Import Standard-Pipeline hopper selected inference bundles

latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/README.md

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+# hopper / sample-factory-appo
+
+Training condition: `latency-aware`. Run: `hopper_profile_appo_h1_5fps_20260917`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/small_model/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoint.pth`
+- Selection: training_best
+- Checkpoint SHA256: `3dc620932950a33e730f0ba615f2a85dded0c11dd24d0d27ff08329090bbc9cc`
+- Configuration, FPS, actions, normalization and latency semantics retain their source values.
+- This import does not run evaluations or change training/evaluation/acceptance status.
+
+Sample Factory APPO inference bundle: `config.json` and the explicit `checkpoint.pth`.
+The checkpoint contains `model`, `train_step`, and `env_steps`; every exported model
+tensor was reloaded and compared bit-for-bit with the selected source checkpoint.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/checkpoint.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3dc620932950a33e730f0ba615f2a85dded0c11dd24d0d27ff08329090bbc9cc
+size 27445

latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/config.full.yaml

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+env:
+  state_space:
+    labels:
+    - torso_height
+    - torso_angle
+    - thigh_angle
+    - leg_angle
+    - foot_angle
+    - torso_x_velocity
+    - torso_z_velocity
+    - torso_angular_velocity
+    - thigh_angular_velocity
+    - leg_angular_velocity
+    - foot_angular_velocity
+  name: gymnasium
+  task_name: hopper
+  env_id: LatencyBench/Hopper-v0
+  registration_imports:
+  - latency_bench.envs.gymnasium_hopper
+  make_kwargs:
+    base_env_id: Hopper-v4
+    render_mode: rgb_array
+    base_make_kwargs:
+      forward_reward_weight: 1.0
+      ctrl_cost_weight: 0.001
+      healthy_reward: 1.0
+      terminate_when_unhealthy: true
+      reset_noise_scale: 0.005
+      exclude_current_positions_from_observation: true
+  env_fps: 5
+  obs_fps: 5
+  frame_stack: 1
+  action_space:
+    type: box
+    labels:
+    - thigh_torque
+    - leg_torque
+    - foot_torque
+    low:
+    - -1.0
+    - -1.0
+    - -1.0
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    dtype: float32
+  noop_action:
+  - 0.0
+  - 0.0
+  - 0.0
+  base_prompt: Move the Hopper robot forward while keeping its torso upright. Predict
+    three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+experiment:
+  name: hopper_profile_appo_h1_5fps_20260917
+  seed: 3333
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/teacher/checkpoints
+  restart_behavior: overwrite
+  run_mode: train
+  extra_args:
+  - --wandb_user
+  - dongqianyu99-zhejiang-university
+executor:
+  mode: simulated
+latency:
+  method: iid
+  profile_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/profile_3090_20260917T141828786022Z/profile.json
+  profile_worker_slot: 0
+  seed: 0
+  add_latency_info: false
+scheduler:
+  hold_policy: hold
+  ordering_policy: issue_order_fifo
+policy:
+  type: random
+training:
+  train_for_env_steps: 10000000
+  num_workers: 8
+  num_envs_per_worker: 8
+  worker_num_splits: 2
+  num_policies: 1
+  batch_size: 1024
+  rollout: 64
+  recurrence: 1
+  num_epochs: 2
+  num_batches_per_epoch: 4
+  num_batches_to_accumulate: 2
+  policy_workers_per_policy: 1
+  max_policy_lag: 10000
+  learning_rate: 0.00295
+  lr_schedule: linear_decay
+  lr_schedule_kl_threshold: 0.008
+  gamma: 0.99
+  gae_lambda: 0.95
+  ppo_clip_ratio: 0.2
+  ppo_clip_value: 1.0
+  value_loss_coeff: 1.3
+  max_grad_norm: 3.5
+  exploration_loss: entropy
+  exploration_loss_coeff: 0.0
+  kl_loss_coeff: 0.1
+  reward_scale: 1.0
+  reward_clip: 1000.0
+  async_rl: false
+  serial_mode: false
+  batched_sampling: false
+  with_vtrace: false
+  use_rnn: false
+  env_framestack: 4
+  encoder_mlp_layers:
+  - 64
+  - 64
+  nonlinearity: tanh
+  adaptive_stddev: false
+  policy_initialization: torch_default
+  initial_stddev: 1.0
+  actor_critic_share_weights: true
+  shuffle_minibatches: false
+  value_bootstrap: false
+  normalize_input: true
+  normalize_returns: true
+  decorrelate_experience_max_seconds: 10
+  decorrelate_envs_on_one_worker: true
+  set_workers_cpu_affinity: true
+  force_envs_single_thread: true
+  save_every_sec: 600
+  keep_checkpoints: 3
+  save_best_every_sec: 60
+  save_best_after: 100000
+evaluation:
+  eval_interval_steps: null
+  eval_episodes: 20
+  eval_parallel_envs: 1
+  eval_max_steps: 1000
+  eval_deterministic: true
+  eval_latency_values: null
+logging:
+  output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/teacher/training
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: false
+  save_action_records: false
+  save_latency_records: false
+  wandb_project: latency-sensitive-bench
+  wandb_group: gr00t-six-env-h1-5fps
+  wandb_job_type: profile_teacher

latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/config.json

@@ -0,0 +1,271 @@
+{
+  "help": false,
+  "algo": "APPO",
+  "env": "latency_gymnasium",
+  "experiment": "hopper_profile_appo_h1_5fps_20260917",
+  "train_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/teacher/checkpoints",
+  "restart_behavior": "overwrite",
+  "device": "gpu",
+  "seed": 3333,
+  "initial_model_path": null,
+  "num_policies": 1,
+  "async_rl": false,
+  "serial_mode": false,
+  "batched_sampling": false,
+  "num_batches_to_accumulate": 2,
+  "worker_num_splits": 2,
+  "policy_workers_per_policy": 1,
+  "max_policy_lag": 10000,
+  "num_workers": 8,
+  "num_envs_per_worker": 8,
+  "batch_size": 1024,
+  "num_batches_per_epoch": 4,
+  "num_epochs": 2,
+  "rollout": 64,
+  "fasttd3_replay_capacity": 6553600,
+  "fasttd3_replay_batch_size": 32768,
+  "fasttd3_action_chunk_horizon": 1,
+  "fasttd3_transitions_per_update": 64,
+  "fasttd3_train_for_optimizer_steps": 10000000000,
+  "fasttd3_v_min": -250.0,
+  "fasttd3_v_max": 250.0,
+  "fasttd3_actor_action_l2": 0.0,
+  "fasttd3_compile": true,
+  "recurrence": 1,
+  "shuffle_minibatches": false,
+  "gamma": 0.99,
+  "reward_scale": 1.0,
+  "reward_clip": 1000.0,
+  "value_bootstrap": false,
+  "normalize_returns": true,
+  "exploration_loss_coeff": 0.0,
+  "value_loss_coeff": 1.3,
+  "kl_loss_coeff": 0.1,
+  "exploration_loss": "entropy",
+  "gae_lambda": 0.95,
+  "ppo_clip_ratio": 0.2,
+  "ppo_clip_value": 1.0,
+  "with_vtrace": false,
+  "vtrace_rho": 1.0,
+  "vtrace_c": 1.0,
+  "optimizer": "adam",
+  "adam_eps": 1e-06,
+  "adam_beta1": 0.9,
+  "adam_beta2": 0.999,
+  "max_grad_norm": 3.5,
+  "learning_rate": 0.00295,
+  "lr_schedule": "linear_decay",
+  "lr_schedule_kl_threshold": 0.008,
+  "lr_adaptive_min": 1e-06,
+  "lr_adaptive_max": 0.01,
+  "obs_subtract_mean": 0.0,
+  "obs_scale": 1.0,
+  "normalize_input": true,
+  "normalize_input_keys": null,
+  "decorrelate_experience_max_seconds": 10,
+  "decorrelate_envs_on_one_worker": true,
+  "actor_worker_gpus": [],
+  "set_workers_cpu_affinity": true,
+  "force_envs_single_thread": true,
+  "default_niceness": 0,
+  "log_to_file": true,
+  "experiment_summaries_interval": 10,
+  "flush_summaries_interval": 30,
+  "stats_avg": 100,
+  "summaries_use_frameskip": true,
+  "heartbeat_interval": 20,
+  "heartbeat_reporting_interval": 180,
+  "train_for_env_steps": 10000000,
+  "train_for_seconds": 10000000000,
+  "save_every_sec": 600,
+  "keep_checkpoints": 3,
+  "load_checkpoint_kind": "latest",
+  "save_milestones_sec": -1,
+  "save_best_every_sec": 60,
+  "save_best_metric": "reward",
+  "save_best_after": 100000,
+  "benchmark": false,
+  "encoder_mlp_layers": [
+    64,
+    64
+  ],
+  "encoder_conv_architecture": "convnet_simple",
+  "encoder_conv_mlp_layers": [
+    512
+  ],
+  "use_rnn": false,
+  "rnn_size": 512,
+  "rnn_type": "gru",
+  "rnn_num_layers": 1,
+  "decoder_mlp_layers": [],
+  "nonlinearity": "tanh",
+  "policy_initialization": "torch_default",
+  "policy_init_gain": 1.0,
+  "actor_critic_share_weights": true,
+  "adaptive_stddev": false,
+  "continuous_tanh_scale": 0.0,
+  "initial_stddev": 1.0,
+  "use_env_info_cache": false,
+  "env_gpu_actions": false,
+  "env_gpu_observations": true,
+  "env_frameskip": 1,
+  "env_framestack": 4,
+  "pixel_format": "CHW",
+  "use_record_episode_statistics": false,
+  "with_wandb": true,
+  "wandb_user": "dongqianyu99-zhejiang-university",
+  "wandb_project": "latency-sensitive-bench",
+  "wandb_group": "gr00t-six-env-h1-5fps",
+  "wandb_job_type": "profile_teacher",
+  "wandb_tags": null,
+  "with_pbt": false,
+  "pbt_mix_policies_in_one_env": true,
+  "pbt_period_env_steps": 5000000,
+  "pbt_start_mutation": 20000000,
+  "pbt_replace_fraction": 0.3,
+  "pbt_mutation_rate": 0.15,
+  "pbt_replace_reward_gap": 0.1,
+  "pbt_replace_reward_gap_absolute": 1e-06,
+  "pbt_optimize_gamma": false,
+  "pbt_target_objective": "true_objective",
+  "pbt_perturb_min": 1.1,
+  "pbt_perturb_max": 1.5,
+  "gym_task_name": "hopper",
+  "gym_env_id": "LatencyBench/Hopper-v0",
+  "gym_make_kwargs_json": "{\"base_env_id\": \"Hopper-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {\"forward_reward_weight\": 1.0, \"ctrl_cost_weight\": 0.001, \"healthy_reward\": 1.0, \"terminate_when_unhealthy\": true, \"reset_noise_scale\": 0.005, \"exclude_current_positions_from_observation\": true}}",
+  "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_hopper\"]",
+  "gym_action_space_json": "{\"type\": \"box\", \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
+  "gym_action_labels_json": null,
+  "gym_action_values_json": null,
+  "gym_noop_action_id": null,
+  "gym_noop_action_json": "[0.0, 0.0, 0.0]",
+  "gym_base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+  "gym_state_labels_json": "[\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"]",
+  "env_fps": 5.0,
+  "obs_fps": 5.0,
+  "frame_stack": 1,
+  "export_env_raw_rgb_frames": false,
+  "mode": "train",
+  "latency_type": "iid",
+  "fixed_latency_ms": null,
+  "mean_latency_ms": null,
+  "std_latency_ms": null,
+  "min_latency_ms": null,
+  "max_latency_ms": null,
+  "latency_seed": 0,
+  "latency_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/profile_3090_20260917T141828786022Z/profile.json",
+  "latency_profile_worker_slot": 0,
+  "simulated_worker_capacity": null,
+  "add_latency_info": false,
+  "max_pending_actions": null,
+  "hold_last_chunk_action": false,
+  "hold_policy": "hold",
+  "ordering_policy": "issue_order_fifo",
+  "eval_episodes": 20,
+  "eval_parallel_envs": 1,
+  "eval_latency_raw_frame_values": null,
+  "eval_max_steps": 1000,
+  "eval_deterministic": true,
+  "eval_raw_reward": false,
+  "episode_metrics_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/teacher/checkpoints/hopper_profile_appo_h1_5fps_20260917/episode_metrics.jsonl",
+  "ppo": null,
+  "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment hopper_profile_appo_h1_5fps_20260917 --train_dir /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/teacher/checkpoints --restart_behavior overwrite --device gpu --seed 3333 --episode_metrics_path /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/teacher/checkpoints/hopper_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 --env_framestack 4 --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/hopper/profile_latency/profile_3090_20260917T141828786022Z/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 hopper --gym-env-id LatencyBench/Hopper-v0 --gym-make-kwargs-json {\"base_env_id\": \"Hopper-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {\"forward_reward_weight\": 1.0, \"ctrl_cost_weight\": 0.001, \"healthy_reward\": 1.0, \"terminate_when_unhealthy\": true, \"reset_noise_scale\": 0.005, \"exclude_current_positions_from_observation\": true}} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_hopper\"] --gym-action-space-json {\"type\": \"box\", \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0], \"dtype\": \"float32\"} --gym-noop-action-json [0.0, 0.0, 0.0] --gym-base-prompt Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. --gym-state-labels-json [\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"] --env-fps 5 --obs-fps 5 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+  "cli_args": {
+    "algo": "APPO",
+    "env": "latency_gymnasium",
+    "experiment": "hopper_profile_appo_h1_5fps_20260917",
+    "train_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/teacher/checkpoints",
+    "restart_behavior": "overwrite",
+    "device": "gpu",
+    "seed": 3333,
+    "num_policies": 1,
+    "async_rl": false,
+    "serial_mode": false,
+    "batched_sampling": false,
+    "num_batches_to_accumulate": 2,
+    "worker_num_splits": 2,
+    "policy_workers_per_policy": 1,
+    "max_policy_lag": 10000,
+    "num_workers": 8,
+    "num_envs_per_worker": 8,
+    "batch_size": 1024,
+    "num_batches_per_epoch": 4,
+    "num_epochs": 2,
+    "rollout": 64,
+    "recurrence": 1,
+    "shuffle_minibatches": false,
+    "gamma": 0.99,
+    "reward_scale": 1.0,
+    "reward_clip": 1000.0,
+    "value_bootstrap": false,
+    "normalize_returns": true,
+    "exploration_loss_coeff": 0.0,
+    "value_loss_coeff": 1.3,
+    "kl_loss_coeff": 0.1,
+    "exploration_loss": "entropy",
+    "gae_lambda": 0.95,
+    "ppo_clip_ratio": 0.2,
+    "ppo_clip_value": 1.0,
+    "with_vtrace": false,
+    "max_grad_norm": 3.5,
+    "learning_rate": 0.00295,
+    "lr_schedule_kl_threshold": 0.008,
+    "normalize_input": true,
+    "decorrelate_experience_max_seconds": 10,
+    "decorrelate_envs_on_one_worker": true,
+    "set_workers_cpu_affinity": true,
+    "force_envs_single_thread": true,
+    "train_for_env_steps": 10000000,
+    "save_every_sec": 600,
+    "keep_checkpoints": 3,
+    "save_best_every_sec": 60,
+    "save_best_after": 100000,
+    "encoder_mlp_layers": [
+      64,
+      64
+    ],
+    "use_rnn": false,
+    "nonlinearity": "tanh",
+    "policy_initialization": "torch_default",
+    "actor_critic_share_weights": true,
+    "adaptive_stddev": false,
+    "initial_stddev": 1.0,
+    "use_env_info_cache": false,
+    "env_framestack": 4,
+    "with_wandb": true,
+    "wandb_user": "dongqianyu99-zhejiang-university",
+    "wandb_project": "latency-sensitive-bench",
+    "wandb_group": "gr00t-six-env-h1-5fps",
+    "wandb_job_type": "profile_teacher",
+    "gym_task_name": "hopper",
+    "gym_env_id": "LatencyBench/Hopper-v0",
+    "gym_make_kwargs_json": "{\"base_env_id\": \"Hopper-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {\"forward_reward_weight\": 1.0, \"ctrl_cost_weight\": 0.001, \"healthy_reward\": 1.0, \"terminate_when_unhealthy\": true, \"reset_noise_scale\": 0.005, \"exclude_current_positions_from_observation\": true}}",
+    "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_hopper\"]",
+    "gym_action_space_json": "{\"type\": \"box\", \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
+    "gym_noop_action_json": "[0.0, 0.0, 0.0]",
+    "gym_base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+    "gym_state_labels_json": "[\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"]",
+    "env_fps": 5.0,
+    "obs_fps": 5.0,
+    "frame_stack": 1,
+    "mode": "train",
+    "latency_type": "iid",
+    "latency_seed": 0,
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latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/hardware.json

