
32
+ },
33
+ "config_source": "half_cheetah/profile_latency/small_model/config.json",
34
+ "task_contract_file": null,
35
+ "missing_source_files": [],
36
+ "migration": {
37
+ "operation": "copy_selected_inference_bundle",
38
+ "source_modified": false,
39
+ "evaluation_performed": false,
40
+ "experiment_status": "preserved_in_source_evidence"
41
+ },
42
+ "algorithm": "APPO",
43
+ "latency_model": "qwenoft"
44
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/rollout_descriptor.json ADDED
@@ -0,0 +1,310 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "env_name": "half_cheetah_rgb_state",
3
+ "integration_name": "gymnasium",
4
+ "action_spec": {
5
+ "layout": "gymnasium_continuous_v1",
6
+ "labels": [
7
+ "back_thigh_torque",
8
+ "back_shin_torque",
9
+ "back_foot_torque",
10
+ "front_thigh_torque",
11
+ "front_shin_torque",
12
+ "front_foot_torque"
13
+ ],
14
+ "row_fields": [
15
+ "action",
16
+ "action_text"
17
+ ],
18
+ "reward_field": "raw_reward",
19
+ "episode_return_field": "episode_raw_return",
20
+ "reward_semantics": "raw_reward"
21
+ },
22
+ "base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
23
+ "checkpoint_experiment_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z",
24
+ "checkpoint_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/checkpoint_p0/best_000019544_10006528_reward_4867.430.pth",
25
+ "flat_cfg": {
26
+ "help": false,
27
+ "algo": "APPO",
28
+ "env": "latency_gymnasium",
29
+ "experiment": "half_cheetah_profile_20260912T023319Z",
30
+ "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models",
31
+ "restart_behavior": "overwrite",
32
+ "device": "gpu",
33
+ "seed": 2222,
34
+ "initial_model_path": null,
35
+ "num_policies": 1,
36
+ "async_rl": false,
37
+ "serial_mode": false,
38
+ "batched_sampling": false,
39
+ "num_batches_to_accumulate": 2,
40
+ "worker_num_splits": 2,
41
+ "policy_workers_per_policy": 1,
42
+ "max_policy_lag": 10000,
43
+ "num_workers": 8,
44
+ "num_envs_per_worker": 8,
45
+ "batch_size": 1024,
46
+ "num_batches_per_epoch": 4,
47
+ "num_epochs": 2,
48
+ "rollout": 64,
49
+ "fasttd3_replay_capacity": 6553600,
50
+ "fasttd3_replay_batch_size": 32768,
51
+ "fasttd3_transitions_per_update": 64,
52
+ "fasttd3_v_min": -250.0,
53
+ "fasttd3_v_max": 250.0,
54
+ "fasttd3_actor_action_l2": 0.0,
55
+ "fasttd3_compile": true,
56
+ "fasttd3_sonic_decoder_path": null,
57
+ "recurrence": 1,
58
+ "shuffle_minibatches": false,
59
+ "gamma": 0.99,
60
+ "reward_scale": 1.0,
61
+ "reward_clip": 1000.0,
62
+ "value_bootstrap": false,
63
+ "normalize_returns": true,
64
+ "exploration_loss_coeff": 0.0,
65
+ "value_loss_coeff": 1.3,
66
+ "kl_loss_coeff": 0.1,
67
+ "exploration_loss": "entropy",
68
+ "gae_lambda": 0.95,
69
+ "ppo_clip_ratio": 0.2,
70
+ "ppo_clip_value": 1.0,
71
+ "with_vtrace": false,
72
+ "vtrace_rho": 1.0,
73
+ "vtrace_c": 1.0,
74
+ "optimizer": "adam",
75
+ "adam_eps": 1e-06,
76
+ "adam_beta1": 0.9,
77
+ "adam_beta2": 0.999,
78
+ "max_grad_norm": 3.5,
79
+ "learning_rate": 0.00295,
80
+ "lr_schedule": "linear_decay",
81
+ "lr_schedule_kl_threshold": 0.008,
82
+ "lr_adaptive_min": 1e-06,
83
+ "lr_adaptive_max": 0.01,
84
+ "obs_subtract_mean": 0.0,
85
+ "obs_scale": 1.0,
86
+ "normalize_input": true,
87
+ "normalize_input_keys": null,
88
+ "decorrelate_experience_max_seconds": 10,
89
+ "decorrelate_envs_on_one_worker": true,
90
+ "actor_worker_gpus": [],
91
+ "set_workers_cpu_affinity": true,
92
+ "force_envs_single_thread": true,
93
+ "default_niceness": 0,
94
+ "log_to_file": true,
95
+ "experiment_summaries_interval": 10,
96
+ "flush_summaries_interval": 30,
97
+ "stats_avg": 100,
98
+ "summaries_use_frameskip": true,
99
+ "heartbeat_interval": 20,
100
+ "heartbeat_reporting_interval": 180,
101
+ "train_for_env_steps": 10000000,
102
+ "train_for_seconds": 10000000000,
103
+ "save_every_sec": 600,
104
+ "keep_checkpoints": 3,
105
+ "load_checkpoint_kind": "latest",
106
+ "save_milestones_sec": -1,
107
+ "save_best_every_sec": 60,
108
+ "save_best_metric": "reward",
109
+ "save_best_after": 100000,
110
+ "benchmark": false,
111
+ "encoder_mlp_layers": [
112
+ 64,
113
+ 64
114
+ ],
115
+ "encoder_conv_architecture": "convnet_simple",
116
+ "encoder_conv_mlp_layers": [
117
+ 512
118
+ ],
119
+ "use_rnn": false,
120
+ "rnn_size": 512,
121
+ "rnn_type": "gru",
122
+ "rnn_num_layers": 1,
123
+ "decoder_mlp_layers": [],
124
+ "nonlinearity": "tanh",
125
+ "policy_initialization": "torch_default",
126
+ "policy_init_gain": 1.0,
127
+ "actor_critic_share_weights": true,
128
+ "adaptive_stddev": false,
129
+ "continuous_tanh_scale": 0.0,
130
+ "initial_stddev": 1.0,
131
+ "use_env_info_cache": false,
132
+ "env_gpu_actions": false,
133
+ "env_gpu_observations": true,
134
+ "env_frameskip": 1,
135
+ "env_framestack": 1,
136
+ "pixel_format": "CHW",
137
+ "use_record_episode_statistics": false,
138
+ "with_wandb": false,
139
+ "wandb_user": null,
140
+ "wandb_project": "sample_factory",
141
+ "wandb_group": null,
142
+ "wandb_job_type": "SF",
143
+ "wandb_tags": [],
144
+ "with_pbt": false,
145
+ "pbt_mix_policies_in_one_env": true,
146
+ "pbt_period_env_steps": 5000000,
147
+ "pbt_start_mutation": 20000000,
148
+ "pbt_replace_fraction": 0.3,
149
+ "pbt_mutation_rate": 0.15,
150
+ "pbt_replace_reward_gap": 0.1,
151
+ "pbt_replace_reward_gap_absolute": 1e-06,
152
+ "pbt_optimize_gamma": false,
153
+ "pbt_target_objective": "true_objective",
154
+ "pbt_perturb_min": 1.1,
155
+ "pbt_perturb_max": 1.5,
156
+ "gym_task_name": "half_cheetah_rgb_state",
157
+ "gym_env_id": "LatencyBench/HalfCheetahContinuous-v0",
158
+ "gym_make_kwargs_json": "{\"base_env_id\": \"HalfCheetah-v4\", \"base_make_kwargs\": {}, \"render_mode\": \"rgb_array\"}",
159
+ "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_half_cheetah\"]",
160
+ "gym_action_space_json": "{\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"type\": \"box\"}",
161
+ "gym_action_labels_json": null,
162
+ "gym_action_values_json": null,
163
+ "gym_noop_action_id": null,
164
+ "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
165
+ "gym_base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
166
+ "gym_state_labels_json": "[\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"]",
167
+ "env_fps": 10.0,
168
+ "obs_fps": 10.0,
169
+ "frame_stack": 1,
170
+ "export_env_raw_rgb_frames": false,
171
+ "mode": "train",
172
+ "latency_type": "iid",
173
+ "fixed_latency_ms": null,
174
+ "mean_latency_ms": null,
175
+ "std_latency_ms": null,
176
+ "min_latency_ms": null,
177
+ "max_latency_ms": null,
178
+ "latency_seed": 0,
179
+ "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/profile/profile.json",
180
+ "latency_profile_worker_slot": 0,
181
+ "simulated_worker_capacity": null,
182
+ "add_latency_info": false,
183
+ "max_pending_actions": null,
184
+ "hold_policy": "hold",
185
+ "ordering_policy": "issue_order_fifo",
186
+ "eval_episodes": 10,
187
+ "eval_parallel_envs": 1,
188
+ "eval_latency_raw_frame_values": null,
189
+ "eval_max_steps": 1000,
190
+ "eval_deterministic": true,
191
+ "eval_raw_reward": false,
192
+ "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/episode_metrics.jsonl",
193
+ "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment half_cheetah_profile_20260912T023319Z --train_dir /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models --restart_behavior overwrite --device gpu --seed 2222 --episode_metrics_path /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/episode_metrics.jsonl --train_for_env_steps 10000000 --num_workers 8 --num_envs_per_worker 8 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 1 --num_epochs 2 --num_batches_per_epoch 4 --worker_num_splits 2 --max_policy_lag 10000 --num_batches_to_accumulate 2 --policy_workers_per_policy 1 --learning_rate 0.00295 --kl_loss_coeff 0.1 --lr_schedule_kl_threshold 0.008 --nonlinearity tanh --policy_initialization torch_default --continuous_tanh_scale 0.0 --initial_stddev 1.0 --env_framestack 1 --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.2 --ppo_clip_value 1.0 --exploration_loss entropy --exploration_loss_coeff 0.0 --reward_scale 1.0 --reward_clip 1000.0 --value_loss_coeff 1.3 --max_grad_norm 3.5 --optimizer adam --adam_eps 1e-06 --adam_beta1 0.9 --adam_beta2 0.999 --obs_subtract_mean 0.0 --obs_scale 1.0 --decorrelate_experience_max_seconds 10 --default_niceness 0 --rnn_type gru --rnn_size 512 --save_every_sec 600 --keep_checkpoints 3 --save_milestones_sec -1 --save_best_every_sec 60 --save_best_after 100000 --stats_avg 100 --experiment_summaries_interval 10 --async_rl False --batched_sampling False --serial_mode False --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --shuffle_minibatches False --value_bootstrap False --with_vtrace False --decorrelate_envs_on_one_worker True --set_workers_cpu_affinity True --force_envs_single_thread True --actor_critic_share_weights True --with_wandb False --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/profile/profile.json --latency-profile-worker-slot 0 --add-latency-info False --eval-episodes 10 --eval-parallel-envs 1 --eval-max-steps 1000 --eval-deterministic True --gym-task-name half_cheetah_rgb_state --gym-env-id LatencyBench/HalfCheetahContinuous-v0 --gym-make-kwargs-json {\"base_env_id\": \"HalfCheetah-v4\", \"base_make_kwargs\": {}, \"render_mode\": \"rgb_array\"} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_half_cheetah\"] --gym-action-space-json {\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"type\": \"box\"} --gym-noop-action-json [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] --gym-base-prompt Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot. --gym-state-labels-json [\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"] --env-fps 10.0 --obs-fps 10.0 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
194
+ "cli_args": {
195
+ "algo": "APPO",
196
+ "env": "latency_gymnasium",
197
+ "experiment": "half_cheetah_profile_20260912T023319Z",
198
+ "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models",
199
+ "restart_behavior": "overwrite",
200
+ "device": "gpu",
201
+ "seed": 2222,
202
+ "num_policies": 1,
203
+ "async_rl": false,
204
+ "serial_mode": false,
205
+ "batched_sampling": false,
206
+ "num_batches_to_accumulate": 2,
207
+ "worker_num_splits": 2,
208
+ "policy_workers_per_policy": 1,
209
+ "max_policy_lag": 10000,
210
+ "num_workers": 8,
211
+ "num_envs_per_worker": 8,
212
+ "batch_size": 1024,
213
+ "num_batches_per_epoch": 4,
214
+ "num_epochs": 2,
215
+ "rollout": 64,
216
+ "recurrence": 1,
217
+ "shuffle_minibatches": false,
218
+ "gamma": 0.99,
219
+ "reward_scale": 1.0,
220
+ "reward_clip": 1000.0,
221
+ "value_bootstrap": false,
222
+ "normalize_returns": true,
223
+ "exploration_loss_coeff": 0.0,
224
+ "value_loss_coeff": 1.3,
225
+ "kl_loss_coeff": 0.1,
226
+ "exploration_loss": "entropy",
227
+ "gae_lambda": 0.95,
228
+ "ppo_clip_ratio": 0.2,
229
+ "ppo_clip_value": 1.0,
230
+ "with_vtrace": false,
231
+ "optimizer": "adam",
232
+ "adam_eps": 1e-06,
233
+ "adam_beta1": 0.9,
234
+ "adam_beta2": 0.999,
235
+ "max_grad_norm": 3.5,
236
+ "learning_rate": 0.00295,
237
+ "lr_schedule_kl_threshold": 0.008,
238
+ "obs_subtract_mean": 0.0,
239
+ "obs_scale": 1.0,
240
+ "normalize_input": true,
241
+ "decorrelate_experience_max_seconds": 10,
242
+ "decorrelate_envs_on_one_worker": true,
243
+ "set_workers_cpu_affinity": true,
244
+ "force_envs_single_thread": true,
245
+ "default_niceness": 0,
246
+ "experiment_summaries_interval": 10,
247
+ "stats_avg": 100,
248
+ "train_for_env_steps": 10000000,
249
+ "save_every_sec": 600,
250
+ "keep_checkpoints": 3,
251
+ "save_milestones_sec": -1,
252
+ "save_best_every_sec": 60,
253
+ "save_best_after": 100000,
254
+ "encoder_mlp_layers": [
255
+ 64,
256
+ 64
257
+ ],
258
+ "use_rnn": false,
259
+ "rnn_size": 512,
260
+ "rnn_type": "gru",
261
+ "nonlinearity": "tanh",
262
+ "policy_initialization": "torch_default",
263
+ "actor_critic_share_weights": true,
264
+ "adaptive_stddev": false,
265
+ "continuous_tanh_scale": 0.0,
266
+ "initial_stddev": 1.0,
267
+ "use_env_info_cache": false,
268
+ "env_framestack": 1,
269
+ "with_wandb": false,
270
+ "gym_task_name": "half_cheetah_rgb_state",
271
+ "gym_env_id": "LatencyBench/HalfCheetahContinuous-v0",
272
+ "gym_make_kwargs_json": "{\"base_env_id\": \"HalfCheetah-v4\", \"base_make_kwargs\": {}, \"render_mode\": \"rgb_array\"}",
273
+ "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_half_cheetah\"]",
274
+ "gym_action_space_json": "{\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"type\": \"box\"}",
275
+ "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
276
+ "gym_base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
277
+ "gym_state_labels_json": "[\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"]",
278
+ "env_fps": 10.0,
279
+ "obs_fps": 10.0,
280
+ "frame_stack": 1,
281
+ "mode": "train",
282
+ "latency_type": "iid",
283
+ "latency_seed": 0,
284
+ "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/profile/profile.json",
285
+ "latency_profile_worker_slot": 0,
286
+ "add_latency_info": false,
287
+ "hold_policy": "hold",
288
+ "ordering_policy": "issue_order_fifo",
289
+ "eval_episodes": 10,
290
+ "eval_parallel_envs": 1,
291
+ "eval_max_steps": 1000,
292
+ "eval_deterministic": true,
293
+ "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/episode_metrics.jsonl",
294
+ "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_train"
295
+ },
296
+ "git_hash": "unknown",
297
+ "git_repo_name": "not a git repository",
298
+ "eval_env_frameskip": 1,
299
+ "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_train"
300
+ },
301
+ "device_override": "gpu",
302
+ "latency_override": {
303
+ "method": "iid",
304
+ "fixed_latency_ms": null,
305
+ "profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/profile/profile.json",
306
+ "profile_worker_slot": 0,
307
+ "seed": 0,
308
+ "add_latency_info": false
309
+ }
310
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/rollout_metadata.json ADDED
@@ -0,0 +1,363 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "checkpoint_experiment_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z",
3
+ "checkpoint_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/checkpoint_p0/best_000019544_10006528_reward_4867.430.pth",
4
+ "config_source": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/config.json",
5
+ "latency_source": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/h100/small_train.yaml",
6
+ "checkpoint_config": {
7
+ "help": false,
8
+ "algo": "APPO",
9
+ "env": "latency_gymnasium",
10
+ "experiment": "half_cheetah_profile_20260912T023319Z",
11
+ "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models",
12
+ "restart_behavior": "overwrite",
13
+ "device": "gpu",
14
+ "seed": 2222,
15
+ "initial_model_path": null,
16
+ "num_policies": 1,
17
+ "async_rl": false,
18
+ "serial_mode": false,
19
+ "batched_sampling": false,
20
+ "num_batches_to_accumulate": 2,
21
+ "worker_num_splits": 2,
22
+ "policy_workers_per_policy": 1,
23
+ "max_policy_lag": 10000,
24
+ "num_workers": 8,
25
+ "num_envs_per_worker": 8,
26
+ "batch_size": 1024,
27
+ "num_batches_per_epoch": 4,
28
+ "num_epochs": 2,
29
+ "rollout": 64,
30
+ "fasttd3_replay_capacity": 6553600,
31
+ "fasttd3_replay_batch_size": 32768,
32
+ "fasttd3_transitions_per_update": 64,
33
+ "fasttd3_v_min": -250.0,
34
+ "fasttd3_v_max": 250.0,