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latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/profile.json

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+{
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+}

latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/provenance.json

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+{
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+}

latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/selection.json

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+{
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latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/teacher-preparation.json

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+{
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latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/validation/E10-summary.json

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latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/validation/E10/episode_metrics.jsonl

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latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/validation/probe_state.json

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latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/validation/selection_final/episode_metrics.jsonl

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latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/validation/selection_training_best/episode_metrics.jsonl

@@ -0,0 +1,20 @@
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latency-aware/hopper/small-policy/sample-factory-qwengr00t-rtx3090-v1/validation/teacher_probe_audit.json

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+        "checkpoint": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/teacher/checkpoints/hopper_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000019512_9990144_reward_3220.937.pth",
+        "sha256": "f8b6089e67f129a7c17504bc8d6146003177b260e927cc1281a178d26f404b74",
+        "episodes": 20,
+        "returns": [
+          3818.3299991080344,
+          3801.949979062483,
+          3799.39904827517,
+          3806.0984441131777,
+          3821.3468930346507,
+          3818.6013992377857,
+          3825.5948641715036,
+          3817.364507562392,
+          3814.7261006971084,
+          3825.008281517956,
+          3816.453969095774,
+          3815.17650963725,
+          3816.6675065195645,
+          3810.7786398491785,
+          3813.106914295106,
+          3803.3492543466577,
+          3815.0139371581436,
+          3819.671617704402,
+          3825.458467648868,
+          3825.03671743075
+        ],
+        "mean": 3815.4566525232976,
+        "std": 7.632802007802108,
+        "strict_gt3000": 20
+      }
+    },
+    "completed_at": "2026-09-17T14:44:34.549937+00:00"
+  },
+  "note": "E10 reuses first10selection seeds; not independent seeds"
+}

latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1/README.md

@@ -0,0 +1,26 @@
+# hopper / sample-factory-appo
+
+Training condition: `latency-aware`. Run: `hopper_profile_20260911T180943Z`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/small_model) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoint.pth`
+- Selection: best_reward_after_full_training_budget
+- Checkpoint SHA256: `257d8c101292bd9f49a26f3c79601c5461bb5320c8b99e35f198b503756d2251`
+- Configuration, FPS, actions, normalization and latency semantics retain their source values.
+- This import does not run evaluations or change training/evaluation/acceptance status.
+
+Sample Factory APPO inference bundle: `config.json` and the explicit `checkpoint.pth`.
+The checkpoint contains `model`, `train_step`, and `env_steps`; every exported model
+tensor was reloaded and compared bit-for-bit with the selected source checkpoint.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1/checkpoint.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:257d8c101292bd9f49a26f3c79601c5461bb5320c8b99e35f198b503756d2251
+size 27445

latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1/config.json

@@ -0,0 +1,283 @@
+{
+  "help": false,
+  "algo": "APPO",
+  "env": "latency_gymnasium",
+  "experiment": "hopper_profile_20260911T180943Z",
+  "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models",
+  "restart_behavior": "overwrite",
+  "device": "gpu",
+  "seed": 3333,
+  "initial_model_path": null,
+  "num_policies": 1,
+  "async_rl": false,
+  "serial_mode": false,
+  "batched_sampling": false,
+  "num_batches_to_accumulate": 2,
+  "worker_num_splits": 2,
+  "policy_workers_per_policy": 1,
+  "max_policy_lag": 10000,
+  "num_workers": 8,
+  "num_envs_per_worker": 8,
+  "batch_size": 1024,
+  "num_batches_per_epoch": 4,
+  "num_epochs": 2,
+  "rollout": 64,
+  "fasttd3_replay_capacity": 6553600,
+  "fasttd3_replay_batch_size": 32768,
+  "fasttd3_transitions_per_update": 64,
+  "fasttd3_v_min": -250.0,
+  "fasttd3_v_max": 250.0,
+  "fasttd3_actor_action_l2": 0.0,
+  "fasttd3_compile": true,
+  "fasttd3_sonic_decoder_path": null,
+  "recurrence": 1,
+  "shuffle_minibatches": false,
+  "gamma": 0.99,
+  "reward_scale": 1.0,
+  "reward_clip": 1000.0,
+  "value_bootstrap": false,
+  "normalize_returns": true,
+  "exploration_loss_coeff": 0.0,
+  "value_loss_coeff": 1.3,
+  "kl_loss_coeff": 0.1,
+  "exploration_loss": "entropy",
+  "gae_lambda": 0.95,
+  "ppo_clip_ratio": 0.2,
+  "ppo_clip_value": 1.0,
+  "with_vtrace": false,
+  "vtrace_rho": 1.0,
+  "vtrace_c": 1.0,
+  "optimizer": "adam",
+  "adam_eps": 1e-06,
+  "adam_beta1": 0.9,
+  "adam_beta2": 0.999,
+  "max_grad_norm": 3.5,
+  "learning_rate": 0.00295,
+  "lr_schedule": "linear_decay",
+  "lr_schedule_kl_threshold": 0.008,
+  "lr_adaptive_min": 1e-06,
+  "lr_adaptive_max": 0.01,
+  "obs_subtract_mean": 0.0,
+  "obs_scale": 1.0,
+  "normalize_input": true,
+  "normalize_input_keys": null,
+  "decorrelate_experience_max_seconds": 10,
+  "decorrelate_envs_on_one_worker": true,
+  "actor_worker_gpus": [],
+  "set_workers_cpu_affinity": true,
+  "force_envs_single_thread": true,
+  "default_niceness": 0,
+  "log_to_file": true,
+  "experiment_summaries_interval": 10,
+  "flush_summaries_interval": 30,
+  "stats_avg": 100,
+  "summaries_use_frameskip": true,
+  "heartbeat_interval": 20,
+  "heartbeat_reporting_interval": 180,
+  "train_for_env_steps": 10000000,
+  "train_for_seconds": 10000000000,
+  "save_every_sec": 600,
+  "keep_checkpoints": 3,
+  "load_checkpoint_kind": "latest",
+  "save_milestones_sec": -1,
+  "save_best_every_sec": 60,
+  "save_best_metric": "reward",
+  "save_best_after": 100000,
+  "benchmark": false,
+  "encoder_mlp_layers": [
+    64,
+    64
+  ],
+  "encoder_conv_architecture": "convnet_simple",
+  "encoder_conv_mlp_layers": [
+    512
+  ],
+  "use_rnn": false,
+  "rnn_size": 512,
+  "rnn_type": "gru",
+  "rnn_num_layers": 1,
+  "decoder_mlp_layers": [],
+  "nonlinearity": "tanh",
+  "policy_initialization": "torch_default",
+  "policy_init_gain": 1.0,
+  "actor_critic_share_weights": true,
+  "adaptive_stddev": false,
+  "continuous_tanh_scale": 0.0,
+  "initial_stddev": 1.0,
+  "use_env_info_cache": false,
+  "env_gpu_actions": false,
+  "env_gpu_observations": true,
+  "env_frameskip": 1,
+  "env_framestack": 4,
+  "pixel_format": "CHW",
+  "use_record_episode_statistics": false,
+  "with_wandb": false,
+  "wandb_user": null,
+  "wandb_project": "sample_factory",
+  "wandb_group": null,
+  "wandb_job_type": "SF",
+  "wandb_tags": [],
+  "with_pbt": false,
+  "pbt_mix_policies_in_one_env": true,
+  "pbt_period_env_steps": 5000000,
+  "pbt_start_mutation": 20000000,
+  "pbt_replace_fraction": 0.3,
+  "pbt_mutation_rate": 0.15,
+  "pbt_replace_reward_gap": 0.1,
+  "pbt_replace_reward_gap_absolute": 1e-06,
+  "pbt_optimize_gamma": false,
+  "pbt_target_objective": "true_objective",
+  "pbt_perturb_min": 1.1,
+  "pbt_perturb_max": 1.5,
+  "gym_task_name": "hopper_rgb_state",
+  "gym_env_id": "LatencyBench/Hopper-v0",
+  "gym_make_kwargs_json": "{\"base_env_id\": \"Hopper-v4\", \"base_make_kwargs\": {\"ctrl_cost_weight\": 0.001, \"exclude_current_positions_from_observation\": true, \"forward_reward_weight\": 1.0, \"healthy_reward\": 1.0, \"reset_noise_scale\": 0.005, \"terminate_when_unhealthy\": true}, \"render_mode\": \"rgb_array\"}",
+  "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_hopper\"]",
+  "gym_action_space_json": "{\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0], \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"type\": \"box\"}",
+  "gym_action_labels_json": null,
+  "gym_action_values_json": null,
+  "gym_noop_action_id": null,
+  "gym_noop_action_json": "[0.0, 0.0, 0.0]",
+  "gym_base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+  "gym_state_labels_json": "[\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"]",
+  "env_fps": 10.0,
+  "obs_fps": 10.0,
+  "frame_stack": 1,
+  "export_env_raw_rgb_frames": false,
+  "mode": "train",
+  "latency_type": "iid",
+  "fixed_latency_ms": null,
+  "mean_latency_ms": null,
+  "std_latency_ms": null,
+  "min_latency_ms": null,
+  "max_latency_ms": null,
+  "latency_seed": 0,
+  "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/profile/profile.json",
+  "latency_profile_worker_slot": 0,
+  "simulated_worker_capacity": null,
+  "add_latency_info": false,
+  "max_pending_actions": null,
+  "hold_policy": "hold",
+  "ordering_policy": "issue_order_fifo",
+  "eval_episodes": 10,
+  "eval_parallel_envs": 1,
+  "eval_latency_raw_frame_values": null,
+  "eval_max_steps": 1000,
+  "eval_deterministic": true,
+  "eval_raw_reward": false,
+  "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/episode_metrics.jsonl",
+  "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment hopper_profile_20260911T180943Z --train_dir /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models --restart_behavior overwrite --device gpu --seed 3333 --episode_metrics_path /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/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 4 --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 --fasttd3_replay_capacity 6553600 --fasttd3_replay_batch_size 32768 --fasttd3_transitions_per_update 64 --fasttd3_v_min -250.0 --fasttd3_v_max 250.0 --fasttd3_actor_action_l2 0.0 --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 --fasttd3_compile True --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/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 hopper_rgb_state --gym-env-id LatencyBench/Hopper-v0 --gym-make-kwargs-json {\"base_env_id\": \"Hopper-v4\", \"base_make_kwargs\": {\"ctrl_cost_weight\": 0.001, \"exclude_current_positions_from_observation\": true, \"forward_reward_weight\": 1.0, \"healthy_reward\": 1.0, \"reset_noise_scale\": 0.005, \"terminate_when_unhealthy\": true}, \"render_mode\": \"rgb_array\"} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_hopper\"] --gym-action-space-json {\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0], \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"type\": \"box\"} --gym-noop-action-json [0.0, 0.0, 0.0] --gym-base-prompt Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. --gym-state-labels-json [\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"] --env-fps 10.0 --obs-fps 10.0 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+  "cli_args": {
+    "algo": "APPO",
+    "env": "latency_gymnasium",
+    "experiment": "hopper_profile_20260911T180943Z",
+    "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models",
+    "restart_behavior": "overwrite",
+    "device": "gpu",
+    "seed": 3333,
+    "num_policies": 1,
+    "async_rl": false,
+    "serial_mode": false,
+    "batched_sampling": false,
+    "num_batches_to_accumulate": 2,
+    "worker_num_splits": 2,
+    "policy_workers_per_policy": 1,
+    "max_policy_lag": 10000,
+    "num_workers": 8,
+    "num_envs_per_worker": 8,
+    "batch_size": 1024,
+    "num_batches_per_epoch": 4,
+    "num_epochs": 2,
+    "rollout": 64,
+    "fasttd3_replay_capacity": 6553600,
+    "fasttd3_replay_batch_size": 32768,
+    "fasttd3_transitions_per_update": 64,
+    "fasttd3_v_min": -250.0,
+    "fasttd3_v_max": 250.0,
+    "fasttd3_actor_action_l2": 0.0,
+    "fasttd3_compile": true,
+    "recurrence": 1,
+    "shuffle_minibatches": false,
+    "gamma": 0.99,
+    "reward_scale": 1.0,
+    "reward_clip": 1000.0,
+    "value_bootstrap": false,
+    "normalize_returns": true,
+    "exploration_loss_coeff": 0.0,
+    "value_loss_coeff": 1.3,
+    "kl_loss_coeff": 0.1,
+    "exploration_loss": "entropy",
+    "gae_lambda": 0.95,
+    "ppo_clip_ratio": 0.2,
+    "ppo_clip_value": 1.0,
+    "with_vtrace": false,
+    "optimizer": "adam",
+    "adam_eps": 1e-06,
+    "adam_beta1": 0.9,
+    "adam_beta2": 0.999,
+    "max_grad_norm": 3.5,
+    "learning_rate": 0.00295,
+    "lr_schedule_kl_threshold": 0.008,
+    "obs_subtract_mean": 0.0,
+    "obs_scale": 1.0,
+    "normalize_input": true,
+    "decorrelate_experience_max_seconds": 10,
+    "decorrelate_envs_on_one_worker": true,
+    "set_workers_cpu_affinity": true,
+    "force_envs_single_thread": true,
+    "default_niceness": 0,
+    "experiment_summaries_interval": 10,
+    "stats_avg": 100,
+    "train_for_env_steps": 10000000,
+    "save_every_sec": 600,
+    "keep_checkpoints": 3,
+    "save_milestones_sec": -1,
+    "save_best_every_sec": 60,
+    "save_best_after": 100000,
+    "encoder_mlp_layers": [
+      64,
+      64
+    ],
+    "use_rnn": false,
+    "rnn_size": 512,
+    "rnn_type": "gru",
+    "nonlinearity": "tanh",
+    "policy_initialization": "torch_default",
+    "actor_critic_share_weights": true,
+    "adaptive_stddev": false,
+    "continuous_tanh_scale": 0.0,
+    "initial_stddev": 1.0,
+    "use_env_info_cache": false,
+    "env_framestack": 4,
+    "with_wandb": false,
+    "gym_task_name": "hopper_rgb_state",
+    "gym_env_id": "LatencyBench/Hopper-v0",
+    "gym_make_kwargs_json": "{\"base_env_id\": \"Hopper-v4\", \"base_make_kwargs\": {\"ctrl_cost_weight\": 0.001, \"exclude_current_positions_from_observation\": true, \"forward_reward_weight\": 1.0, \"healthy_reward\": 1.0, \"reset_noise_scale\": 0.005, \"terminate_when_unhealthy\": true}, \"render_mode\": \"rgb_array\"}",
+    "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_hopper\"]",
+    "gym_action_space_json": "{\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0], \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"type\": \"box\"}",
+    "gym_noop_action_json": "[0.0, 0.0, 0.0]",
+    "gym_base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+    "gym_state_labels_json": "[\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"]",
+    "env_fps": 10.0,
+    "obs_fps": 10.0,
+    "frame_stack": 1,
+    "mode": "train",
+    "latency_type": "iid",
+    "latency_seed": 0,
+    "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/profile/profile.json",
+    "latency_profile_worker_slot": 0,
+    "add_latency_info": false,
+    "hold_policy": "hold",
+    "ordering_policy": "issue_order_fifo",
+    "eval_episodes": 10,
+    "eval_parallel_envs": 1,
+    "eval_max_steps": 1000,
+    "eval_deterministic": true,
+    "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/episode_metrics.jsonl",
+    "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_train"
+  },
+  "git_hash": "unknown",
+  "git_repo_name": "not a git repository",
+  "eval_env_frameskip": 1,
+  "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_train"
+}

latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/hardware.json

@@ -0,0 +1,40 @@
+{
+  "driver_version": "580.173.02",
+  "gpu_class": "1x-rtx3090",
+  "gpus": [
+    {
+      "name": "NVIDIA GeForce RTX 3090",
+      "slot": 0
+    }
+  ],
+  "instance_id": "instance_859cf1e47bca6046",
+  "topology_links": [],
+  "torch": {
+    "backends": {
+      "cuda_cudnn_sdp_enabled": true,
+      "cuda_flash_sdp_enabled": true,
+      "cuda_math_sdp_enabled": true,
+      "cuda_matmul_allow_tf32": false,
+      "cuda_mem_efficient_sdp_enabled": true,
+      "cudnn_allow_tf32": true,
+      "cudnn_benchmark": false
+    },
+    "cuda_available": true,
+    "cuda_device_count": 1,
+    "cuda_version": "12.8",
+    "current_device": 0,
+    "current_device_name": "NVIDIA GeForce RTX 3090",
+    "device_properties": [
+      {
+        "index": 0,
+        "major": 8,
+        "minor": 6,
+        "multi_processor_count": 82,
+        "name": "NVIDIA GeForce RTX 3090",
+        "total_memory": 25295257600
+      }
+    ],
+    "float32_matmul_precision": "highest",
+    "version": "2.11.0+cu128"
+  }
+}

latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/latency_burst_model.json

@@ -0,0 +1,1322 @@
+{
+  "burst_dwell_distribution": {
+    "distribution_type": "inverse_cdf",
+    "latency_ms": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
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latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/profile.json

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+{
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+  "workload_id": "hopper"
+}

latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1/provenance.json

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+{
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+  "training_condition": "latency-aware",
+  "training_run_id": "hopper_profile_20260911T180943Z",
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+    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/small_model"
+  },
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+  "hf_path": "latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1",
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+  "config_source": "hopper/profile_latency/small_model/config.json",
+  "task_contract_file": null,
+  "missing_source_files": [],
+  "migration": {
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+  "algorithm": "APPO",
+  "latency_model": "qwenoft"
+}

latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1/rollout_descriptor.json