35
+ "fasttd3_actor_action_l2": 0.0,
36
+ "fasttd3_compile": true,
37
+ "fasttd3_sonic_decoder_path": null,
38
+ "recurrence": 1,
39
+ "shuffle_minibatches": false,
40
+ "gamma": 0.99,
41
+ "reward_scale": 1.0,
42
+ "reward_clip": 1000.0,
43
+ "value_bootstrap": false,
44
+ "normalize_returns": true,
45
+ "exploration_loss_coeff": 0.0,
46
+ "value_loss_coeff": 1.3,
47
+ "kl_loss_coeff": 0.1,
48
+ "exploration_loss": "entropy",
49
+ "gae_lambda": 0.95,
50
+ "ppo_clip_ratio": 0.2,
51
+ "ppo_clip_value": 1.0,
52
+ "with_vtrace": false,
53
+ "vtrace_rho": 1.0,
54
+ "vtrace_c": 1.0,
55
+ "optimizer": "adam",
56
+ "adam_eps": 1e-06,
57
+ "adam_beta1": 0.9,
58
+ "adam_beta2": 0.999,
59
+ "max_grad_norm": 3.5,
60
+ "learning_rate": 0.00295,
61
+ "lr_schedule": "linear_decay",
62
+ "lr_schedule_kl_threshold": 0.008,
63
+ "lr_adaptive_min": 1e-06,
64
+ "lr_adaptive_max": 0.01,
65
+ "obs_subtract_mean": 0.0,
66
+ "obs_scale": 1.0,
67
+ "normalize_input": true,
68
+ "normalize_input_keys": null,
69
+ "decorrelate_experience_max_seconds": 10,
70
+ "decorrelate_envs_on_one_worker": true,
71
+ "actor_worker_gpus": [],
72
+ "set_workers_cpu_affinity": true,
73
+ "force_envs_single_thread": true,
74
+ "default_niceness": 0,
75
+ "log_to_file": true,
76
+ "experiment_summaries_interval": 10,
77
+ "flush_summaries_interval": 30,
78
+ "stats_avg": 100,
79
+ "summaries_use_frameskip": true,
80
+ "heartbeat_interval": 20,
81
+ "heartbeat_reporting_interval": 180,
82
+ "train_for_env_steps": 10000000,
83
+ "train_for_seconds": 10000000000,
84
+ "save_every_sec": 600,
85
+ "keep_checkpoints": 3,
86
+ "load_checkpoint_kind": "latest",
87
+ "save_milestones_sec": -1,
88
+ "save_best_every_sec": 60,
89
+ "save_best_metric": "reward",
90
+ "save_best_after": 100000,
91
+ "benchmark": false,
92
+ "encoder_mlp_layers": [
93
+ 64,
94
+ 64
95
+ ],
96
+ "encoder_conv_architecture": "convnet_simple",
97
+ "encoder_conv_mlp_layers": [
98
+ 512
99
+ ],
100
+ "use_rnn": false,
101
+ "rnn_size": 512,
102
+ "rnn_type": "gru",
103
+ "rnn_num_layers": 1,
104
+ "decoder_mlp_layers": [],
105
+ "nonlinearity": "tanh",
106
+ "policy_initialization": "torch_default",
107
+ "policy_init_gain": 1.0,
108
+ "actor_critic_share_weights": true,
109
+ "adaptive_stddev": false,
110
+ "continuous_tanh_scale": 0.0,
111
+ "initial_stddev": 1.0,
112
+ "use_env_info_cache": false,
113
+ "env_gpu_actions": false,
114
+ "env_gpu_observations": true,
115
+ "env_frameskip": 1,
116
+ "env_framestack": 1,
117
+ "pixel_format": "CHW",
118
+ "use_record_episode_statistics": false,
119
+ "with_wandb": false,
120
+ "wandb_user": null,
121
+ "wandb_project": "sample_factory",
122
+ "wandb_group": null,
123
+ "wandb_job_type": "SF",
124
+ "wandb_tags": [],
125
+ "with_pbt": false,
126
+ "pbt_mix_policies_in_one_env": true,
127
+ "pbt_period_env_steps": 5000000,
128
+ "pbt_start_mutation": 20000000,
129
+ "pbt_replace_fraction": 0.3,
130
+ "pbt_mutation_rate": 0.15,
131
+ "pbt_replace_reward_gap": 0.1,
132
+ "pbt_replace_reward_gap_absolute": 1e-06,
133
+ "pbt_optimize_gamma": false,
134
+ "pbt_target_objective": "true_objective",
135
+ "pbt_perturb_min": 1.1,
136
+ "pbt_perturb_max": 1.5,
137
+ "gym_task_name": "half_cheetah_rgb_state",
138
+ "gym_env_id": "LatencyBench/HalfCheetahContinuous-v0",
139
+ "gym_make_kwargs_json": "{\"base_env_id\": \"HalfCheetah-v4\", \"base_make_kwargs\": {}, \"render_mode\": \"rgb_array\"}",
140
+ "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_half_cheetah\"]",
141
+ "gym_action_space_json": "{\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"type\": \"box\"}",
142
+ "gym_action_labels_json": null,
143
+ "gym_action_values_json": null,
144
+ "gym_noop_action_id": null,
145
+ "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
146
+ "gym_base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
147
+ "gym_state_labels_json": "[\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"]",
148
+ "env_fps": 10.0,
149
+ "obs_fps": 10.0,
150
+ "frame_stack": 1,
151
+ "export_env_raw_rgb_frames": false,
152
+ "mode": "train",
153
+ "latency_type": "iid",
154
+ "fixed_latency_ms": null,
155
+ "mean_latency_ms": null,
156
+ "std_latency_ms": null,
157
+ "min_latency_ms": null,
158
+ "max_latency_ms": null,
159
+ "latency_seed": 0,
160
+ "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/profile/profile.json",
161
+ "latency_profile_worker_slot": 0,
162
+ "simulated_worker_capacity": null,
163
+ "add_latency_info": false,
164
+ "max_pending_actions": null,
165
+ "hold_policy": "hold",
166
+ "ordering_policy": "issue_order_fifo",
167
+ "eval_episodes": 10,
168
+ "eval_parallel_envs": 1,
169
+ "eval_latency_raw_frame_values": null,
170
+ "eval_max_steps": 1000,
171
+ "eval_deterministic": true,
172
+ "eval_raw_reward": false,
173
+ "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/episode_metrics.jsonl",
174
+ "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment half_cheetah_profile_20260912T023319Z --train_dir /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models --restart_behavior overwrite --device gpu --seed 2222 --episode_metrics_path /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/episode_metrics.jsonl --train_for_env_steps 10000000 --num_workers 8 --num_envs_per_worker 8 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 1 --num_epochs 2 --num_batches_per_epoch 4 --worker_num_splits 2 --max_policy_lag 10000 --num_batches_to_accumulate 2 --policy_workers_per_policy 1 --learning_rate 0.00295 --kl_loss_coeff 0.1 --lr_schedule_kl_threshold 0.008 --nonlinearity tanh --policy_initialization torch_default --continuous_tanh_scale 0.0 --initial_stddev 1.0 --env_framestack 1 --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.2 --ppo_clip_value 1.0 --exploration_loss entropy --exploration_loss_coeff 0.0 --reward_scale 1.0 --reward_clip 1000.0 --value_loss_coeff 1.3 --max_grad_norm 3.5 --optimizer adam --adam_eps 1e-06 --adam_beta1 0.9 --adam_beta2 0.999 --obs_subtract_mean 0.0 --obs_scale 1.0 --decorrelate_experience_max_seconds 10 --default_niceness 0 --rnn_type gru --rnn_size 512 --save_every_sec 600 --keep_checkpoints 3 --save_milestones_sec -1 --save_best_every_sec 60 --save_best_after 100000 --stats_avg 100 --experiment_summaries_interval 10 --async_rl False --batched_sampling False --serial_mode False --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --shuffle_minibatches False --value_bootstrap False --with_vtrace False --decorrelate_envs_on_one_worker True --set_workers_cpu_affinity True --force_envs_single_thread True --actor_critic_share_weights True --with_wandb False --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/profile/profile.json --latency-profile-worker-slot 0 --add-latency-info False --eval-episodes 10 --eval-parallel-envs 1 --eval-max-steps 1000 --eval-deterministic True --gym-task-name half_cheetah_rgb_state --gym-env-id LatencyBench/HalfCheetahContinuous-v0 --gym-make-kwargs-json {\"base_env_id\": \"HalfCheetah-v4\", \"base_make_kwargs\": {}, \"render_mode\": \"rgb_array\"} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_half_cheetah\"] --gym-action-space-json {\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"type\": \"box\"} --gym-noop-action-json [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] --gym-base-prompt Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot. --gym-state-labels-json [\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"] --env-fps 10.0 --obs-fps 10.0 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
175
+ "cli_args": {
176
+ "algo": "APPO",
177
+ "env": "latency_gymnasium",
178
+ "experiment": "half_cheetah_profile_20260912T023319Z",
179
+ "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models",
180
+ "restart_behavior": "overwrite",
181
+ "device": "gpu",
182
+ "seed": 2222,
183
+ "num_policies": 1,
184
+ "async_rl": false,
185
+ "serial_mode": false,
186
+ "batched_sampling": false,
187
+ "num_batches_to_accumulate": 2,
188
+ "worker_num_splits": 2,
189
+ "policy_workers_per_policy": 1,
190
+ "max_policy_lag": 10000,
191
+ "num_workers": 8,
192
+ "num_envs_per_worker": 8,
193
+ "batch_size": 1024,
194
+ "num_batches_per_epoch": 4,
195
+ "num_epochs": 2,
196
+ "rollout": 64,
197
+ "recurrence": 1,
198
+ "shuffle_minibatches": false,
199
+ "gamma": 0.99,
200
+ "reward_scale": 1.0,
201
+ "reward_clip": 1000.0,
202
+ "value_bootstrap": false,
203
+ "normalize_returns": true,
204
+ "exploration_loss_coeff": 0.0,
205
+ "value_loss_coeff": 1.3,
206
+ "kl_loss_coeff": 0.1,
207
+ "exploration_loss": "entropy",
208
+ "gae_lambda": 0.95,
209
+ "ppo_clip_ratio": 0.2,
210
+ "ppo_clip_value": 1.0,
211
+ "with_vtrace": false,
212
+ "optimizer": "adam",
213
+ "adam_eps": 1e-06,
214
+ "adam_beta1": 0.9,
215
+ "adam_beta2": 0.999,
216
+ "max_grad_norm": 3.5,
217
+ "learning_rate": 0.00295,
218
+ "lr_schedule_kl_threshold": 0.008,
219
+ "obs_subtract_mean": 0.0,
220
+ "obs_scale": 1.0,
221
+ "normalize_input": true,
222
+ "decorrelate_experience_max_seconds": 10,
223
+ "decorrelate_envs_on_one_worker": true,
224
+ "set_workers_cpu_affinity": true,
225
+ "force_envs_single_thread": true,
226
+ "default_niceness": 0,
227
+ "experiment_summaries_interval": 10,
228
+ "stats_avg": 100,
229
+ "train_for_env_steps": 10000000,
230
+ "save_every_sec": 600,
231
+ "keep_checkpoints": 3,
232
+ "save_milestones_sec": -1,
233
+ "save_best_every_sec": 60,
234
+ "save_best_after": 100000,
235
+ "encoder_mlp_layers": [
236
+ 64,
237
+ 64
238
+ ],
239
+ "use_rnn": false,
240
+ "rnn_size": 512,
241
+ "rnn_type": "gru",
242
+ "nonlinearity": "tanh",
243
+ "policy_initialization": "torch_default",
244
+ "actor_critic_share_weights": true,
245
+ "adaptive_stddev": false,
246
+ "continuous_tanh_scale": 0.0,
247
+ "initial_stddev": 1.0,
248
+ "use_env_info_cache": false,
249
+ "env_framestack": 1,
250
+ "with_wandb": false,
251
+ "gym_task_name": "half_cheetah_rgb_state",
252
+ "gym_env_id": "LatencyBench/HalfCheetahContinuous-v0",
253
+ "gym_make_kwargs_json": "{\"base_env_id\": \"HalfCheetah-v4\", \"base_make_kwargs\": {}, \"render_mode\": \"rgb_array\"}",
254
+ "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_half_cheetah\"]",
255
+ "gym_action_space_json": "{\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"type\": \"box\"}",
256
+ "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
257
+ "gym_base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
258
+ "gym_state_labels_json": "[\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"]",
259
+ "env_fps": 10.0,
260
+ "obs_fps": 10.0,
261
+ "frame_stack": 1,
262
+ "mode": "train",
263
+ "latency_type": "iid",
264
+ "latency_seed": 0,
265
+ "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/profile/profile.json",
266
+ "latency_profile_worker_slot": 0,
267
+ "add_latency_info": false,
268
+ "hold_policy": "hold",
269
+ "ordering_policy": "issue_order_fifo",
270
+ "eval_episodes": 10,
271
+ "eval_parallel_envs": 1,
272
+ "eval_max_steps": 1000,
273
+ "eval_deterministic": true,
274
+ "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/episode_metrics.jsonl",
275
+ "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_train"
276
+ },
277
+ "git_hash": "unknown",
278
+ "git_repo_name": "not a git repository",
279
+ "eval_env_frameskip": 1,
280
+ "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_train"
281
+ },
282
+ "latency_override": {
283
+ "method": "iid",
284
+ "fixed_latency_ms": null,
285
+ "profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/profile/profile.json",
286
+ "profile_worker_slot": 0,
287
+ "seed": 0,
288
+ "add_latency_info": false
289
+ },
290
+ "gymnasium_task": {
291
+ "task_name": "half_cheetah_rgb_state",
292
+ "env_id": "LatencyBench/HalfCheetahContinuous-v0",
293
+ "make_kwargs": {
294
+ "base_env_id": "HalfCheetah-v4",
295
+ "base_make_kwargs": {},
296
+ "render_mode": "rgb_array"
297
+ },
298
+ "registration_imports": [
299
+ "latency_bench.envs.gymnasium_half_cheetah"
300
+ ],
301
+ "base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
302
+ "env_fps": 10.0,
303
+ "obs_fps": 10.0,
304
+ "frame_stack": 1,
305
+ "state_space": {
306
+ "labels": [
307
+ "front_tip_height",
308
+ "front_tip_angle",
309
+ "back_thigh_angle",
310
+ "back_shin_angle",
311
+ "back_foot_angle",
312
+ "front_thigh_angle",
313
+ "front_shin_angle",
314
+ "front_foot_angle",
315
+ "front_tip_x_velocity",
316
+ "front_tip_z_velocity",
317
+ "front_tip_angular_velocity",
318
+ "back_thigh_angular_velocity",
319
+ "back_shin_angular_velocity",
320
+ "back_foot_angular_velocity",
321
+ "front_thigh_angular_velocity",
322
+ "front_shin_angular_velocity",
323
+ "front_foot_angular_velocity"
324
+ ]
325
+ },
326
+ "action_space": {
327
+ "dtype": "float32",
328
+ "high": [
329
+ 1.0,
330
+ 1.0,
331
+ 1.0,
332
+ 1.0,
333
+ 1.0,
334
+ 1.0
335
+ ],
336
+ "labels": [
337
+ "back_thigh_torque",
338
+ "back_shin_torque",
339
+ "back_foot_torque",
340
+ "front_thigh_torque",
341
+ "front_shin_torque",
342
+ "front_foot_torque"
343
+ ],
344
+ "low": [
345
+ -1.0,
346
+ -1.0,
347
+ -1.0,
348
+ -1.0,
349
+ -1.0,
350
+ -1.0
351
+ ],
352
+ "type": "box"
353
+ },
354
+ "noop_action": [
355
+ 0.0,
356
+ 0.0,
357
+ 0.0,
358
+ 0.0,
359
+ 0.0,
360
+ 0.0
361
+ ]
362
+ }
363
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/selection.json ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "run_id": "20260912T023319Z-halfcheetah",
3
+ "source_profile_run_id": "20260911T035806295710Z",
4
+ "selection_rule": "best_reward_after_full_training_budget",
5
+ "best_checkpoint": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/checkpoint_p0/best_000019544_10006528_reward_4867.430.pth",
6
+ "best_bundle_path": "checkpoint_p0/best_000019544_10006528_reward_4867.430.pth",
7
+ "final_checkpoint": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models/half_cheetah_profile_20260912T023319Z/checkpoint_p0/checkpoint_000019544_10006528.pth",
8
+ "final_env_steps": 10006528,
9
+ "final_train_step": 19544,
10
+ "training_exit_code": 0,
11
+ "profile_sha256": "5580e628965a3fa3d29538c2b51dbd9ae3f6adc8662bd2cca8f1ada5a1d8e06e",
12
+ "code_root_sha": "86df5ecef6735d5d824944e7acdee5bf204e1545",
13
+ "note": "config and rollout descriptor preserve exact H100 training paths; rebind latency profile to bundled profile/profile.json when moving hosts"
14
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenoft-rtx3090-v1/small_train.yaml ADDED
@@ -0,0 +1,172 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ experiment:
2
+ name: half_cheetah_profile_20260912T023319Z
3
+ seed: 2222
4
+ backend:
5
+ type: sample_factory
6
+ algo: APPO
7
+ device: cuda
8
+ train_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_models
9
+ restart_behavior: overwrite
10
+ run_mode: train
11
+ executor:
12
+ mode: simulated
13
+ env:
14
+ name: gymnasium
15
+ action_space:
16
+ dtype: float32
17
+ high:
18
+ - 1.0
19
+ - 1.0
20
+ - 1.0
21
+ - 1.0
22
+ - 1.0
23
+ - 1.0
24
+ labels:
25
+ - back_thigh_torque
26
+ - back_shin_torque
27
+ - back_foot_torque
28
+ - front_thigh_torque
29
+ - front_shin_torque
30
+ - front_foot_torque
31
+ low:
32
+ - -1.0
33
+ - -1.0
34
+ - -1.0
35
+ - -1.0
36
+ - -1.0
37
+ - -1.0
38
+ type: box
39
+ base_prompt: Make the Half Cheetah run forward as fast as possible. Predict six
40
+ continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front
41
+ thigh, front shin, and front foot.
42
+ env_fps: 10.0
43
+ env_id: LatencyBench/HalfCheetahContinuous-v0
44
+ frame_stack: 1
45
+ make_kwargs:
46
+ base_env_id: HalfCheetah-v4
47
+ base_make_kwargs: {}
48
+ render_mode: rgb_array
49
+ noop_action:
50
+ - 0.0
51
+ - 0.0
52
+ - 0.0
53
+ - 0.0
54
+ - 0.0
55
+ - 0.0
56
+ obs_fps: 10.0
57
+ registration_imports:
58
+ - latency_bench.envs.gymnasium_half_cheetah
59
+ state_space:
60
+ labels:
61
+ - front_tip_height
62
+ - front_tip_angle
63
+ - back_thigh_angle
64
+ - back_shin_angle
65
+ - back_foot_angle
66
+ - front_thigh_angle
67
+ - front_shin_angle
68
+ - front_foot_angle
69
+ - front_tip_x_velocity
70
+ - front_tip_z_velocity
71
+ - front_tip_angular_velocity
72
+ - back_thigh_angular_velocity
73
+ - back_shin_angular_velocity
74
+ - back_foot_angular_velocity
75
+ - front_thigh_angular_velocity
76
+ - front_shin_angular_velocity
77
+ - front_foot_angular_velocity
78
+ task_name: half_cheetah_rgb_state
79
+ latency:
80
+ method: iid
81
+ fixed_latency_ms: null
82
+ profile_path: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/profile/profile.json
83
+ profile_worker_slot: 0
84
+ seed: 0
85
+ add_latency_info: false
86
+ scheduler:
87
+ hold_policy: hold
88
+ ordering_policy: issue_order_fifo
89
+ policy:
90
+ type: random
91
+ training:
92
+ train_for_env_steps: 10000000
93
+ num_workers: 8
94
+ num_envs_per_worker: 8
95
+ worker_num_splits: 2
96
+ num_policies: 1
97
+ batch_size: 1024
98
+ rollout: 64
99
+ recurrence: 1
100
+ num_epochs: 2
101
+ num_batches_per_epoch: 4
102
+ num_batches_to_accumulate: 2
103
+ policy_workers_per_policy: 1
104
+ max_policy_lag: 10000
105
+ learning_rate: 0.00295
106
+ lr_schedule: linear_decay
107
+ lr_schedule_kl_threshold: 0.008
108
+ gamma: 0.99
109
+ gae_lambda: 0.95
110
+ ppo_clip_ratio: 0.2
111
+ ppo_clip_value: 1.0
112
+ value_loss_coeff: 1.3
113
+ max_grad_norm: 3.5
114
+ exploration_loss: entropy
115
+ exploration_loss_coeff: 0.0
116
+ kl_loss_coeff: 0.1
117
+ reward_scale: 1.0
118
+ reward_clip: 1000.0
119
+ async_rl: false
120
+ serial_mode: false
121
+ batched_sampling: false
122
+ with_vtrace: false
123
+ use_rnn: false
124
+ encoder_mlp_layers:
125
+ - 64
126
+ - 64
127
+ nonlinearity: tanh
128
+ adaptive_stddev: false
129
+ policy_initialization: torch_default
130
+ initial_stddev: 1.0
131
+ actor_critic_share_weights: true
132
+ shuffle_minibatches: false
133
+ value_bootstrap: false
134
+ normalize_input: true
135
+ normalize_returns: true
136
+ decorrelate_experience_max_seconds: 10
137
+ decorrelate_envs_on_one_worker: true
138
+ set_workers_cpu_affinity: true
139
+ force_envs_single_thread: true
140
+ save_every_sec: 600
141
+ keep_checkpoints: 3
142
+ save_best_every_sec: 60
143
+ save_best_after: 100000
144
+ continuous_tanh_scale: 0.0
145
+ env_framestack: 1
146
+ optimizer: adam
147
+ adam_eps: 1.0e-06
148
+ adam_beta1: 0.9
149
+ adam_beta2: 0.999
150
+ obs_subtract_mean: 0.0
151
+ obs_scale: 1.0
152
+ default_niceness: 0
153
+ rnn_type: gru
154
+ rnn_size: 512
155
+ save_milestones_sec: -1
156
+ stats_avg: 100
157
+ experiment_summaries_interval: 10
158
+ with_wandb: false
159
+ evaluation:
160
+ eval_interval_steps: null
161
+ eval_episodes: 10
162
+ eval_parallel_envs: 1
163
+ eval_max_steps: 1000
164
+ eval_deterministic: true
165
+ logging:
166
+ output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/small_train
167
+ video:
168
+ enabled: false
169
+ num_bins: 1
170
+ save_step_records: false
171
+ save_action_records: false
172
+ save_latency_records: false
latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/README.md ADDED
@@ -0,0 +1,30 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # half-cheetah / sample-factory-appo
2
+
3
+ Training condition: `latency-aware`. Run: `pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921`.
4
+
5
+ Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/half_cheetah/profile_latency/small_model/Pi05) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
6
+
7
+ - Checkpoint: `checkpoint.pth`
8
+ - Selection: final
9
+ - Checkpoint SHA256: `e4132118cf179ae368b37aacdc3566b58463b77a8d541647cb45a5b0879010aa`
10
+ - Configuration, FPS, actions, normalization and latency semantics retain their source values.
11
+ - This import does not run evaluations or change training/evaluation/acceptance status.
12
+
13
+ Sample Factory APPO inference bundle: `config.json` and the explicit `checkpoint.pth`.
14
+ The checkpoint contains `model`, `train_step`, and `env_steps`; every exported model
15
+ tensor was reloaded and compared bit-for-bit with the selected source checkpoint.
16
+
17
+ See [the original model notes](source/README.md) for experiment results and limitations.
18
+
19
+ [Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
20
+
21
+ ## Download
22
+
23
+ ```python
24
+ from huggingface_hub import snapshot_download
25
+ prefix = "latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1"
26
+ snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
27
+ allow_patterns=[prefix + "/**"])
28
+ ```
29
+
30
+ Use the verified import commit listed in the repository's import report.
latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/checkpoint.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e4132118cf179ae368b37aacdc3566b58463b77a8d541647cb45a5b0879010aa
3
+ size 29835
latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/config.json ADDED
@@ -0,0 +1,286 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "help": false,
3
+ "algo": "APPO",
4
+ "env": "latency_gymnasium",
5
+ "experiment": "pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921",
6
+ "train_dir": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints",
7
+ "restart_behavior": "overwrite",
8
+ "device": "gpu",
9
+ "seed": 2222,
10
+ "initial_model_path": null,
11
+ "num_policies": 1,
12
+ "async_rl": false,
13
+ "serial_mode": false,
14
+ "batched_sampling": false,
15
+ "num_batches_to_accumulate": 2,
16
+ "worker_num_splits": 2,
17
+ "policy_workers_per_policy": 1,
18
+ "max_policy_lag": 10000,
19
+ "num_workers": 8,
20
+ "num_envs_per_worker": 8,
21
+ "batch_size": 1024,
22
+ "num_batches_per_epoch": 4,
23
+ "num_epochs": 2,
24
+ "rollout": 64,
25
+ "fasttd3_replay_capacity": 6553600,
26
+ "fasttd3_replay_batch_size": 32768,
27
+ "fasttd3_action_chunk_horizon": 1,
28
+ "fasttd3_transitions_per_update": 64,
29
+ "fasttd3_train_for_optimizer_steps": 10000000000,
30
+ "fasttd3_v_min": -250.0,
31
+ "fasttd3_v_max": 250.0,
32
+ "fasttd3_actor_action_l2": 0.0,
33
+ "fasttd3_compile": true,
34
+ "recurrence": 1,
35
+ "shuffle_minibatches": false,
36
+ "gamma": 0.99,
37
+ "reward_scale": 1.0,
38
+ "reward_clip": 1000.0,
39
+ "value_bootstrap": false,
40
+ "normalize_returns": true,
41
+ "exploration_loss_coeff": 0.0,
42
+ "value_loss_coeff": 1.3,
43
+ "kl_loss_coeff": 0.1,
44
+ "exploration_loss": "entropy",
45
+ "gae_lambda": 0.95,
46
+ "ppo_clip_ratio": 0.2,
47
+ "ppo_clip_value": 1.0,
48
+ "with_vtrace": false,
49
+ "vtrace_rho": 1.0,
50
+ "vtrace_c": 1.0,
51
+ "optimizer": "adam",
52
+ "adam_eps": 1e-06,
53
+ "adam_beta1": 0.9,
54
+ "adam_beta2": 0.999,
55
+ "max_grad_norm": 3.5,
56
+ "learning_rate": 0.00295,
57
+ "lr_schedule": "linear_decay",
58
+ "lr_schedule_kl_threshold": 0.008,
59
+ "lr_adaptive_min": 1e-06,
60
+ "lr_adaptive_max": 0.01,
61
+ "obs_subtract_mean": 0.0,
62
+ "obs_scale": 1.0,
63
+ "normalize_input": true,
64
+ "normalize_input_keys": null,
65
+ "decorrelate_experience_max_seconds": 10,
66
+ "decorrelate_envs_on_one_worker": true,
67
+ "actor_worker_gpus": [],
68
+ "set_workers_cpu_affinity": true,
69
+ "force_envs_single_thread": true,
70
+ "default_niceness": 0,
71
+ "log_to_file": true,
72
+ "experiment_summaries_interval": 10,
73
+ "flush_summaries_interval": 30,
74
+ "stats_avg": 100,
75
+ "summaries_use_frameskip": true,
76
+ "heartbeat_interval": 20,
77
+ "heartbeat_reporting_interval": 180,
78
+ "train_for_env_steps": 10000000,
79
+ "train_for_seconds": 10000000000,
80
+ "save_every_sec": 600,
81
+ "keep_checkpoints": 3,
82
+ "load_checkpoint_kind": "latest",
83
+ "save_milestones_sec": -1,
84
+ "save_best_every_sec": 60,
85
+ "save_best_metric": "reward",
86
+ "save_best_after": 100000,
87
+ "benchmark": false,
88
+ "encoder_mlp_layers": [
89
+ 64,
90
+ 64
91
+ ],
92
+ "encoder_conv_architecture": "convnet_simple",
93
+ "encoder_conv_mlp_layers": [
94
+ 512
95
+ ],
96
+ "use_rnn": false,
97
+ "rnn_size": 512,
98
+ "rnn_type": "gru",
99
+ "rnn_num_layers": 1,
100
+ "decoder_mlp_layers": [],
101
+ "nonlinearity": "tanh",
102
+ "policy_initialization": "torch_default",
103
+ "policy_init_gain": 1.0,
104
+ "actor_critic_share_weights": true,
105
+ "adaptive_stddev": false,
106
+ "continuous_tanh_scale": 0.0,
107
+ "initial_stddev": 1.0,
108
+ "use_env_info_cache": false,
109
+ "env_gpu_actions": false,
110
+ "env_gpu_observations": true,
111
+ "env_frameskip": 1,
112
+ "env_framestack": 1,
113
+ "pixel_format": "CHW",
114
+ "use_record_episode_statistics": false,
115
+ "with_wandb": true,
116
+ "wandb_user": "dongqianyu99-zhejiang-university",
117
+ "wandb_project": "latency-sensitive-bench",
118
+ "wandb_group": "pi05-profile-teachers-h1-5fps-20260921",
119
+ "wandb_job_type": "profile_teacher",
120
+ "wandb_tags": [
121
+ "half_cheetah",
122
+ "APPO",
123
+ "Pi05",
124
+ "measured-IID-profile",
125
+ "H1",
126
+ "5FPS"
127
+ ],
128
+ "with_pbt": false,
129
+ "pbt_mix_policies_in_one_env": true,
130
+ "pbt_period_env_steps": 5000000,
131
+ "pbt_start_mutation": 20000000,
132
+ "pbt_replace_fraction": 0.3,
133
+ "pbt_mutation_rate": 0.15,
134
+ "pbt_replace_reward_gap": 0.1,
135
+ "pbt_replace_reward_gap_absolute": 1e-06,
136
+ "pbt_optimize_gamma": false,
137
+ "pbt_target_objective": "true_objective",
138
+ "pbt_perturb_min": 1.1,
139
+ "pbt_perturb_max": 1.5,
140
+ "gym_task_name": "half_cheetah",
141
+ "gym_env_id": "LatencyBench/HalfCheetahContinuous-v0",
142
+ "gym_make_kwargs_json": "{\"base_env_id\": \"HalfCheetah-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {}}",
143
+ "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_half_cheetah\"]",
144
+ "gym_action_space_json": "{\"type\": \"box\", \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
145
+ "gym_action_labels_json": null,
146
+ "gym_action_values_json": null,
147
+ "gym_noop_action_id": null,
148
+ "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
149
+ "gym_base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
150
+ "gym_state_labels_json": "[\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"]",
151
+ "env_fps": 5.0,
152
+ "obs_fps": 5.0,
153
+ "frame_stack": 1,
154
+ "export_env_raw_rgb_frames": false,
155
+ "mode": "train",
156
+ "latency_type": "iid",
157
+ "fixed_latency_ms": null,
158
+ "mean_latency_ms": null,
159
+ "std_latency_ms": null,
160
+ "min_latency_ms": null,
161
+ "max_latency_ms": null,
162
+ "latency_seed": 0,
163
+ "latency_profile_path": "${PI05_RUN_DIR}/profile_latency/profile/profile.json",
164
+ "latency_profile_worker_slot": 0,
165
+ "simulated_worker_capacity": null,
166
+ "add_latency_info": false,
167
+ "max_pending_actions": null,
168
+ "hold_last_chunk_action": false,
169
+ "hold_policy": "hold",
170
+ "ordering_policy": "issue_order_fifo",
171
+ "eval_episodes": 10,
172
+ "eval_parallel_envs": 1,
173
+ "eval_latency_raw_frame_values": null,
174
+ "eval_max_steps": 1000,
175
+ "eval_deterministic": true,
176
+ "eval_raw_reward": false,
177
+ "episode_metrics_path": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921/episode_metrics.jsonl",
178
+ "ppo": null,
179