@@ -0,0 +1,314 @@
+{
+  "env_name": "hopper_rgb_state",
+  "integration_name": "gymnasium",
+  "action_spec": {
+    "layout": "gymnasium_continuous_v1",
+    "labels": [
+      "thigh_torque",
+      "leg_torque",
+      "foot_torque"
+    ],
+    "row_fields": [
+      "action",
+      "action_text"
+    ],
+    "reward_field": "raw_reward",
+    "episode_return_field": "episode_raw_return",
+    "reward_semantics": "raw_reward"
+  },
+  "base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+  "checkpoint_experiment_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z",
+  "checkpoint_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/checkpoint_p0/best_000015008_7684096_reward_3018.662.pth",
+  "flat_cfg": {
+    "help": false,
+    "algo": "APPO",
+    "env": "latency_gymnasium",
+    "experiment": "hopper_profile_20260911T180943Z",
+    "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models",
+    "restart_behavior": "overwrite",
+    "device": "gpu",
+    "seed": 3333,
+    "initial_model_path": null,
+    "num_policies": 1,
+    "async_rl": false,
+    "serial_mode": false,
+    "batched_sampling": false,
+    "num_batches_to_accumulate": 2,
+    "worker_num_splits": 2,
+    "policy_workers_per_policy": 1,
+    "max_policy_lag": 10000,
+    "num_workers": 8,
+    "num_envs_per_worker": 8,
+    "batch_size": 1024,
+    "num_batches_per_epoch": 4,
+    "num_epochs": 2,
+    "rollout": 64,
+    "fasttd3_replay_capacity": 6553600,
+    "fasttd3_replay_batch_size": 32768,
+    "fasttd3_transitions_per_update": 64,
+    "fasttd3_v_min": -250.0,
+    "fasttd3_v_max": 250.0,
+    "fasttd3_actor_action_l2": 0.0,
+    "fasttd3_compile": true,
+    "fasttd3_sonic_decoder_path": null,
+    "recurrence": 1,
+    "shuffle_minibatches": false,
+    "gamma": 0.99,
+    "reward_scale": 1.0,
+    "reward_clip": 1000.0,
+    "value_bootstrap": false,
+    "normalize_returns": true,
+    "exploration_loss_coeff": 0.0,
+    "value_loss_coeff": 1.3,
+    "kl_loss_coeff": 0.1,
+    "exploration_loss": "entropy",
+    "gae_lambda": 0.95,
+    "ppo_clip_ratio": 0.2,
+    "ppo_clip_value": 1.0,
+    "with_vtrace": false,
+    "vtrace_rho": 1.0,
+    "vtrace_c": 1.0,
+    "optimizer": "adam",
+    "adam_eps": 1e-06,
+    "adam_beta1": 0.9,
+    "adam_beta2": 0.999,
+    "max_grad_norm": 3.5,
+    "learning_rate": 0.00295,
+    "lr_schedule": "linear_decay",
+    "lr_schedule_kl_threshold": 0.008,
+    "lr_adaptive_min": 1e-06,
+    "lr_adaptive_max": 0.01,
+    "obs_subtract_mean": 0.0,
+    "obs_scale": 1.0,
+    "normalize_input": true,
+    "normalize_input_keys": null,
+    "decorrelate_experience_max_seconds": 10,
+    "decorrelate_envs_on_one_worker": true,
+    "actor_worker_gpus": [],
+    "set_workers_cpu_affinity": true,
+    "force_envs_single_thread": true,
+    "default_niceness": 0,
+    "log_to_file": true,
+    "experiment_summaries_interval": 10,
+    "flush_summaries_interval": 30,
+    "stats_avg": 100,
+    "summaries_use_frameskip": true,
+    "heartbeat_interval": 20,
+    "heartbeat_reporting_interval": 180,
+    "train_for_env_steps": 10000000,
+    "train_for_seconds": 10000000000,
+    "save_every_sec": 600,
+    "keep_checkpoints": 3,
+    "load_checkpoint_kind": "latest",
+    "save_milestones_sec": -1,
+    "save_best_every_sec": 60,
+    "save_best_metric": "reward",
+    "save_best_after": 100000,
+    "benchmark": false,
+    "encoder_mlp_layers": [
+      64,
+      64
+    ],
+    "encoder_conv_architecture": "convnet_simple",
+    "encoder_conv_mlp_layers": [
+      512
+    ],
+    "use_rnn": false,
+    "rnn_size": 512,
+    "rnn_type": "gru",
+    "rnn_num_layers": 1,
+    "decoder_mlp_layers": [],
+    "nonlinearity": "tanh",
+    "policy_initialization": "torch_default",
+    "policy_init_gain": 1.0,
+    "actor_critic_share_weights": true,
+    "adaptive_stddev": false,
+    "continuous_tanh_scale": 0.0,
+    "initial_stddev": 1.0,
+    "use_env_info_cache": false,
+    "env_gpu_actions": false,
+    "env_gpu_observations": true,
+    "env_frameskip": 1,
+    "env_framestack": 4,
+    "pixel_format": "CHW",
+    "use_record_episode_statistics": false,
+    "with_wandb": false,
+    "wandb_user": null,
+    "wandb_project": "sample_factory",
+    "wandb_group": null,
+    "wandb_job_type": "SF",
+    "wandb_tags": [],
+    "with_pbt": false,
+    "pbt_mix_policies_in_one_env": true,
+    "pbt_period_env_steps": 5000000,
+    "pbt_start_mutation": 20000000,
+    "pbt_replace_fraction": 0.3,
+    "pbt_mutation_rate": 0.15,
+    "pbt_replace_reward_gap": 0.1,
+    "pbt_replace_reward_gap_absolute": 1e-06,
+    "pbt_optimize_gamma": false,
+    "pbt_target_objective": "true_objective",
+    "pbt_perturb_min": 1.1,
+    "pbt_perturb_max": 1.5,
+    "gym_task_name": "hopper_rgb_state",
+    "gym_env_id": "LatencyBench/Hopper-v0",
+    "gym_make_kwargs_json": "{\"base_env_id\": \"Hopper-v4\", \"base_make_kwargs\": {\"ctrl_cost_weight\": 0.001, \"exclude_current_positions_from_observation\": true, \"forward_reward_weight\": 1.0, \"healthy_reward\": 1.0, \"reset_noise_scale\": 0.005, \"terminate_when_unhealthy\": true}, \"render_mode\": \"rgb_array\"}",
+    "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_hopper\"]",
+    "gym_action_space_json": "{\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0], \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"type\": \"box\"}",
+    "gym_action_labels_json": null,
+    "gym_action_values_json": null,
+    "gym_noop_action_id": null,
+    "gym_noop_action_json": "[0.0, 0.0, 0.0]",
+    "gym_base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+    "gym_state_labels_json": "[\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"]",
+    "env_fps": 10.0,
+    "obs_fps": 10.0,
+    "frame_stack": 1,
+    "export_env_raw_rgb_frames": false,
+    "mode": "train",
+    "latency_type": "iid",
+    "fixed_latency_ms": null,
+    "mean_latency_ms": null,
+    "std_latency_ms": null,
+    "min_latency_ms": null,
+    "max_latency_ms": null,
+    "latency_seed": 0,
+    "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/profile/profile.json",
+    "latency_profile_worker_slot": 0,
+    "simulated_worker_capacity": null,
+    "add_latency_info": false,
+    "max_pending_actions": null,
+    "hold_policy": "hold",
+    "ordering_policy": "issue_order_fifo",
+    "eval_episodes": 10,
+    "eval_parallel_envs": 1,
+    "eval_latency_raw_frame_values": null,
+    "eval_max_steps": 1000,
+    "eval_deterministic": true,
+    "eval_raw_reward": false,
+    "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/episode_metrics.jsonl",
+    "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment hopper_profile_20260911T180943Z --train_dir /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models --restart_behavior overwrite --device gpu --seed 3333 --episode_metrics_path /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/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 4 --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 --fasttd3_replay_capacity 6553600 --fasttd3_replay_batch_size 32768 --fasttd3_transitions_per_update 64 --fasttd3_v_min -250.0 --fasttd3_v_max 250.0 --fasttd3_actor_action_l2 0.0 --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 --fasttd3_compile True --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/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 hopper_rgb_state --gym-env-id LatencyBench/Hopper-v0 --gym-make-kwargs-json {\"base_env_id\": \"Hopper-v4\", \"base_make_kwargs\": {\"ctrl_cost_weight\": 0.001, \"exclude_current_positions_from_observation\": true, \"forward_reward_weight\": 1.0, \"healthy_reward\": 1.0, \"reset_noise_scale\": 0.005, \"terminate_when_unhealthy\": true}, \"render_mode\": \"rgb_array\"} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_hopper\"] --gym-action-space-json {\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0], \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"type\": \"box\"} --gym-noop-action-json [0.0, 0.0, 0.0] --gym-base-prompt Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. --gym-state-labels-json [\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"] --env-fps 10.0 --obs-fps 10.0 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+    "cli_args": {
+      "algo": "APPO",
+      "env": "latency_gymnasium",
+      "experiment": "hopper_profile_20260911T180943Z",
+      "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models",
+      "restart_behavior": "overwrite",
+      "device": "gpu",
+      "seed": 3333,
+      "num_policies": 1,
+      "async_rl": false,
+      "serial_mode": false,
+      "batched_sampling": false,
+      "num_batches_to_accumulate": 2,
+      "worker_num_splits": 2,
+      "policy_workers_per_policy": 1,
+      "max_policy_lag": 10000,
+      "num_workers": 8,
+      "num_envs_per_worker": 8,
+      "batch_size": 1024,
+      "num_batches_per_epoch": 4,
+      "num_epochs": 2,
+      "rollout": 64,
+      "fasttd3_replay_capacity": 6553600,
+      "fasttd3_replay_batch_size": 32768,
+      "fasttd3_transitions_per_update": 64,
+      "fasttd3_v_min": -250.0,
+      "fasttd3_v_max": 250.0,
+      "fasttd3_actor_action_l2": 0.0,
+      "fasttd3_compile": true,
+      "recurrence": 1,
+      "shuffle_minibatches": false,
+      "gamma": 0.99,
+      "reward_scale": 1.0,
+      "reward_clip": 1000.0,
+      "value_bootstrap": false,
+      "normalize_returns": true,
+      "exploration_loss_coeff": 0.0,
+      "value_loss_coeff": 1.3,
+      "kl_loss_coeff": 0.1,
+      "exploration_loss": "entropy",
+      "gae_lambda": 0.95,
+      "ppo_clip_ratio": 0.2,
+      "ppo_clip_value": 1.0,
+      "with_vtrace": false,
+      "optimizer": "adam",
+      "adam_eps": 1e-06,
+      "adam_beta1": 0.9,
+      "adam_beta2": 0.999,
+      "max_grad_norm": 3.5,
+      "learning_rate": 0.00295,
+      "lr_schedule_kl_threshold": 0.008,
+      "obs_subtract_mean": 0.0,
+      "obs_scale": 1.0,
+      "normalize_input": true,
+      "decorrelate_experience_max_seconds": 10,
+      "decorrelate_envs_on_one_worker": true,
+      "set_workers_cpu_affinity": true,
+      "force_envs_single_thread": true,
+      "default_niceness": 0,
+      "experiment_summaries_interval": 10,
+      "stats_avg": 100,
+      "train_for_env_steps": 10000000,
+      "save_every_sec": 600,
+      "keep_checkpoints": 3,
+      "save_milestones_sec": -1,
+      "save_best_every_sec": 60,
+      "save_best_after": 100000,
+      "encoder_mlp_layers": [
+        64,
+        64
+      ],
+      "use_rnn": false,
+      "rnn_size": 512,
+      "rnn_type": "gru",
+      "nonlinearity": "tanh",
+      "policy_initialization": "torch_default",
+      "actor_critic_share_weights": true,
+      "adaptive_stddev": false,
+      "continuous_tanh_scale": 0.0,
+      "initial_stddev": 1.0,
+      "use_env_info_cache": false,
+      "env_framestack": 4,
+      "with_wandb": false,
+      "gym_task_name": "hopper_rgb_state",
+      "gym_env_id": "LatencyBench/Hopper-v0",
+      "gym_make_kwargs_json": "{\"base_env_id\": \"Hopper-v4\", \"base_make_kwargs\": {\"ctrl_cost_weight\": 0.001, \"exclude_current_positions_from_observation\": true, \"forward_reward_weight\": 1.0, \"healthy_reward\": 1.0, \"reset_noise_scale\": 0.005, \"terminate_when_unhealthy\": true}, \"render_mode\": \"rgb_array\"}",
+      "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_hopper\"]",
+      "gym_action_space_json": "{\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0], \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"type\": \"box\"}",
+      "gym_noop_action_json": "[0.0, 0.0, 0.0]",
+      "gym_base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+      "gym_state_labels_json": "[\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"]",
+      "env_fps": 10.0,
+      "obs_fps": 10.0,
+      "frame_stack": 1,
+      "mode": "train",
+      "latency_type": "iid",
+      "latency_seed": 0,
+      "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/profile/profile.json",
+      "latency_profile_worker_slot": 0,
+      "add_latency_info": false,
+      "hold_policy": "hold",
+      "ordering_policy": "issue_order_fifo",
+      "eval_episodes": 10,
+      "eval_parallel_envs": 1,
+      "eval_max_steps": 1000,
+      "eval_deterministic": true,
+      "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/episode_metrics.jsonl",
+      "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_train"
+    },
+    "git_hash": "unknown",
+    "git_repo_name": "not a git repository",
+    "eval_env_frameskip": 1,
+    "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_train"
+  },
+  "device_override": "gpu",
+  "latency_override": {
+    "method": "iid",
+    "fixed_latency_ms": null,
+    "profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/profile/profile.json",
+    "profile_worker_slot": 0,
+    "seed": 0,
+    "add_latency_info": false
+  }
+}

latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1/rollout_metadata.json

@@ -0,0 +1,359 @@
+{
+  "checkpoint_experiment_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z",
+  "checkpoint_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/checkpoint_p0/best_000015008_7684096_reward_3018.662.pth",
+  "config_source": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/config.json",
+  "latency_source": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/h100/small_train.yaml",
+  "checkpoint_config": {
+    "help": false,
+    "algo": "APPO",
+    "env": "latency_gymnasium",
+    "experiment": "hopper_profile_20260911T180943Z",
+    "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models",
+    "restart_behavior": "overwrite",
+    "device": "gpu",
+    "seed": 3333,
+    "initial_model_path": null,
+    "num_policies": 1,
+    "async_rl": false,
+    "serial_mode": false,
+    "batched_sampling": false,
+    "num_batches_to_accumulate": 2,
+    "worker_num_splits": 2,
+    "policy_workers_per_policy": 1,
+    "max_policy_lag": 10000,
+    "num_workers": 8,
+    "num_envs_per_worker": 8,
+    "batch_size": 1024,
+    "num_batches_per_epoch": 4,
+    "num_epochs": 2,
+    "rollout": 64,
+    "fasttd3_replay_capacity": 6553600,
+    "fasttd3_replay_batch_size": 32768,
+    "fasttd3_transitions_per_update": 64,
+    "fasttd3_v_min": -250.0,
+    "fasttd3_v_max": 250.0,
+    "fasttd3_actor_action_l2": 0.0,
+    "fasttd3_compile": true,
+    "fasttd3_sonic_decoder_path": null,
+    "recurrence": 1,
+    "shuffle_minibatches": false,
+    "gamma": 0.99,
+    "reward_scale": 1.0,
+    "reward_clip": 1000.0,
+    "value_bootstrap": false,
+    "normalize_returns": true,
+    "exploration_loss_coeff": 0.0,
+    "value_loss_coeff": 1.3,
+    "kl_loss_coeff": 0.1,
+    "exploration_loss": "entropy",
+    "gae_lambda": 0.95,
+    "ppo_clip_ratio": 0.2,
+    "ppo_clip_value": 1.0,
+    "with_vtrace": false,
+    "vtrace_rho": 1.0,
+    "vtrace_c": 1.0,
+    "optimizer": "adam",
+    "adam_eps": 1e-06,
+    "adam_beta1": 0.9,
+    "adam_beta2": 0.999,
+    "max_grad_norm": 3.5,
+    "learning_rate": 0.00295,
+    "lr_schedule": "linear_decay",
+    "lr_schedule_kl_threshold": 0.008,
+    "lr_adaptive_min": 1e-06,
+    "lr_adaptive_max": 0.01,
+    "obs_subtract_mean": 0.0,
+    "obs_scale": 1.0,
+    "normalize_input": true,
+    "normalize_input_keys": null,
+    "decorrelate_experience_max_seconds": 10,
+    "decorrelate_envs_on_one_worker": true,
+    "actor_worker_gpus": [],
+    "set_workers_cpu_affinity": true,
+    "force_envs_single_thread": true,
+    "default_niceness": 0,
+    "log_to_file": true,
+    "experiment_summaries_interval": 10,
+    "flush_summaries_interval": 30,
+    "stats_avg": 100,
+    "summaries_use_frameskip": true,
+    "heartbeat_interval": 20,
+    "heartbeat_reporting_interval": 180,
+    "train_for_env_steps": 10000000,
+    "train_for_seconds": 10000000000,
+    "save_every_sec": 600,
+    "keep_checkpoints": 3,
+    "load_checkpoint_kind": "latest",
+    "save_milestones_sec": -1,
+    "save_best_every_sec": 60,
+    "save_best_metric": "reward",
+    "save_best_after": 100000,
+    "benchmark": false,
+    "encoder_mlp_layers": [
+      64,
+      64
+    ],
+    "encoder_conv_architecture": "convnet_simple",
+    "encoder_conv_mlp_layers": [
+      512
+    ],
+    "use_rnn": false,
+    "rnn_size": 512,
+    "rnn_type": "gru",
+    "rnn_num_layers": 1,
+    "decoder_mlp_layers": [],
+    "nonlinearity": "tanh",
+    "policy_initialization": "torch_default",
+    "policy_init_gain": 1.0,
+    "actor_critic_share_weights": true,
+    "adaptive_stddev": false,
+    "continuous_tanh_scale": 0.0,
+    "initial_stddev": 1.0,
+    "use_env_info_cache": false,
+    "env_gpu_actions": false,
+    "env_gpu_observations": true,
+    "env_frameskip": 1,
+    "env_framestack": 4,
+    "pixel_format": "CHW",
+    "use_record_episode_statistics": false,
+    "with_wandb": false,
+    "wandb_user": null,
+    "wandb_project": "sample_factory",
+    "wandb_group": null,
+    "wandb_job_type": "SF",
+    "wandb_tags": [],
+    "with_pbt": false,
+    "pbt_mix_policies_in_one_env": true,
+    "pbt_period_env_steps": 5000000,
+    "pbt_start_mutation": 20000000,
+    "pbt_replace_fraction": 0.3,
+    "pbt_mutation_rate": 0.15,
+    "pbt_replace_reward_gap": 0.1,
+    "pbt_replace_reward_gap_absolute": 1e-06,
+    "pbt_optimize_gamma": false,
+    "pbt_target_objective": "true_objective",
+    "pbt_perturb_min": 1.1,
+    "pbt_perturb_max": 1.5,
+    "gym_task_name": "hopper_rgb_state",
+    "gym_env_id": "LatencyBench/Hopper-v0",
+    "gym_make_kwargs_json": "{\"base_env_id\": \"Hopper-v4\", \"base_make_kwargs\": {\"ctrl_cost_weight\": 0.001, \"exclude_current_positions_from_observation\": true, \"forward_reward_weight\": 1.0, \"healthy_reward\": 1.0, \"reset_noise_scale\": 0.005, \"terminate_when_unhealthy\": true}, \"render_mode\": \"rgb_array\"}",
+    "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_hopper\"]",
+    "gym_action_space_json": "{\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0], \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"type\": \"box\"}",
+    "gym_action_labels_json": null,
+    "gym_action_values_json": null,
+    "gym_noop_action_id": null,
+    "gym_noop_action_json": "[0.0, 0.0, 0.0]",
+    "gym_base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+    "gym_state_labels_json": "[\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"]",
+    "env_fps": 10.0,
+    "obs_fps": 10.0,
+    "frame_stack": 1,
+    "export_env_raw_rgb_frames": false,
+    "mode": "train",
+    "latency_type": "iid",
+    "fixed_latency_ms": null,
+    "mean_latency_ms": null,
+    "std_latency_ms": null,
+    "min_latency_ms": null,
+    "max_latency_ms": null,
+    "latency_seed": 0,
+    "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/profile/profile.json",
+    "latency_profile_worker_slot": 0,
+    "simulated_worker_capacity": null,
+    "add_latency_info": false,
+    "max_pending_actions": null,
+    "hold_policy": "hold",
+    "ordering_policy": "issue_order_fifo",
+    "eval_episodes": 10,
+    "eval_parallel_envs": 1,
+    "eval_latency_raw_frame_values": null,
+    "eval_max_steps": 1000,
+    "eval_deterministic": true,
+    "eval_raw_reward": false,
+    "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/episode_metrics.jsonl",
+    "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment hopper_profile_20260911T180943Z --train_dir /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models --restart_behavior overwrite --device gpu --seed 3333 --episode_metrics_path /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/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 4 --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 --fasttd3_replay_capacity 6553600 --fasttd3_replay_batch_size 32768 --fasttd3_transitions_per_update 64 --fasttd3_v_min -250.0 --fasttd3_v_max 250.0 --fasttd3_actor_action_l2 0.0 --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 --fasttd3_compile True --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/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 hopper_rgb_state --gym-env-id LatencyBench/Hopper-v0 --gym-make-kwargs-json {\"base_env_id\": \"Hopper-v4\", \"base_make_kwargs\": {\"ctrl_cost_weight\": 0.001, \"exclude_current_positions_from_observation\": true, \"forward_reward_weight\": 1.0, \"healthy_reward\": 1.0, \"reset_noise_scale\": 0.005, \"terminate_when_unhealthy\": true}, \"render_mode\": \"rgb_array\"} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_hopper\"] --gym-action-space-json {\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0], \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"type\": \"box\"} --gym-noop-action-json [0.0, 0.0, 0.0] --gym-base-prompt Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. --gym-state-labels-json [\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"] --env-fps 10.0 --obs-fps 10.0 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+    "cli_args": {