+ "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921 --train_dir ${PI05_RUN_DIR}/profile_latency/teacher/checkpoints --restart_behavior overwrite --device gpu --seed 2222 --episode_metrics_path ${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921/episode_metrics.jsonl --train_for_env_steps 10000000 --num_workers 8 --num_envs_per_worker 8 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 1 --num_epochs 2 --num_batches_per_epoch 4 --worker_num_splits 2 --max_policy_lag 10000 --num_batches_to_accumulate 2 --policy_workers_per_policy 1 --learning_rate 0.00295 --kl_loss_coeff 0.1 --lr_schedule_kl_threshold 0.008 --nonlinearity tanh --policy_initialization torch_default --initial_stddev 1.0 --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.2 --ppo_clip_value 1.0 --exploration_loss entropy --exploration_loss_coeff 0.0 --reward_scale 1.0 --reward_clip 1000.0 --value_loss_coeff 1.3 --max_grad_norm 3.5 --decorrelate_experience_max_seconds 10 --save_every_sec 600 --keep_checkpoints 3 --save_best_every_sec 60 --save_best_after 100000 --async_rl False --batched_sampling False --serial_mode False --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --shuffle_minibatches False --value_bootstrap False --with_vtrace False --decorrelate_envs_on_one_worker True --set_workers_cpu_affinity True --force_envs_single_thread True --actor_critic_share_weights True --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path ${PI05_RUN_DIR}/profile_latency/profile/profile.json --latency-profile-worker-slot 0 --add-latency-info False --eval-episodes 10 --eval-parallel-envs 1 --eval-max-steps 1000 --eval-deterministic True --with_wandb True --wandb_project latency-sensitive-bench --wandb_group pi05-profile-teachers-h1-5fps-20260921 --wandb_job_type profile_teacher --wandb_tags half_cheetah APPO Pi05 measured-IID-profile H1 5FPS --wandb_user dongqianyu99-zhejiang-university --gym-task-name half_cheetah --gym-env-id LatencyBench/HalfCheetahContinuous-v0 --gym-make-kwargs-json {\"base_env_id\": \"HalfCheetah-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {}} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_half_cheetah\"] --gym-action-space-json {\"type\": \"box\", \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"} --gym-noop-action-json [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] --gym-base-prompt Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot. --gym-state-labels-json [\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"] --env-fps 5 --obs-fps 5 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
180
+ "cli_args": {
181
+ "algo": "APPO",
182
+ "env": "latency_gymnasium",
183
+ "experiment": "pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921",
184
+ "train_dir": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints",
185
+ "restart_behavior": "overwrite",
186
+ "device": "gpu",
187
+ "seed": 2222,
188
+ "num_policies": 1,
189
+ "async_rl": false,
190
+ "serial_mode": false,
191
+ "batched_sampling": false,
192
+ "num_batches_to_accumulate": 2,
193
+ "worker_num_splits": 2,
194
+ "policy_workers_per_policy": 1,
195
+ "max_policy_lag": 10000,
196
+ "num_workers": 8,
197
+ "num_envs_per_worker": 8,
198
+ "batch_size": 1024,
199
+ "num_batches_per_epoch": 4,
200
+ "num_epochs": 2,
201
+ "rollout": 64,
202
+ "recurrence": 1,
203
+ "shuffle_minibatches": false,
204
+ "gamma": 0.99,
205
+ "reward_scale": 1.0,
206
+ "reward_clip": 1000.0,
207
+ "value_bootstrap": false,
208
+ "normalize_returns": true,
209
+ "exploration_loss_coeff": 0.0,
210
+ "value_loss_coeff": 1.3,
211
+ "kl_loss_coeff": 0.1,
212
+ "exploration_loss": "entropy",
213
+ "gae_lambda": 0.95,
214
+ "ppo_clip_ratio": 0.2,
215
+ "ppo_clip_value": 1.0,
216
+ "with_vtrace": false,
217
+ "max_grad_norm": 3.5,
218
+ "learning_rate": 0.00295,
219
+ "lr_schedule_kl_threshold": 0.008,
220
+ "normalize_input": true,
221
+ "decorrelate_experience_max_seconds": 10,
222
+ "decorrelate_envs_on_one_worker": true,
223
+ "set_workers_cpu_affinity": true,
224
+ "force_envs_single_thread": true,
225
+ "train_for_env_steps": 10000000,
226
+ "save_every_sec": 600,
227
+ "keep_checkpoints": 3,
228
+ "save_best_every_sec": 60,
229
+ "save_best_after": 100000,
230
+ "encoder_mlp_layers": [
231
+ 64,
232
+ 64
233
+ ],
234
+ "use_rnn": false,
235
+ "nonlinearity": "tanh",
236
+ "policy_initialization": "torch_default",
237
+ "actor_critic_share_weights": true,
238
+ "adaptive_stddev": false,
239
+ "initial_stddev": 1.0,
240
+ "use_env_info_cache": false,
241
+ "with_wandb": true,
242
+ "wandb_user": "dongqianyu99-zhejiang-university",
243
+ "wandb_project": "latency-sensitive-bench",
244
+ "wandb_group": "pi05-profile-teachers-h1-5fps-20260921",
245
+ "wandb_job_type": "profile_teacher",
246
+ "wandb_tags": [
247
+ "half_cheetah",
248
+ "APPO",
249
+ "Pi05",
250
+ "measured-IID-profile",
251
+ "H1",
252
+ "5FPS"
253
+ ],
254
+ "gym_task_name": "half_cheetah",
255
+ "gym_env_id": "LatencyBench/HalfCheetahContinuous-v0",
256
+ "gym_make_kwargs_json": "{\"base_env_id\": \"HalfCheetah-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {}}",
257
+ "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_half_cheetah\"]",
258
+ "gym_action_space_json": "{\"type\": \"box\", \"labels\": [\"back_thigh_torque\", \"back_shin_torque\", \"back_foot_torque\", \"front_thigh_torque\", \"front_shin_torque\", \"front_foot_torque\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
259
+ "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
260
+ "gym_base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
261
+ "gym_state_labels_json": "[\"front_tip_height\", \"front_tip_angle\", \"back_thigh_angle\", \"back_shin_angle\", \"back_foot_angle\", \"front_thigh_angle\", \"front_shin_angle\", \"front_foot_angle\", \"front_tip_x_velocity\", \"front_tip_z_velocity\", \"front_tip_angular_velocity\", \"back_thigh_angular_velocity\", \"back_shin_angular_velocity\", \"back_foot_angular_velocity\", \"front_thigh_angular_velocity\", \"front_shin_angular_velocity\", \"front_foot_angular_velocity\"]",
262
+ "env_fps": 5.0,
263
+ "obs_fps": 5.0,
264
+ "frame_stack": 1,
265
+ "mode": "train",
266
+ "latency_type": "iid",
267
+ "latency_seed": 0,
268
+ "latency_profile_path": "${PI05_RUN_DIR}/profile_latency/profile/profile.json",
269
+ "latency_profile_worker_slot": 0,
270
+ "add_latency_info": false,
271
+ "hold_policy": "hold",
272
+ "ordering_policy": "issue_order_fifo",
273
+ "eval_episodes": 10,
274
+ "eval_parallel_envs": 1,
275
+ "eval_max_steps": 1000,
276
+ "eval_deterministic": true,
277
+ "episode_metrics_path": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921/episode_metrics.jsonl",
278
+ "output_dir": "${PI05_RUN_DIR}/profile_latency/teacher/training",
279
+ "wandb_unique_id": "pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921"
280
+ },
281
+ "git_hash": "unknown",
282
+ "git_repo_name": "not a git repository",
283
+ "eval_env_frameskip": 1,
284
+ "output_dir": "${PI05_RUN_DIR}/profile_latency/teacher/training",
285
+ "wandb_unique_id": "pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921"
286
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/provenance.json ADDED
@@ -0,0 +1,40 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "half-cheetah",
3
+ "model": "sample-factory-appo",
4
+ "training_condition": "latency-aware",
5
+ "training_run_id": "pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921",
6
+ "source": {
7
+ "repo_id": "latency-sensitive-bench/Standard-Pipeline",
8
+ "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
9
+ "path": "half_cheetah/profile_latency/small_model/Pi05",
10
+ "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/half_cheetah/profile_latency/small_model/Pi05"
11
+ },
12
+ "hf_repo_id": "latency-sensitive-bench/benchmark-models",
13
+ "hf_path": "latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1",
14
+ "checkpoint": {
15
+ "source_file": "half_cheetah/profile_latency/small_model/Pi05/checkpoint_p0/selected.pth",
16
+ "source_sha256": "e4132118cf179ae368b37aacdc3566b58463b77a8d541647cb45a5b0879010aa",
17
+ "source_bytes": 29835,
18
+ "file": "checkpoint.pth",
19
+ "selection_rule": "final",
20
+ "method": "copy",
21
+ "sha256": "e4132118cf179ae368b37aacdc3566b58463b77a8d541647cb45a5b0879010aa",
22
+ "bytes": 29835,
23
+ "train_step": 19536,
24
+ "env_steps": 10002432,
25
+ "tensor_count": 15,
26
+ "tensor_equality_verified": true,
27
+ "removed_fields": []
28
+ },
29
+ "config_source": "half_cheetah/profile_latency/small_model/Pi05/config.json",
30
+ "task_contract_file": null,
31
+ "missing_source_files": [],
32
+ "migration": {
33
+ "operation": "copy_selected_inference_bundle",
34
+ "source_modified": false,
35
+ "evaluation_performed": false,
36
+ "experiment_status": "preserved_in_source_evidence"
37
+ },
38
+ "algorithm": "APPO",
39
+ "latency_model": "qwenpi_v3"
40
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/selection.json ADDED
@@ -0,0 +1,116 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "selected": "final",
3
+ "selection_policy": "higher_mean_over_paired_20; ties_select_final",
4
+ "candidates": {
5
+ "final": {
6
+ "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/checkpoint_000019536_10002432.pth",
7
+ "sha256": "612abe26382a5e0a2dc2214c10fa5951c1634362231bc6c3d9f09c08bef7471f",
8
+ "train_step": 19536,
9
+ "env_steps": 10002432,
10
+ "episodes": 20,
11
+ "seeds": [
12
+ 104771,
13
+ 104772,
14
+ 104773,
15
+ 104774,
16
+ 104775,
17
+ 104776,
18
+ 104777,
19
+ 104778,
20
+ 104779,
21
+ 104780,
22
+ 104781,
23
+ 104782,
24
+ 104783,
25
+ 104784,
26
+ 104785,
27
+ 104786,
28
+ 104787,
29
+ 104788,
30
+ 104789,
31
+ 104790
32
+ ],
33
+ "returns": [
34
+ 1934.7516296771494,
35
+ 1938.8264883092277,
36
+ 1856.9064389676444,
37
+ 1848.2332719282635,
38
+ 1925.866899346379,
39
+ 1857.8906012224634,
40
+ 1918.515181152549,
41
+ 1883.3762460267756,
42
+ 1930.4407512044838,
43
+ 1892.1105602876216,
44
+ 1916.995842807158,
45
+ 1893.3043491687142,
46
+ 1801.0072653006578,
47
+ 1886.5925101871578,
48
+ 1835.578970515134,
49
+ 1843.513944498525,
50
+ 1939.4990761867555,
51
+ 1955.8559919207282,
52
+ 1918.0007335675198,
53
+ 1813.2951639002843
54
+ ],
55
+ "mean": 1889.5280958087596,
56
+ "population_std": 44.31970628800741,
57
+ "strict_gt3000": 0
58
+ },
59
+ "training_best": {
60
+ "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/best_000019536_10002432_reward_1810.751.pth",
61
+ "sha256": "89b509df718a271df9edfd81136c3e97c8219f6fe31de66afd6e895f621e3694",
62
+ "train_step": 19536,
63
+ "env_steps": 10002432,
64
+ "episodes": 20,
65
+ "seeds": [
66
+ 104771,
67
+ 104772,
68
+ 104773,
69
+ 104774,
70
+ 104775,
71
+ 104776,
72
+ 104777,
73
+ 104778,
74
+ 104779,
75
+ 104780,
76
+ 104781,
77
+ 104782,
78
+ 104783,
79
+ 104784,
80
+ 104785,
81
+ 104786,
82
+ 104787,
83
+ 104788,
84
+ 104789,
85
+ 104790
86
+ ],
87
+ "returns": [
88
+ 1934.7516296771494,
89
+ 1938.8264883092277,
90
+ 1856.9064389676444,
91
+ 1848.2332719282635,
92
+ 1925.866899346379,
93
+ 1857.8906012224634,
94
+ 1918.515181152549,
95
+ 1883.3762460267756,
96
+ 1930.4407512044838,
97
+ 1892.1105602876216,
98
+ 1916.995842807158,
99
+ 1893.3043491687142,
100
+ 1801.0072653006578,
101
+ 1886.5925101871578,
102
+ 1835.578970515134,
103
+ 1843.513944498525,
104
+ 1939.4990761867555,
105
+ 1955.8559919207282,
106
+ 1918.0007335675198,
107
+ 1813.2951639002843
108
+ ],
109
+ "mean": 1889.5280958087596,
110
+ "population_std": 44.31970628800741,
111
+ "strict_gt3000": 0
112
+ }
113
+ },
114
+ "selected_checkpoint_sha256": "612abe26382a5e0a2dc2214c10fa5951c1634362231bc6c3d9f09c08bef7471f",
115
+ "completed_at_utc": "2026-09-21T13:45:30.235292+00:00"
116
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/source/README.md ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ # Half Cheetah Pi0.5 profile-latency APPO checkpoint
2
+
3
+ Selected `final` at train step 19536 / 10002432 Sample Factory environment steps, seed 2222, native state/action 17/6, and 5/5 FPS. The selected paired evaluation mean was 1889.528096 (population SD 44.319706); 0 of 20 returns were strictly above 3000. P profile SHA256 `0701721a6111157054fb2e374970afbbffafa2355835b1acc23a1d69184bc132` (publication revision `e1a9bdd566b96d5da4703f769d40eab656af491e`).
4
+
5
+ Scientific stop: selected mean 1889.5280958087596 and 0/20 returns >3000. This requested checkpoint export is not an accepted teacher; no formal data or VLA stage was run.
6
+
7
+ Only the selected inference model, `train_step`, and `env_steps` are retained; CPU reload confirmed every model tensor bit-identical. Optimizer, RNG, W&B cache, credentials, VLA artifacts, and demonstration data are excluded. See `verification.json` for the original audit and `provenance.json` for source/export hashes and any separate data publication.
latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/source/provenance.json ADDED
@@ -0,0 +1,50 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": "SELECTED_TEACHER_INFERENCE_EXPORT_CPU_RELOAD_VERIFIED",
3
+ "task": "half_cheetah",
4
+ "selected": "final",
5
+ "source_checkpoint": "checkpoint_000019536_10002432.pth",
6
+ "source_checkpoint_sha256": "612abe26382a5e0a2dc2214c10fa5951c1634362231bc6c3d9f09c08bef7471f",
7
+ "export_checkpoint": "checkpoint_p0/selected.pth",
8
+ "export_checkpoint_sha256": "e4132118cf179ae368b37aacdc3566b58463b77a8d541647cb45a5b0879010aa",
9
+ "retained_keys": [
10
+ "model",
11
+ "train_step",
12
+ "env_steps"
13
+ ],
14
+ "removed_keys": [
15
+ "best_performance",
16
+ "curr_lr",
17
+ "optimizer"
18
+ ],
19
+ "model_tensors_bit_identical": true,
20
+ "model_tensor_count": 15,
21
+ "selected_train_step": 19536,
22
+ "selected_env_steps": 10002432,
23
+ "actual_final_train_step": 19536,
24
+ "actual_final_env_steps": 10002432,
25
+ "budget_sample_factory_env_steps": 10000000,
26
+ "seed": 2222,
27
+ "native_state_dim": 17,
28
+ "native_action_dim": 6,
29
+ "profile_sha256": "0701721a6111157054fb2e374970afbbffafa2355835b1acc23a1d69184bc132",
30
+ "profile_publication_revision": "e1a9bdd566b96d5da4703f769d40eab656af491e",
31
+ "audit_state": "TEACHER_FULL_TRACE_AUDIT_PASSED_SCIENTIFIC_STOP",
32
+ "audit_gate": {
33
+ "strict_return_gt": 3000,
34
+ "Final_qualifying_episodes": 0,
35
+ "training_best_qualifying_episodes": 0,
36
+ "state": "SCIENTIFIC_STOP_SELECTED_20_ZERO_QUALIFYING"
37
+ },
38
+ "selected_mean": 1889.5280958087596,
39
+ "selected_population_std": 44.31970628800741,
40
+ "selected_strict_gt3000_episodes": 0,
41
+ "data": {
42
+ "state": "NOT_EXPORTED_SCIENTIFIC_STOP"
43
+ },
44
+ "source_sha256": {
45
+ "config.json": "039d7f577f364037803a7180d6be17b52afe4616cd67ae1e7c8508e1e8d0035c",
46
+ "teacher.yaml": "aec3c58d02f16c28205998505bd0c5e52b9fb2dc62f3fc931735d71edf8425e7",
47
+ "selection.json": "17c14c4a945815653e476edd32b266fb679941d1a897c1867e66ea3df94cfe2b",
48
+ "verification.json": "d99341e9c1b21a1a3e82c0affbb2ef59aa31fc672cb0ba13b70b26e4cab15df5"
49
+ }
50
+ }
latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/teacher.yaml ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ experiment:
2
+ name: pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921
3
+ seed: 2222
4
+ backend:
5
+ type: sample_factory
6
+ algo: APPO
7
+ device: cuda
8
+ train_dir: ${PI05_RUN_DIR}/profile_latency/teacher/checkpoints
9
+ restart_behavior: overwrite
10
+ run_mode: train
11
+ extra_args:
12
+ - --wandb_user
13
+ - dongqianyu99-zhejiang-university
14
+ executor:
15
+ mode: simulated
16
+ env:
17
+ name: gymnasium
18
+ task_name: half_cheetah
19
+ env_id: LatencyBench/HalfCheetahContinuous-v0
20
+ registration_imports:
21
+ - latency_bench.envs.gymnasium_half_cheetah
22
+ make_kwargs:
23
+ base_env_id: HalfCheetah-v4
24
+ render_mode: rgb_array
25
+ base_make_kwargs: {}
26
+ env_fps: 5
27
+ obs_fps: 5
28
+ frame_stack: 1
29
+ state_space:
30
+ labels:
31
+ - front_tip_height
32
+ - front_tip_angle
33
+ - back_thigh_angle
34
+ - back_shin_angle
35
+ - back_foot_angle
36
+ - front_thigh_angle
37
+ - front_shin_angle
38
+ - front_foot_angle
39
+ - front_tip_x_velocity
40
+ - front_tip_z_velocity
41
+ - front_tip_angular_velocity
42
+ - back_thigh_angular_velocity
43
+ - back_shin_angular_velocity
44
+ - back_foot_angular_velocity
45
+ - front_thigh_angular_velocity
46
+ - front_shin_angular_velocity
47
+ - front_foot_angular_velocity
48
+ action_space:
49
+ type: box
50
+ labels:
51
+ - back_thigh_torque
52
+ - back_shin_torque
53
+ - back_foot_torque
54
+ - front_thigh_torque
55
+ - front_shin_torque
56
+ - front_foot_torque
57
+ low:
58
+ - -1.0
59
+ - -1.0
60
+ - -1.0
61
+ - -1.0
62
+ - -1.0
63
+ - -1.0
64
+ high:
65
+ - 1.0
66
+ - 1.0
67
+ - 1.0
68
+ - 1.0
69
+ - 1.0
70
+ - 1.0
71
+ dtype: float32
72
+ noop_action:
73
+ - 0.0
74
+ - 0.0
75
+ - 0.0
76
+ - 0.0
77
+ - 0.0
78
+ - 0.0
79
+ base_prompt: Make the Half Cheetah run forward as fast as possible. Predict six
80
+ continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front
81
+ thigh, front shin, and front foot.
82
+ latency:
83
+ method: iid
84
+ profile_path: ${PI05_RUN_DIR}/profile_latency/profile/profile.json
85
+ profile_worker_slot: 0
86
+ seed: 0
87
+ add_latency_info: false
88
+ scheduler:
89
+ hold_policy: hold
90
+ ordering_policy: issue_order_fifo
91
+ policy:
92
+ type: random
93
+ training:
94
+ train_for_env_steps: 10000000
95
+ num_workers: 8
96
+ num_envs_per_worker: 8
97
+ worker_num_splits: 2
98
+ num_policies: 1
99
+ batch_size: 1024
100
+ rollout: 64
101
+ recurrence: 1
102
+ num_epochs: 2
103
+ num_batches_per_epoch: 4
104
+ num_batches_to_accumulate: 2
105
+ policy_workers_per_policy: 1
106
+ max_policy_lag: 10000
107
+ learning_rate: 0.00295
108
+ lr_schedule: linear_decay
109
+ lr_schedule_kl_threshold: 0.008
110
+ gamma: 0.99
111
+ gae_lambda: 0.95
112
+ ppo_clip_ratio: 0.2
113
+ ppo_clip_value: 1.0
114
+ value_loss_coeff: 1.3
115
+ max_grad_norm: 3.5
116
+ exploration_loss: entropy
117
+ exploration_loss_coeff: 0.0
118
+ kl_loss_coeff: 0.1
119
+ reward_scale: 1.0
120
+ reward_clip: 1000.0
121
+ async_rl: false
122
+ serial_mode: false
123
+ batched_sampling: false
124
+ with_vtrace: false
125
+ use_rnn: false
126
+ encoder_mlp_layers:
127
+ - 64
128
+ - 64
129
+ nonlinearity: tanh
130
+ adaptive_stddev: false
131
+ policy_initialization: torch_default
132
+ initial_stddev: 1.0
133
+ actor_critic_share_weights: true
134
+ shuffle_minibatches: false
135
+ value_bootstrap: false
136
+ normalize_input: true
137
+ normalize_returns: true
138
+ decorrelate_experience_max_seconds: 10
139
+ decorrelate_envs_on_one_worker: true
140
+ set_workers_cpu_affinity: true
141
+ force_envs_single_thread: true
142
+ save_every_sec: 600
143
+ keep_checkpoints: 3
144
+ save_best_every_sec: 60
145
+ save_best_after: 100000
146
+ evaluation:
147
+ eval_interval_steps: null
148
+ eval_episodes: 10
149
+ eval_parallel_envs: 1
150
+ eval_max_steps: 1000
151
+ eval_deterministic: true
152
+ logging:
153
+ output_dir: ${PI05_RUN_DIR}/profile_latency/teacher/training
154
+ video:
155
+ enabled: false
156
+ num_bins: 1
157
+ save_step_records: false
158
+ save_action_records: false
159
+ save_latency_records: false
160
+ wandb_project: latency-sensitive-bench
161
+ wandb_group: pi05-profile-teachers-h1-5fps-20260921
162
+ wandb_name: pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921
163
+ wandb_job_type: profile_teacher
164
+ wandb_tags:
165
+ - half_cheetah
166
+ - APPO
167
+ - Pi05
168
+ - measured-IID-profile
169
+ - H1
170
+ - 5FPS
latency-aware/half-cheetah/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/verification.json ADDED
@@ -0,0 +1,226 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": "TEACHER_FULL_TRACE_AUDIT_PASSED_SCIENTIFIC_STOP",
3
+ "task": "half_cheetah",
4
+ "verified_at_utc": "2026-09-21T14:04:36.819491+00:00",
5
+ "source_recipe_sha256": "d59c0024205f97b0b5b78ec59f4a65040e6c4357fbd08c9b72f755848a5cad58",
6
+ "teacher_config_sha256": "aec3c58d02f16c28205998505bd0c5e52b9fb2dc62f3fc931735d71edf8425e7",
7
+ "P_profile_sha256": "0701721a6111157054fb2e374970afbbffafa2355835b1acc23a1d69184bc132",
8
+ "P_audit_state": "PROFILE_PROTOCOL_AND_CANONICAL_SAMPLES_VERIFIED",
9
+ "P_verification_sha256": "3ecbf4de38927ec065e19967edec0286eeaef2115515ffe75c3e1075af0afa24",
10
+ "P_profile_files": {
11
+ "profile.json": {
12
+ "size": 2034,
13
+ "sha256": "0701721a6111157054fb2e374970afbbffafa2355835b1acc23a1d69184bc132"
14
+ },
15
+ "latency_distribution.json": {
16
+ "size": 25468,
17
+ "sha256": "2b2eae3acc378eeccaf728de1ff52e8530dd4e801b43f89ef491d86239ef74dd"
18
+ },
19
+ "latency_burst_model.json": {
20
+ "size": 22349,
21
+ "sha256": "501daf6afa2979b2a43e6f951b29e14a0a7d2c7d538e83899879ac80b41acde2"
22
+ },
23
+ "hardware.json": {
24
+ "size": 988,
25
+ "sha256": "96bcbee23e82762b3c411a16fcd96227c3029457b5a40114bb4070ff7fda910e"
26
+ },
27
+ "latency_profile.png": {
28
+ "size": 61409,
29
+ "sha256": "732411a4b5921074aa77cb65bbd4a9e033eb9065e55d6128d6215d4c6f6b4f53"
30
+ },
31
+ "DONE": {
32
+ "size": 0,
33
+ "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855"
34
+ }
35
+ },
36
+ "training": {
37
+ "source_seed": 2222,
38
+ "target_env_steps": 10000000,
39
+ "Final_checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/checkpoint_000019536_10002432.pth",
40
+ "Final_checkpoint_sha256": "612abe26382a5e0a2dc2214c10fa5951c1634362231bc6c3d9f09c08bef7471f",
41
+ "Final_checkpoint_train_step": 19536,
42
+ "Final_checkpoint_env_steps": 10002432,
43
+ "training_best_checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_half_cheetah_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/best_000019536_10002432_reward_1810.751.pth",
44
+ "training_best_checkpoint_sha256": "89b509df718a271df9edfd81136c3e97c8219f6fe31de66afd6e895f621e3694",
45
+ "training_best_train_step": 19536,
46
+ "training_best_env_steps": 10002432,
47
+ "unit_exit_code_proven": false,
48
+ "unit_evidence_boundary": "Transient service is LoadState=not-found; completion is established by user report plus actual Final checkpoint env_steps, not default systemd status fields."
49
+ },
50
+ "selection": {
51
+ "selected": "final",
52
+ "policy": "higher_mean_over_paired_20; ties_select_final",
53
+ "paired_seeds": [
54
+ 104771,
55
+ 104772,
56
+ 104773,
57
+ 104774,
58
+ 104775,
59
+ 104776,
60
+ 104777,
61
+ 104778,
62
+ 104779,
63
+ 104780,
64
+ 104781,
65
+ 104782,
66
+ 104783,
67
+ 104784,
68
+ 104785,
69
+ 104786,
70
+ 104787,
71
+ 104788,
72
+ 104789,
73
+ 104790
74
+ ],
75
+ "evaluations": {
76
+ "final": {
77
+ "episodes": 20,
78
+ "seeds": [
79
+ 104771,
80
+ 104772,
81
+ 104773,
82
+ 104774,
83
+ 104775,
84
+ 104776,
85
+ 104777,
86
+ 104778,
87
+ 104779,
88
+ 104780,
89
+ 104781,
90
+ 104782,
91
+ 104783,
92
+ 104784,
93
+ 104785,
94
+ 104786,
95
+ 104787,
96
+ 104788,
97
+ 104789,
98
+ 104790
99
+ ],
100
+ "returns": [
101
+ 1934.7516296771494,
102
+ 1938.8264883092277,
103
+ 1856.9064389676444,
104
+ 1848.2332719282635,
105
+ 1925.866899346379,
106
+ 1857.8906012224634,
107
+ 1918.515181152549,
108
+ 1883.3762460267756,
109
+ 1930.4407512044838,
110
+ 1892.1105602876216,
111
+ 1916.995842807158,
112
+ 1893.3043491687142,
113
+ 1801.0072653006578,
114
+ 1886.5925101871578,
115
+ 1835.578970515134,
116
+ 1843.513944498525,
117
+ 1939.4990761867555,
118
+ 1955.8559919207282,
119
+ 1918.0007335675198,
120
+ 1813.2951639002843
121
+ ],
122
+ "mean_return": 1889.5280958087596,
123
+ "population_std_return": 44.31970628800741,
124
+ "strict_gt3000": 0,
125
+ "raw_steps": 20000,
126
+ "actions": 20000,
127
+ "invalid_actions": 0,
128
+ "dropped_actions": 0,
129
+ "submitted_observations": 20000,
130
+ "dropped_observations": 0,
131
+ "mean_action_latency_ms": 145.74751463552934,
132
+ "action_latency_p95_ms": 151.4791488018123,
133
+ "raw_action_min": -1.0,
134
+ "raw_action_max": 1.0,
135
+ "raw_actions_requiring_native_clip": 0,
136
+ "config_sha256": "751b98c49ddecc84c69b46733fcfbc678fcd60671f1ed86116ef80d5a6985772",
137
+ "episode_metrics_sha256": "fad97d4b8f43609968239ce03d56155bec56e5ef3614338f16bea4dba4349805",
138
+ "steps_sha256": "b2a95ff5c1efe37687ac8bc244de04dd6545d52870b28ef842de4c61261f9cd9",
139
+ "actions_sha256": "5f63fae02a1a1e83420ef304bcd828f483aec94f3d0236c88cfc99814ca11ea9",
140
+ "raw_step_indices_clock_and_reward_sums_verified": true,
141
+ "profile_action_and_latency_provenance_verified": true
142
+ },
143
+ "training_best": {
144
+ "episodes": 20,
145
+ "seeds": [
146
+ 104771,
147
+ 104772,
148
+ 104773,
149
+ 104774,
150
+ 104775,
151
+ 104776,
152
+ 104777,
153
+ 104778,
154
+ 104779,
155
+ 104780,
156
+ 104781,
157
+ 104782,
158
+ 104783,
159
+ 104784,
160
+ 104785,
161
+ 104786,
162
+ 104787,
163
+ 104788,
164
+ 104789,
165
+ 104790
166
+ ],
167
+ "returns": [
168
+ 1934.7516296771494,
169
+ 1938.8264883092277,
170
+ 1856.9064389676444,
171
+ 1848.2332719282635,
172
+ 1925.866899346379,
173
+ 1857.8906012224634,
174
+ 1918.515181152549,
175
+ 1883.3762460267756,
176
+ 1930.4407512044838,
177
+ 1892.1105602876216,
178
+ 1916.995842807158,
179
+ 1893.3043491687142,
180
+ 1801.0072653006578,
181
+ 1886.5925101871578,
182
+ 1835.578970515134,
183
+ 1843.513944498525,
184
+ 1939.4990761867555,
185
+ 1955.8559919207282,
186
+ 1918.0007335675198,
187
+ 1813.2951639002843
188
+ ],
189
+ "mean_return": 1889.5280958087596,
190
+ "population_std_return": 44.31970628800741,
191
+ "strict_gt3000": 0,
192
+ "raw_steps": 20000,
193
+ "actions": 20000,
194
+ "invalid_actions": 0,
195
+ "dropped_actions": 0,
196
+ "submitted_observations": 20000,
197
+ "dropped_observations": 0,
198
+ "mean_action_latency_ms": 145.74751463552934,
199
+ "action_latency_p95_ms": 151.4791488018123,
200
+ "raw_action_min": -1.0,
201
+ "raw_action_max": 1.0,
202
+ "raw_actions_requiring_native_clip": 0,
203
+ "config_sha256": "5fbaacdb03a541c3e8aaf7dab93bd512930c463b400ecaaa5521ce12f767f51c",
204
+ "episode_metrics_sha256": "06ba6b7853dc671731cbcdc173047c961a59f71b74e8cb128ee037f71f67593a",
205
+ "steps_sha256": "b2a95ff5c1efe37687ac8bc244de04dd6545d52870b28ef842de4c61261f9cd9",
206
+ "actions_sha256": "5f63fae02a1a1e83420ef304bcd828f483aec94f3d0236c88cfc99814ca11ea9",
207
+ "raw_step_indices_clock_and_reward_sums_verified": true,
208
+ "profile_action_and_latency_provenance_verified": true
209
+ }
210
+ }
211
+ },
212
+ "gate": {
213
+ "strict_return_gt": 3000,
214
+ "Final_qualifying_episodes": 0,
215
+ "training_best_qualifying_episodes": 0,
216
+ "state": "SCIENTIFIC_STOP_SELECTED_20_ZERO_QUALIFYING"
217
+ },
218
+ "later_stages": {
219
+ "E10": "NOT_RUN_AFTER_SELECTED_ZERO_GATE",
220
+ "probe12": "NOT_RUN_AFTER_SELECTED_ZERO_GATE",
221
+ "data_rollout": "NOT_RUN_AFTER_SELECTED_ZERO_GATE",
222
+ "VLA_training": "NOT_RUN",
223
+ "HF_publication": "PENDING_MAIN_DATASET_WRITER_SLOT_FOR_STOP_EVIDENCE"
224
+ },
225
+ "scientific_stop_sha256": "34c4ff7be8a9d09bfbfe08c969fd454f5afad04b3f942aca509627a22bcb3cbb"
226
+ }
latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/README.md ADDED
@@ -0,0 +1,29 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # half-cheetah / qwenoft
2
+
3
+ Training condition: `latency-aware`. Run: `half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k`.
4
+
5
+ Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/half_cheetah/profile_latency/OpenVLA) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
6
+
7
+ - Checkpoint: `checkpoints/model.pt`
8
+ - Selection: only published VLA checkpoint
9
+ - Checkpoint SHA256: `e3c3c8b9fe59d7e20f19c70c584cd1181f65d1caba8079452e7fc3f82c226f52`
10
+ - Configuration, FPS, actions, normalization and latency semantics retain their source values.
11
+ - This import does not run evaluations or change training/evaluation/acceptance status.
12
+
13
+ Action horizon is 1. Use `config.yaml` and `dataset_statistics.json` with the matching
14
+ prepared backbone. `task_contract.json` is extracted from the original training configuration.
15
+ Original machine paths in historical configurations are provenance: bind checkpoint,
16
+ backbone, manifest and profile paths to downloaded local files when running inference.
17
+
18
+ [Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
19
+
20
+ ## Download
21
+
22
+ ```python
23
+ from huggingface_hub import snapshot_download
24
+ prefix = "latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k"
25
+ snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
26
+ allow_patterns=[prefix + "/**"])
27
+ ```
28
+
29
+ Use the verified import commit listed in the repository's import report.
latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/checkpoints/model.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e3c3c8b9fe59d7e20f19c70c584cd1181f65d1caba8079452e7fc3f82c226f52
3
+ size 9785049835
latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/config.full.yaml ADDED
@@ -0,0 +1,384 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ framework:
2
+ name: QwenOFT
3
+ qwenvl:
4
+ base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
5
+ attn_implementation: flash_attention_2
6
+ enable_gradient_checkpointing: true
7
+ action_model:
8
+ action_model_type: MLP
9
+ action_dim: 6
10
+ state_dim: 17
11
+ action_hidden_dim: 2560
12
+ future_action_window_size: 0
13
+ past_action_window_size: 0
14
+ loss_type: l1
15
+ state_encoding: discretized_text
16
+ task_objective: null
17
+ action_horizon: 1
18
+ action_env_dim: 6
19
+ kv_memory:
20
+ enabled: false
21
+ window: 4
22
+ rollout_len: 8
23
+ packed_train: false
24
+ rebased_sink: true
25
+ datasets:
26
+ vla_data:
27
+ dataset_py: lerobot_datasets
28
+ include_state: true
29
+ data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/converted
30
+ data_mix: half_cheetah_rgb_state_profile_20260912T023319Z
31
+ eval_data_mix: half_cheetah_rgb_state_profile_20260912T023319Z__val
32
+ custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/converted/_generated_mixtures/half_cheetah_rgb_state_profile_20260912T023319Z.json
33
+ action_type: discrete
34
+ sequential_step_sampling: false
35
+ eval_sequential_step_sampling: null
36
+ num_workers: 8
37
+ eval_num_workers: 8
38
+ prefetch_factor: 4
39
+ persistent_workers: true
40
+ pin_memory: true
41
+ shuffle: true
42
+ action_balance:
43
+ enabled: false
44
+ strategy: balanced_epoch
45
+ action_key: action_id
46
+ target_flap_fraction: 0.3
47
+ noop_id: 0
48
+ flap_id: 1
49
+ latency_curriculum:
50
+ enabled: false
51
+ strategy: exclusive
52
+ latencies: null
53
+ phase_steps: null
54
+ phase_distributions: null
55
+ new_latency_passes: 1.0
56
+ replay_passes: 0.25
57
+ target_total_passes: 2.0
58
+ final_equalization: true
59
+ step_budget_mode: auto
60
+ eval_at_phase_end: false
61
+ save_at_phase_end: false
62
+ computed_plan: null
63
+ per_device_batch_size: 16
64
+ load_all_data_for_training: true
65
+ num_obs_frames: 1
66
+ image_mode: single
67
+ prompt_mode: raw
68
+ stitch_grid:
69
+ - 2
70
+ - 2
71
+ obs_image_size: null
72
+ video_backend: torchvision_av
73
+ gymnasium_task_contract:
74
+ action_space:
75
+ dtype: float32
76
+ high:
77
+ - 1.0
78
+ - 1.0
79
+ - 1.0
80
+ - 1.0
81
+ - 1.0
82
+ - 1.0
83
+ labels:
84
+ - back_thigh_torque
85
+ - back_shin_torque
86
+ - back_foot_torque
87
+ - front_thigh_torque
88
+ - front_shin_torque
89
+ - front_foot_torque
90
+ low:
91
+ - -1.0
92
+ - -1.0
93
+ - -1.0
94
+ - -1.0
95
+ - -1.0
96
+ - -1.0
97
+ type: box
98
+ base_prompt: Make the Half Cheetah run forward as fast as possible. Predict
99
+ six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot,
100
+ front thigh, front shin, and front foot.
101
+ env_fps: 10.0
102
+ env_id: LatencyBench/HalfCheetahContinuous-v0
103
+ frame_stack: 1
104
+ make_kwargs:
105
+ base_env_id: HalfCheetah-v4
106
+ base_make_kwargs: {}
107
+ render_mode: rgb_array
108
+ noop_action:
109
+ - 0.0
110
+ - 0.0
111
+ - 0.0
112
+ - 0.0
113
+ - 0.0
114
+ - 0.0
115
+ obs_fps: 10.0
116
+ registration_imports:
117
+ - latency_bench.envs.gymnasium_half_cheetah
118
+ state_space:
119
+ labels:
120
+ - front_tip_height
121
+ - front_tip_angle
122
+ - back_thigh_angle
123
+ - back_shin_angle
124
+ - back_foot_angle
125
+ - front_thigh_angle
126
+ - front_shin_angle
127
+ - front_foot_angle
128
+ - front_tip_x_velocity
129
+ - front_tip_z_velocity
130
+ - front_tip_angular_velocity
131
+ - back_thigh_angular_velocity
132
+ - back_shin_angular_velocity
133
+ - back_foot_angular_velocity
134
+ - front_thigh_angular_velocity
135
+ - front_shin_angular_velocity
136
+ - front_foot_angular_velocity
137
+ task_name: half_cheetah_rgb_state
138
+ active_action_dim: 6
139
+ dataset:
140
+ source_hf: ''
141
+ config_name: null
142
+ source_subdir: null
143
+ converted_name: half_cheetah_rgb_state_profile_20260912T023319Z
144
+ single_source_hf: ''
145
+ mixed_source_hf: ''
146
+ single_converted_name: half_cheetah_rgb_state_profile_20260912T023319Z
147
+ mixed_converted_name: half_cheetah_rgb_state_profile_20260912T023319Z
148
+ single_latency_filter: null
149
+ mixed_latency_filter: null
150
+ force_download: false
151
+ setup_force: false
152
+ skip_verification: false
153
+ target_latency_unit: observation_steps
154
+ verify_rows: 200
155
+ max_episodes: null
156
+ episodes_per_latency: null
157
+ latency_filter: null
158
+ debug_subset:
159
+ enabled: false
160
+ max_episodes: 5
161
+ suffix: debug
162
+ base_model:
163
+ repo_id: StarVLA/Qwen3-VL-4B-Instruct-Action
164
+ initialization:
165
+ checkpoint_local_dir: null
166
+ checkpoint_hf_repo_id: null
167
+ checkpoint_filename: null
168
+ trainer:
169
+ max_train_steps: 5000
170
+ num_warmup_steps: 100
171
+ save_interval: 500
172
+ eval_interval: 500
173
+ eval_num_batches: 200
174
+ per_latency_eval_num_batches: null
175
+ eval_action_classification: false
176
+ eval_action_classification_interval: null
177
+ cc_f1_tolerance: 1
178
+ learning_rate:
179
+ base: 2.0e-05
180
+ qwen_vl_interface: 1.0e-05
181
+ action_model: 0.0001
182
+ lr_scheduler_type: cosine_with_min_lr
183
+ scheduler_specific_kwargs:
184
+ min_lr: 1.0e-06
185
+ freeze_modules: ''
186
+ freeze_vit: false
187
+ freeze_tied_embedding: false
188
+ freeze_llm_layers: []
189
+ loss_scale:
190
+ vla: 1.0
191
+ vlm: 0.1
192
+ max_grad_norm: 1.0
193
+ weight_decay: 0.0
194
+ logging_frequency: 1
195
+ profile_timing:
196
+ enabled: true
197
+ log_interval: 10
198
+ gradient_clipping: 1.0
199
+ gradient_accumulation_steps: 1
200
+ distributed_backend: deepspeed
201
+ is_resume: false
202
+ pretrained_checkpoint: null
203
+ resume_step: 0
204
+ reload_modules: null
205
+ optimizer:
206
+ name: AdamW
207
+ betas:
208
+ - 0.9
209
+ - 0.95
210
+ eps: 1.0e-08
211
+ weight_decay: 1.0e-08
212
+ fused: true
213
+ save_format: pt
214
+ workspace_dir: WORKSPACE_DIR
215
+ run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/vla
216
+ seed: 42
217
+ wandb_entity: dongqianyu99-zhejiang-university
218
+ wandb_project: latency-sensitive-bench
219
+ auth:
220
+ env_file: null
221
+ hf_token_env: HF_TOKEN
222
+ wandb_api_key_env: WANDB_API_KEY
223
+ paths:
224
+ run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/vla
225
+ dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/converted
226
+ dataset_cache_dir: null
227
+ base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
228
+ accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml
229
+ launch:
230
+ use_accelerate: true
231
+ gpus: null
232
+ num_processes: 1
233
+ dry_run: false
234
+ conda:
235
+ enabled: true
236
+ env_name: null
237
+ rl_games:
238
+ model_alias: openvla
239
+ env_eval:
240
+ image_size: 224
241
+ frameskip: 1
242
+ image_transform: raw_rgb
243
+ prompt_mode: raw
244
+ ghost_trail:
245
+ history_frames: 5
246
+ gamma: 1.3
247
+ min_alpha: 35
248
+ scroll_px_per_step: 4.0
249
+ ground_fraction: 0.22
250
+ seed: 42
251
+ fixed_episode_seeds: true
252
+ latency_seed_stride: 0
253
+ task_seed_stride: 0
254
+ task_description: ''
255
+ eval_parallel_envs: 5
256
+ action_chunk_execution:
257
+ enabled: false
258
+ chunk_size: null
259
+ enabled: false
260
+ gymnasium:
261
+ make_kwargs: {}
262
+ mid_train:
263
+ enabled: false
264
+ interval_steps: 100
265
+ latencies:
266
+ - 0
267
+ num_episodes: 5
268
+ max_steps_per_episode: 3600
269
+ post_train:
270
+ enabled: false
271
+ latencies:
272
+ - 0
273
+ - 1
274
+ - 2
275
+ - 3
276
+ - 4
277
+ num_episodes: 5
278
+ max_steps_per_episode: 3600
279
+ eval_backend: latency_bench
280
+ distributed_mode: none
281
+ vectorized:
282
+ enabled: false
283
+ batch_size: 1
284
+ latency:
285
+ prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/converted/half_cheetah_rgb_state_profile_20260912T023319Z/latency_prompt_map.json
286
+ mode: single
287
+ values:
288
+ - 1
289
+ - 2
290
+ task: gymnasium
291
+ gymnasium:
292
+ task_contract:
293
+ action_space:
294
+ dtype: float32
295
+ high:
296
+ - 1.0
297
+ - 1.0
298
+ - 1.0
299
+ - 1.0
300
+ - 1.0
301
+ - 1.0
302
+ labels:
303
+ - back_thigh_torque
304
+ - back_shin_torque
305
+ - back_foot_torque
306
+ - front_thigh_torque
307
+ - front_shin_torque
308
+ - front_foot_torque
309
+ low:
310
+ - -1.0
311
+ - -1.0
312
+ - -1.0
313
+ - -1.0
314
+ - -1.0
315
+ - -1.0
316
+ type: box
317
+ base_prompt: Make the Half Cheetah run forward as fast as possible. Predict
318
+ six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot,
319
+ front thigh, front shin, and front foot.
320
+ env_fps: 10.0
321
+ env_id: LatencyBench/HalfCheetahContinuous-v0
322
+ frame_stack: 1
323
+ make_kwargs:
324
+ base_env_id: HalfCheetah-v4
325
+ base_make_kwargs: {}
326
+ render_mode: rgb_array
327
+ noop_action:
328
+ - 0.0
329
+ - 0.0
330
+ - 0.0
331
+ - 0.0
332
+ - 0.0
333
+ - 0.0
334
+ obs_fps: 10.0
335
+ registration_imports:
336
+ - latency_bench.envs.gymnasium_half_cheetah
337
+ state_space:
338
+ labels:
339
+ - front_tip_height
340
+ - front_tip_angle
341
+ - back_thigh_angle
342
+ - back_shin_angle
343
+ - back_foot_angle
344
+ - front_thigh_angle
345
+ - front_shin_angle
346
+ - front_foot_angle
347
+ - front_tip_x_velocity
348
+ - front_tip_z_velocity
349
+ - front_tip_angular_velocity
350
+ - back_thigh_angular_velocity
351
+ - back_shin_angular_velocity
352
+ - back_foot_angular_velocity
353
+ - front_thigh_angular_velocity
354
+ - front_shin_angular_velocity
355
+ - front_foot_angular_velocity
356
+ task_name: half_cheetah_rgb_state
357
+ task_name: half_cheetah_rgb_state
358
+ initialization_mode: scratch
359
+ action_carrier: native
360
+ model: openvla
361
+ env: gymnasium
362
+ init: scratch
363
+ mode: single
364
+ checkpoint:
365
+ load: none
366
+ hf_repo_id: null
367
+ save_best_model: false
368
+ save_final_model: true
369
+ save_pt_file: true
370
+ save_training_state: false
371
+ save_safetensors_file: false
372
+ local:
373
+ keep_last_n: 1
374
+ sync:
375
+ enabled: false
376
+ repo_id: null
377
+ keep_last_n: 0
378
+ sync_every_n_checkpoints: 1
379
+ resume_policy: local_latest
380
+ run_id: half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k
381
+ output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/vla/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k
382
+ config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/h100/vla_train.yaml
383
+ is_debug: false
384
+ version_id: '0.21'
latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/config.yaml ADDED
@@ -0,0 +1,384 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ framework:
2
+ name: QwenOFT
3
+ qwenvl:
4
+ base_vlm: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
5
+ attn_implementation: flash_attention_2
6
+ enable_gradient_checkpointing: true
7
+ action_model:
8
+ action_model_type: MLP
9
+ action_dim: 6
10
+ state_dim: 17
11
+ action_hidden_dim: 2560
12
+ future_action_window_size: 0
13
+ past_action_window_size: 0
14
+ loss_type: l1
15
+ state_encoding: discretized_text
16
+ task_objective: null
17
+ action_horizon: 1
18
+ action_env_dim: 6
19
+ kv_memory:
20
+ enabled: false
21
+ window: 4
22
+ rollout_len: 8
23
+ packed_train: false
24
+ rebased_sink: true
25
+ datasets:
26
+ vla_data:
27
+ dataset_py: lerobot_datasets
28
+ include_state: true
29
+ data_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/converted
30
+ data_mix: half_cheetah_rgb_state_profile_20260912T023319Z
31
+ eval_data_mix: half_cheetah_rgb_state_profile_20260912T023319Z__val
32
+ custom_mixtures_path: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/converted/_generated_mixtures/half_cheetah_rgb_state_profile_20260912T023319Z.json
33
+ action_type: discrete
34
+ sequential_step_sampling: false
35
+ eval_sequential_step_sampling: null
36
+ num_workers: 8
37
+ eval_num_workers: 8
38
+ prefetch_factor: 4
39
+ persistent_workers: true
40
+ pin_memory: true
41
+ shuffle: true
42
+ action_balance:
43
+ enabled: false
44
+ strategy: balanced_epoch
45
+ action_key: action_id
46
+ target_flap_fraction: 0.3
47
+ noop_id: 0
48
+ flap_id: 1
49
+ latency_curriculum:
50
+ enabled: false
51
+ strategy: exclusive
52
+ latencies: null
53
+ phase_steps: null
54
+ phase_distributions: null
55
+ new_latency_passes: 1.0
56
+ replay_passes: 0.25
57
+ target_total_passes: 2.0
58
+ final_equalization: true
59
+ step_budget_mode: auto
60
+ eval_at_phase_end: false
61
+ save_at_phase_end: false
62
+ computed_plan: null
63
+ per_device_batch_size: 16
64
+ load_all_data_for_training: true
65
+ num_obs_frames: 1
66
+ image_mode: single
67
+ prompt_mode: raw
68
+ stitch_grid:
69
+ - 2
70
+ - 2
71
+ obs_image_size: null
72
+ video_backend: torchvision_av
73
+ gymnasium_task_contract:
74
+ action_space:
75
+ dtype: float32
76
+ high:
77
+ - 1.0
78
+ - 1.0
79
+ - 1.0
80
+ - 1.0
81
+ - 1.0
82
+ - 1.0
83
+ labels:
84
+ - back_thigh_torque
85
+ - back_shin_torque
86
+ - back_foot_torque
87
+ - front_thigh_torque
88
+ - front_shin_torque
89
+ - front_foot_torque
90
+ low:
91
+ - -1.0
92
+ - -1.0
93
+ - -1.0
94
+ - -1.0
95
+ - -1.0
96
+ - -1.0
97
+ type: box
98
+ base_prompt: Make the Half Cheetah run forward as fast as possible. Predict
99
+ six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot,
100
+ front thigh, front shin, and front foot.
101
+ env_fps: 10.0
102
+ env_id: LatencyBench/HalfCheetahContinuous-v0
103
+ frame_stack: 1
104
+ make_kwargs:
105
+ base_env_id: HalfCheetah-v4
106
+ base_make_kwargs: {}
107
+ render_mode: rgb_array
108
+ noop_action:
109
+ - 0.0
110
+ - 0.0
111
+ - 0.0
112
+ - 0.0
113
+ - 0.0
114
+ - 0.0
115
+ obs_fps: 10.0
116
+ registration_imports:
117
+ - latency_bench.envs.gymnasium_half_cheetah
118
+ state_space:
119
+ labels:
120
+ - front_tip_height
121
+ - front_tip_angle
122
+ - back_thigh_angle
123
+ - back_shin_angle
124
+ - back_foot_angle
125
+ - front_thigh_angle
126
+ - front_shin_angle
127
+ - front_foot_angle
128
+ - front_tip_x_velocity
129
+ - front_tip_z_velocity
130
+ - front_tip_angular_velocity
131
+ - back_thigh_angular_velocity
132
+ - back_shin_angular_velocity
133
+ - back_foot_angular_velocity
134
+ - front_thigh_angular_velocity
135
+ - front_shin_angular_velocity
136
+ - front_foot_angular_velocity
137
+ task_name: half_cheetah_rgb_state
138
+ active_action_dim: 6
139
+ dataset:
140
+ source_hf: ''
141
+ config_name: null
142
+ source_subdir: null
143
+ converted_name: half_cheetah_rgb_state_profile_20260912T023319Z
144
+ single_source_hf: ''
145
+ mixed_source_hf: ''
146
+ single_converted_name: half_cheetah_rgb_state_profile_20260912T023319Z
147
+ mixed_converted_name: half_cheetah_rgb_state_profile_20260912T023319Z
148
+ single_latency_filter: null
149
+ mixed_latency_filter: null
150
+ force_download: false
151
+ setup_force: false
152
+ skip_verification: false
153
+ target_latency_unit: observation_steps
154
+ verify_rows: 200
155
+ max_episodes: null
156
+ episodes_per_latency: null
157
+ latency_filter: null
158
+ debug_subset:
159
+ enabled: false
160
+ max_episodes: 5
161
+ suffix: debug
162
+ base_model:
163
+ repo_id: StarVLA/Qwen3-VL-4B-Instruct-Action
164
+ initialization:
165
+ checkpoint_local_dir: null
166
+ checkpoint_hf_repo_id: null
167
+ checkpoint_filename: null
168
+ trainer:
169
+ max_train_steps: 5000
170
+ num_warmup_steps: 100
171
+ save_interval: 500
172
+ eval_interval: 500
173
+ eval_num_batches: 200
174
+ per_latency_eval_num_batches: null
175
+ eval_action_classification: false
176
+ eval_action_classification_interval: null
177
+ cc_f1_tolerance: 1
178
+ learning_rate:
179
+ base: 2.0e-05
180
+ qwen_vl_interface: 1.0e-05
181
+ action_model: 0.0001
182
+ lr_scheduler_type: cosine_with_min_lr
183
+ scheduler_specific_kwargs:
184
+ min_lr: 1.0e-06
185
+ freeze_modules: ''
186
+ freeze_vit: false
187
+ freeze_tied_embedding: false
188
+ freeze_llm_layers: []
189
+ loss_scale:
190
+ vla: 1.0
191
+ vlm: 0.1
192
+ max_grad_norm: 1.0
193
+ weight_decay: 0.0
194
+ logging_frequency: 1
195
+ profile_timing:
196
+ enabled: true
197
+ log_interval: 10
198
+ gradient_clipping: 1.0
199
+ gradient_accumulation_steps: 1
200
+ distributed_backend: deepspeed
201
+ is_resume: false
202
+ pretrained_checkpoint: null
203
+ resume_step: 0
204
+ reload_modules: null
205
+ optimizer:
206
+ name: AdamW
207
+ betas:
208
+ - 0.9
209
+ - 0.95
210
+ eps: 1.0e-08
211
+ weight_decay: 1.0e-08
212
+ fused: true
213
+ save_format: pt
214
+ workspace_dir: WORKSPACE_DIR
215
+ run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/vla
216
+ seed: 42
217
+ wandb_entity: dongqianyu99-zhejiang-university
218
+ wandb_project: latency-sensitive-bench
219
+ auth:
220
+ env_file: null
221
+ hf_token_env: HF_TOKEN
222
+ wandb_api_key_env: WANDB_API_KEY
223
+ paths:
224
+ run_root_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/vla
225
+ dataset_local_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/converted
226
+ dataset_cache_dir: null
227
+ base_model_dir: /mnt/checkpoints/latency-sensitive-bench/openvla/Qwen3-VL-4B-Instruct
228
+ accelerate_config: starVLA/config/deepseeds/deepspeed_zero2_cpu_offload.yaml
229
+ launch:
230
+ use_accelerate: true
231
+ gpus: null
232
+ num_processes: 1
233
+ dry_run: false
234
+ conda:
235
+ enabled: true
236
+ env_name: null
237
+ rl_games:
238
+ model_alias: openvla
239
+ env_eval:
240
+ image_size: 224
241
+ frameskip: 1
242
+ image_transform: raw_rgb
243
+ prompt_mode: raw
244
+ ghost_trail:
245
+ history_frames: 5
246
+ gamma: 1.3
247
+ min_alpha: 35
248
+ scroll_px_per_step: 4.0
249
+ ground_fraction: 0.22
250
+ seed: 42
251
+ fixed_episode_seeds: true
252
+ latency_seed_stride: 0
253
+ task_seed_stride: 0
254
+ task_description: ''
255
+ eval_parallel_envs: 5
256
+ action_chunk_execution:
257
+ enabled: false
258
+ chunk_size: null
259
+ enabled: false
260
+ gymnasium:
261
+ make_kwargs: {}
262
+ mid_train:
263
+ enabled: false
264
+ interval_steps: 100
265
+ latencies:
266
+ - 0
267
+ num_episodes: 5
268
+ max_steps_per_episode: 3600
269
+ post_train:
270
+ enabled: false
271
+ latencies:
272
+ - 0
273
+ - 1
274
+ - 2
275
+ - 3
276
+ - 4
277
+ num_episodes: 5
278
+ max_steps_per_episode: 3600
279
+ eval_backend: latency_bench
280
+ distributed_mode: none
281
+ vectorized:
282
+ enabled: false
283
+ batch_size: 1
284
+ latency:
285
+ prompt_map_path: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/converted/half_cheetah_rgb_state_profile_20260912T023319Z/latency_prompt_map.json
286
+ mode: single
287
+ values:
288
+ - 1
289
+ - 2
290
+ task: gymnasium
291
+ gymnasium:
292
+ task_contract:
293
+ action_space:
294
+ dtype: float32
295
+ high:
296
+ - 1.0
297
+ - 1.0
298
+ - 1.0
299
+ - 1.0
300
+ - 1.0
301
+ - 1.0
302
+ labels:
303
+ - back_thigh_torque
304
+ - back_shin_torque
305
+ - back_foot_torque
306
+ - front_thigh_torque
307
+ - front_shin_torque
308
+ - front_foot_torque
309
+ low:
310
+ - -1.0
311
+ - -1.0
312
+ - -1.0
313
+ - -1.0
314
+ - -1.0
315
+ - -1.0
316
+ type: box
317
+ base_prompt: Make the Half Cheetah run forward as fast as possible. Predict
318
+ six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot,
319
+ front thigh, front shin, and front foot.
320
+ env_fps: 10.0
321
+ env_id: LatencyBench/HalfCheetahContinuous-v0
322
+ frame_stack: 1
323
+ make_kwargs:
324
+ base_env_id: HalfCheetah-v4
325
+ base_make_kwargs: {}
326
+ render_mode: rgb_array
327
+ noop_action:
328
+ - 0.0
329
+ - 0.0
330
+ - 0.0
331
+ - 0.0
332
+ - 0.0
333
+ - 0.0
334
+ obs_fps: 10.0
335
+ registration_imports:
336
+ - latency_bench.envs.gymnasium_half_cheetah
337
+ state_space:
338
+ labels:
339
+ - front_tip_height
340
+ - front_tip_angle
341
+ - back_thigh_angle
342
+ - back_shin_angle
343
+ - back_foot_angle
344
+ - front_thigh_angle
345
+ - front_shin_angle
346
+ - front_foot_angle
347
+ - front_tip_x_velocity
348
+ - front_tip_z_velocity
349
+ - front_tip_angular_velocity
350
+ - back_thigh_angular_velocity
351
+ - back_shin_angular_velocity
352
+ - back_foot_angular_velocity
353
+ - front_thigh_angular_velocity
354
+ - front_shin_angular_velocity
355
+ - front_foot_angular_velocity
356
+ task_name: half_cheetah_rgb_state
357
+ task_name: half_cheetah_rgb_state
358
+ initialization_mode: scratch
359
+ action_carrier: native
360
+ model: openvla
361
+ env: gymnasium
362
+ init: scratch
363
+ mode: single
364
+ checkpoint:
365
+ load: none
366
+ hf_repo_id: null
367
+ save_best_model: false
368
+ save_final_model: true
369
+ save_pt_file: true
370
+ save_training_state: false
371
+ save_safetensors_file: false
372
+ local:
373
+ keep_last_n: 1
374
+ sync:
375
+ enabled: false
376
+ repo_id: null
377
+ keep_last_n: 0
378
+ sync_every_n_checkpoints: 1
379
+ resume_policy: local_latest
380
+ run_id: half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k
381
+ output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/vla/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k
382
+ config_yaml: /mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/h100/vla_train.yaml
383
+ is_debug: false
384
+ version_id: '0.21'
latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/dataset_statistics.json ADDED
@@ -0,0 +1,180 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "action": {
4
+ "mean": [
5
+ 0.10770988464355469,
6
+ -0.22736652195453644,
7
+ 0.10839294642210007,
8
+ 0.3289090692996979,
9
+ 0.3570038080215454,
10
+ -0.23193077743053436
11
+ ],
12
+ "std": [
13
+ 0.9823699593544006,
14
+ 0.8835218548774719,
15
+ 0.8981277346611023,
16
+ 0.7482634782791138,
17
+ 0.6214219331741333,
18
+ 0.7868151664733887
19
+ ],
20
+ "max": [
21
+ 1.0,
22
+ 1.0,
23
+ 1.0,
24
+ 1.0,
25
+ 1.0,
26
+ 1.0
27
+ ],
28
+ "min": [
29
+ -1.0,
30
+ -1.0,
31
+ -1.0,
32
+ -1.0,
33
+ -1.0,
34
+ -1.0
35
+ ],
36
+ "q01": [
37
+ -1.0,
38
+ -1.0,
39
+ -1.0,
40
+ -1.0,
41
+ -0.9372798657417297,
42
+ -1.0
43
+ ],
44
+ "q99": [
45
+ 1.0,
46
+ 1.0,
47
+ 1.0,
48
+ 1.0,
49
+ 1.0,
50
+ 1.0
51
+ ],
52
+ "mask": [
53
+ true,
54
+ true,
55
+ true,
56
+ true,
57
+ true,
58
+ true
59
+ ]
60
+ },
61
+ "state": {
62
+ "mean": [
63
+ -0.10728839784860611,
64
+ -0.5624207854270935,
65
+ -0.04555436596274376,
66
+ -0.1454501748085022,
67
+ -0.11111028492450714,
68
+ 0.421887069940567,
69
+ 0.13110347092151642,
70
+ -0.1150883361697197,
71
+ 0.4590475261211395,
72
+ 0.026997756212949753,
73
+ 0.01987910084426403,
74
+ 0.15814617276191711,
75
+ -0.057850856333971024,
76
+ 0.1238384023308754,
77
+ -0.013364912942051888,
78
+ 0.016042476519942284,
79
+ -0.1159631609916687
80
+ ],
81
+ "std": [
82
+ 0.11889327317476273,
83
+ 0.08449525386095047,
84
+ 0.5472133755683899,
85
+ 0.49602779746055603,
86
+ 0.5866584181785583,
87
+ 0.3321983516216278,
88
+ 0.4677083492279053,
89
+ 0.5666539072990417,
90
+ 0.22859491407871246,
91
+ 0.2627943754196167,
92
+ 0.26507872343063354,
93
+ 0.5673505663871765,
94
+ 0.3777157962322235,
95
+ 0.5484620928764343,
96
+ 0.3395417034626007,
97
+ 0.4824333190917969,
98
+ 0.5185849666595459
99
+ ],
100
+ "max": [
101
+ 1.0,
102
+ 1.0,
103
+ 1.0,
104
+ 1.0,
105
+ 1.0,
106
+ 1.0,
107
+ 1.0,
108
+ 1.0,
109
+ 1.0,
110
+ 1.0,
111
+ 1.0,
112
+ 1.0,
113
+ 1.0,
114
+ 1.0,
115
+ 1.0,
116
+ 1.0,
117
+ 1.0
118
+ ],
119
+ "min": [
120
+ -1.0,
121
+ -1.0,
122
+ -1.0,
123
+ -1.0,
124
+ -1.0,
125
+ -1.0,
126
+ -1.0,
127
+ -1.0,
128
+ -1.0,
129
+ -1.0,
130
+ -1.0,
131
+ -1.0,
132
+ -1.0,
133
+ -1.0,
134
+ -1.0,
135
+ -1.0,
136
+ -1.0
137
+ ],
138
+ "q01": [
139
+ -0.33906219065189364,
140
+ -0.6886490625143051,
141
+ -0.9395584189891815,
142
+ -0.9324191778898239,
143
+ -0.9777716618776321,
144
+ -0.31617344081401827,
145
+ -0.6568031430244445,
146
+ -0.9545256400108337,
147
+ -0.3354434877634048,
148
+ -0.6166862392425537,
149
+ -0.7010972607135773,
150
+ -0.8671129012107849,
151
+ -0.8751532965898514,
152
+ -0.8775771206617355,
153
+ -0.7591884690523147,
154
+ -0.82644451379776,
155
+ -0.9271202409267425
156
+ ],
157
+ "q99": [
158
+ 0.20573618650436362,
159
+ -0.3561570644378664,
160
+ 0.8709963262081146,
161
+ 0.7403977537155135,
162
+ 0.8409473288059234,
163
+ 0.8861571657657623,
164
+ 0.8961218094825741,
165
+ 0.797587602138519,
166
+ 0.8380255770683288,
167
+ 0.6127554690837859,
168
+ 0.5165472745895382,
169
+ 0.902275366783142,
170
+ 0.594376227855682,
171
+ 0.945205647945404,
172
+ 0.6881502497196197,
173
+ 0.781806918382644,
174
+ 0.7805549800395957
175
+ ]
176
+ },
177
+ "num_transitions": 90000,
178
+ "num_trajectories": 90
179
+ }
180
+ }
latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/dataset_statistics_eval.json ADDED
@@ -0,0 +1,180 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "action": {
4
+ "mean": [
5
+ 0.11145979166030884,
6
+ -0.214508056640625,
7
+ 0.11074115335941315,
8
+ 0.327595055103302,
9
+ 0.3518350422382355,
10
+ -0.23154450953006744
11
+ ],
12
+ "std": [
13
+ 0.9813211560249329,
14
+ 0.8875551819801331,
15
+ 0.8911529183387756,
16
+ 0.7460984587669373,
17
+ 0.620377242565155,
18
+ 0.7883656620979309
19
+ ],
20
+ "max": [
21
+ 1.0,
22
+ 1.0,
23
+ 1.0,
24
+ 1.0,
25
+ 1.0,
26
+ 1.0
27
+ ],
28
+ "min": [
29
+ -1.0,
30
+ -1.0,
31
+ -1.0,
32
+ -1.0,
33
+ -1.0,
34
+ -1.0
35
+ ],
36
+ "q01": [
37
+ -1.0,
38
+ -1.0,
39
+ -1.0,
40
+ -1.0,
41
+ -0.9503968459367752,
42
+ -1.0
43
+ ],
44
+ "q99": [
45
+ 1.0,
46
+ 1.0,
47
+ 1.0,
48
+ 1.0,
49
+ 1.0,
50
+ 1.0
51
+ ],
52
+ "mask": [
53
+ true,
54
+ true,
55
+ true,
56
+ true,
57
+ true,
58
+ true
59
+ ]
60
+ },
61
+ "state": {
62
+ "mean": [
63
+ -0.10398252308368683,
64
+ -0.5657179951667786,
65
+ -0.041583992540836334,
66
+ -0.13961662352085114,
67
+ -0.10986241698265076,
68
+ 0.41965508460998535,
69
+ 0.1287042796611786,
70
+ -0.12071704119443893,
71
+ 0.435773640871048,
72
+ 0.026984786614775658,
73
+ 0.021505804732441902,
74
+ 0.15837563574314117,
75
+ -0.057794880121946335,
76
+ 0.12203305959701538,
77
+ -0.014990058727562428,
78
+ 0.016157714650034904,
79
+ -0.11708204448223114
80
+ ],
81
+ "std": [
82
+ 0.1244068369269371,
83
+ 0.07347161322832108,
84
+ 0.5536452531814575,
85
+ 0.4919765293598175,
86
+ 0.5864324569702148,
87
+ 0.33482614159584045,
88
+ 0.47133588790893555,
89
+ 0.5699070692062378,
90
+ 0.2429482787847519,
91
+ 0.26402586698532104,
92
+ 0.2640051245689392,
93
+ 0.5619649291038513,
94
+ 0.37026268243789673,
95
+ 0.5385760068893433,
96
+ 0.33654022216796875,
97
+ 0.4757087230682373,
98
+ 0.5125513076782227
99
+ ],
100
+ "max": [
101
+ 0.8230167627334595,
102
+ -0.0014048218727111816,
103
+ 0.9493592977523804,
104
+ 0.9882220029830933,
105
+ 1.0,
106
+ 0.9731433391571045,
107
+ 0.9668114185333252,
108
+ 0.9491677284240723,
109
+ 0.9851869344711304,
110
+ 0.8379104137420654,
111
+ 1.0,
112
+ 0.9966773986816406,
113
+ 0.7800441980361938,
114
+ 0.9713037014007568,
115
+ 0.8712660074234009,
116
+ 0.9649665355682373,
117
+ 0.984099268913269
118
+ ],
119
+ "min": [
120
+ -0.48008835315704346,
121
+ -0.8673253655433655,
122
+ -0.9924408793449402,
123
+ -0.97048419713974,
124
+ -1.0,
125
+ -0.8882791996002197,
126
+ -0.9792449474334717,
127
+ -0.9918810129165649,
128
+ -0.6799987554550171,
129
+ -0.9922735095024109,
130
+ -0.9111155867576599,
131
+ -1.0,
132
+ -0.9412549138069153,
133
+ -1.0,
134
+ -0.9556921720504761,
135
+ -0.9734961986541748,
136
+ -0.9983583688735962
137
+ ],
138
+ "q01": [
139
+ -0.3424838989973068,
140
+ -0.7226481068134307,
141
+ -0.9416929757595062,
142
+ -0.9292510569095611,
143
+ -0.9770489847660064,
144
+ -0.33539102911949153,
145
+ -0.6675442630052566,
146
+ -0.9519808453321457,
147
+ -0.3450982230901718,
148
+ -0.6134166467189789,
149
+ -0.7010219645500183,
150
+ -0.8668506604433059,
151
+ -0.8667900818586349,
152
+ -0.8788304537534714,
153
+ -0.7496186256408691,
154
+ -0.8328363233804703,
155
+ -0.9277301490306854
156
+ ],
157
+ "q99": [
158
+ 0.27186036467552194,
159
+ -0.3383111631870269,
160
+ 0.871550648212433,
161
+ 0.7503189408779147,
162
+ 0.841783242225647,
163
+ 0.8875537037849427,
164
+ 0.8962072730064392,
165
+ 0.8053963160514832,
166
+ 0.8340123009681703,
167
+ 0.6146782374382019,
168
+ 0.5173484361171725,
169
+ 0.9027680957317352,
170
+ 0.595805132389069,
171
+ 0.9427596497535706,
172
+ 0.681271653175354,
173
+ 0.7714509844779969,
174
+ 0.760542529821396
175
+ ]
176
+ },
177
+ "num_transitions": 10000,
178
+ "num_trajectories": 10
179
+ }
180
+ }
latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/latency_prompt_map.json ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "1": {
3
+ "prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front 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.",
4
+ "latency_raw_frames": 1,
5
+ "latency_ms": 100.0
6
+ },
7
+ "2": {
8
+ "prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front 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.",
9
+ "latency_raw_frames": 2,
10
+ "latency_ms": 200.0
11
+ }
12
+ }
latency-aware/half-cheetah/vla/starvla-qwenoft-h1/half_cheetah_rgb_state_profile_20260912T023319Z_openvla_native_sft_5k/manifest.json ADDED
@@ -0,0 +1,178 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset_name": "half_cheetah_rgb_state_profile_20260912T023319Z",
3
+ "env_name": "half_cheetah_rgb_state",
4
+ "episodes": 90,
5
+ "frames": 90000,
6
+ "task_prompts": [
7
+ "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front 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.",
8
+ "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front 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."
9
+ ],
10
+ "format": "lerobot_v2_image_parquet",
11
+ "source": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/raw",
12
+ "integration_name": "gymnasium",
13
+ "task_name": "half_cheetah_rgb_state",
14
+ "action_layout": "gymnasium_continuous_v1",
15
+ "action_labels": [
16
+ "back_thigh_torque",
17
+ "back_shin_torque",
18
+ "back_foot_torque",
19
+ "front_thigh_torque",
20
+ "front_shin_torque",
21
+ "front_foot_torque"
22
+ ],
23
+ "carrier_action_labels": [
24
+ "back_thigh_torque",
25
+ "back_shin_torque",
26
+ "back_foot_torque",
27
+ "front_thigh_torque",
28
+ "front_shin_torque",
29
+ "front_foot_torque"
30
+ ],
31
+ "action_dim": 6,
32
+ "active_action_dim": 6,
33
+ "action_carrier": "native",
34
+ "rows_unit": "decision_step",
35
+ "obs_fps": 10.0,
36
+ "obs_stride_raw_frames": 1,
37
+ "uses_state": true,
38
+ "state_dim": 17,
39
+ "state_labels": [
40
+ "front_tip_height",
41
+ "front_tip_angle",
42
+ "back_thigh_angle",
43
+ "back_shin_angle",
44
+ "back_foot_angle",
45
+ "front_thigh_angle",
46
+ "front_shin_angle",
47
+ "front_foot_angle",
48
+ "front_tip_x_velocity",
49
+ "front_tip_z_velocity",
50
+ "front_tip_angular_velocity",
51
+ "back_thigh_angular_velocity",
52
+ "back_shin_angular_velocity",
53
+ "back_foot_angular_velocity",
54
+ "front_thigh_angular_velocity",
55
+ "front_shin_angular_velocity",
56
+ "front_foot_angular_velocity"
57
+ ],
58
+ "state_normalization": {
59
+ "type": "min_max",
60
+ "min": [
61
+ -0.5772290229797363,
62
+ -0.911627471446991,
63
+ -0.7220134139060974,
64
+ -0.8680613040924072,
65
+ -0.5131105184555054,
66
+ -0.9485418200492859,
67
+ -0.9157634377479553,
68
+ -0.658291757106781,
69
+ -3.6468114852905273,
70
+ -3.9537510871887207,
71
+ -6.7527337074279785,
72
+ -26.907974243164062,
73
+ -25.66440200805664,
74
+ -22.458248138427734,
75
+ -22.975290298461914,
76
+ -26.29881477355957,
77
+ -18.896934509277344
78
+ ],
79
+ "max": [
80
+ 0.6679929494857788,
81
+ 3.516580104827881,
82
+ 1.0322039127349854,
83
+ 0.8538315296173096,
84
+ 0.8270522356033325,
85
+ 0.8448535799980164,
86
+ 1.0135595798492432,
87
+ 0.7175425291061401,
88
+ 9.11288070678711,
89
+ 3.604336977005005,
90
+ 6.252868175506592,
91
+ 19.51249122619629,
92
+ 28.126272201538086,
93
+ 17.998640060424805,
94
+ 24.064804077148438,
95
+ 25.965932846069336,
96
+ 24.8583927154541
97
+ ]
98
+ },
99
+ "robot_type": "rl_games_gymnasium",
100
+ "latency_prompt_map_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/converted/half_cheetah_rgb_state_profile_20260912T023319Z/latency_prompt_map.json",
101
+ "custom_mixtures_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/half_cheetah/20260912T023319Z-halfcheetah/converted/_generated_mixtures/half_cheetah_rgb_state_profile_20260912T023319Z.json",
102
+ "gymnasium_task": {
103
+ "action_space": {
104
+ "dtype": "float32",
105
+ "high": [
106
+ 1.0,
107
+ 1.0,
108
+ 1.0,
109
+ 1.0,
110
+ 1.0,
111
+ 1.0
112
+ ],
113
+ "labels": [
114
+ "back_thigh_torque",
115
+ "back_shin_torque",
116
+ "back_foot_torque",
117
+ "front_thigh_torque",
118
+ "front_shin_torque",
119
+ "front_foot_torque"
120
+ ],
121
+ "low": [
122
+ -1.0,
123
+ -1.0,
124
+ -1.0,
125
+ -1.0,
126
+ -1.0,
127
+ -1.0
128
+ ],
129
+ "type": "box"
130
+ },
131
+ "base_prompt": "Make the Half Cheetah run forward as fast as possible. Predict six continuous torques in [-1, 1] ordered as back thigh, back shin, back foot, front thigh, front shin, and front foot.",
132
+ "env_fps": 10.0,
133
+ "env_id": "LatencyBench/HalfCheetahContinuous-v0",
134
+ "frame_stack": 1,
135
+ "make_kwargs": {
136
+ "base_env_id": "HalfCheetah-v4",
137
+ "base_make_kwargs": {},
138
+ "render_mode": "rgb_array"
139
+ },
140
+ "noop_action": [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 0.0,
145
+ 0.0,
146
+ 0.0
147
+ ],
148
+ "obs_fps": 10.0,
149
+ "registration_imports": [
150
+ "latency_bench.envs.gymnasium_half_cheetah"
151
+ ],
152
+ "state_space": {
153
+ "labels": [
154
+ "front_tip_height",
155
+ "front_tip_angle",
156
+ "back_thigh_angle",
157
+ "back_shin_angle",
158
+ "back_foot_angle",
159
+ "front_thigh_angle",
160
+ "front_shin_angle",
161
+ "front_foot_angle",
162
+ "front_tip_x_velocity",
163
+ "front_tip_z_velocity",
164
+ "front_tip_angular_velocity",
165
+ "back_thigh_angular_velocity",
166
+ "back_shin_angular_velocity",
167
+ "back_foot_angular_velocity",
168
+ "front_thigh_angular_velocity",
169
+ "front_shin_angular_velocity",
170
+ "front_foot_angular_velocity"
171
+ ]
172
+ },
173
+ "task_name": "half_cheetah_rgb_state"
174
+ },
175
+ "validation_dataset_name": "half_cheetah_rgb_state_profile_20260912T023319Z__val",
176
+ "validation_episodes": 10,
177
+ "validation_frames": 10000
178
+ }