+      "algo": "APPO",
+      "env": "latency_gymnasium",
+      "experiment": "hopper_profile_20260911T180943Z",
+      "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models",
+      "restart_behavior": "overwrite",
+      "device": "gpu",
+      "seed": 3333,
+      "num_policies": 1,
+      "async_rl": false,
+      "serial_mode": false,
+      "batched_sampling": false,
+      "num_batches_to_accumulate": 2,
+      "worker_num_splits": 2,
+      "policy_workers_per_policy": 1,
+      "max_policy_lag": 10000,
+      "num_workers": 8,
+      "num_envs_per_worker": 8,
+      "batch_size": 1024,
+      "num_batches_per_epoch": 4,
+      "num_epochs": 2,
+      "rollout": 64,
+      "fasttd3_replay_capacity": 6553600,
+      "fasttd3_replay_batch_size": 32768,
+      "fasttd3_transitions_per_update": 64,
+      "fasttd3_v_min": -250.0,
+      "fasttd3_v_max": 250.0,
+      "fasttd3_actor_action_l2": 0.0,
+      "fasttd3_compile": true,
+      "recurrence": 1,
+      "shuffle_minibatches": false,
+      "gamma": 0.99,
+      "reward_scale": 1.0,
+      "reward_clip": 1000.0,
+      "value_bootstrap": false,
+      "normalize_returns": true,
+      "exploration_loss_coeff": 0.0,
+      "value_loss_coeff": 1.3,
+      "kl_loss_coeff": 0.1,
+      "exploration_loss": "entropy",
+      "gae_lambda": 0.95,
+      "ppo_clip_ratio": 0.2,
+      "ppo_clip_value": 1.0,
+      "with_vtrace": false,
+      "optimizer": "adam",
+      "adam_eps": 1e-06,
+      "adam_beta1": 0.9,
+      "adam_beta2": 0.999,
+      "max_grad_norm": 3.5,
+      "learning_rate": 0.00295,
+      "lr_schedule_kl_threshold": 0.008,
+      "obs_subtract_mean": 0.0,
+      "obs_scale": 1.0,
+      "normalize_input": true,
+      "decorrelate_experience_max_seconds": 10,
+      "decorrelate_envs_on_one_worker": true,
+      "set_workers_cpu_affinity": true,
+      "force_envs_single_thread": true,
+      "default_niceness": 0,
+      "experiment_summaries_interval": 10,
+      "stats_avg": 100,
+      "train_for_env_steps": 10000000,
+      "save_every_sec": 600,
+      "keep_checkpoints": 3,
+      "save_milestones_sec": -1,
+      "save_best_every_sec": 60,
+      "save_best_after": 100000,
+      "encoder_mlp_layers": [
+        64,
+        64
+      ],
+      "use_rnn": false,
+      "rnn_size": 512,
+      "rnn_type": "gru",
+      "nonlinearity": "tanh",
+      "policy_initialization": "torch_default",
+      "actor_critic_share_weights": true,
+      "adaptive_stddev": false,
+      "continuous_tanh_scale": 0.0,
+      "initial_stddev": 1.0,
+      "use_env_info_cache": false,
+      "env_framestack": 4,
+      "with_wandb": false,
+      "gym_task_name": "hopper_rgb_state",
+      "gym_env_id": "LatencyBench/Hopper-v0",
+      "gym_make_kwargs_json": "{\"base_env_id\": \"Hopper-v4\", \"base_make_kwargs\": {\"ctrl_cost_weight\": 0.001, \"exclude_current_positions_from_observation\": true, \"forward_reward_weight\": 1.0, \"healthy_reward\": 1.0, \"reset_noise_scale\": 0.005, \"terminate_when_unhealthy\": true}, \"render_mode\": \"rgb_array\"}",
+      "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_hopper\"]",
+      "gym_action_space_json": "{\"dtype\": \"float32\", \"high\": [1.0, 1.0, 1.0], \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"type\": \"box\"}",
+      "gym_noop_action_json": "[0.0, 0.0, 0.0]",
+      "gym_base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+      "gym_state_labels_json": "[\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"]",
+      "env_fps": 10.0,
+      "obs_fps": 10.0,
+      "frame_stack": 1,
+      "mode": "train",
+      "latency_type": "iid",
+      "latency_seed": 0,
+      "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/profile/profile.json",
+      "latency_profile_worker_slot": 0,
+      "add_latency_info": false,
+      "hold_policy": "hold",
+      "ordering_policy": "issue_order_fifo",
+      "eval_episodes": 10,
+      "eval_parallel_envs": 1,
+      "eval_max_steps": 1000,
+      "eval_deterministic": true,
+      "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/episode_metrics.jsonl",
+      "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_train"
+    },
+    "git_hash": "unknown",
+    "git_repo_name": "not a git repository",
+    "eval_env_frameskip": 1,
+    "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_train"
+  },
+  "latency_override": {
+    "method": "iid",
+    "fixed_latency_ms": null,
+    "profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/profile/profile.json",
+    "profile_worker_slot": 0,
+    "seed": 0,
+    "add_latency_info": false
+  },
+  "gymnasium_task": {
+    "task_name": "hopper_rgb_state",
+    "env_id": "LatencyBench/Hopper-v0",
+    "make_kwargs": {
+      "base_env_id": "Hopper-v4",
+      "base_make_kwargs": {
+        "ctrl_cost_weight": 0.001,
+        "exclude_current_positions_from_observation": true,
+        "forward_reward_weight": 1.0,
+        "healthy_reward": 1.0,
+        "reset_noise_scale": 0.005,
+        "terminate_when_unhealthy": true
+      },
+      "render_mode": "rgb_array"
+    },
+    "registration_imports": [
+      "latency_bench.envs.gymnasium_hopper"
+    ],
+    "base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+    "env_fps": 10.0,
+    "obs_fps": 10.0,
+    "frame_stack": 1,
+    "state_space": {
+      "labels": [
+        "torso_height",
+        "torso_angle",
+        "thigh_angle",
+        "leg_angle",
+        "foot_angle",
+        "torso_x_velocity",
+        "torso_z_velocity",
+        "torso_angular_velocity",
+        "thigh_angular_velocity",
+        "leg_angular_velocity",
+        "foot_angular_velocity"
+      ]
+    },
+    "action_space": {
+      "dtype": "float32",
+      "high": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "labels": [
+        "thigh_torque",
+        "leg_torque",
+        "foot_torque"
+      ],
+      "low": [
+        -1.0,
+        -1.0,
+        -1.0
+      ],
+      "type": "box"
+    },
+    "noop_action": [
+      0.0,
+      0.0,
+      0.0
+    ]
+  }
+}

latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1/selection.json

@@ -0,0 +1,14 @@
+{
+  "run_id": "20260911T180943Z-hopper",
+  "source_profile_run_id": "20260911T034939618615Z",
+  "selection_rule": "best_reward_after_full_training_budget",
+  "best_checkpoint": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/checkpoint_p0/best_000015008_7684096_reward_3018.662.pth",
+  "best_bundle_path": "checkpoint_p0/best_000015008_7684096_reward_3018.662.pth",
+  "final_checkpoint": "/mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models/hopper_profile_20260911T180943Z/checkpoint_p0/checkpoint_000019544_10006528.pth",
+  "final_env_steps": 10006528,
+  "final_train_step": 19544,
+  "training_exit_code": 0,
+  "profile_sha256": "f8fe2d26f5fee49b2df550cbef421169b930888c02ea62624479d7998fc53f8f",
+  "code_root_sha": "86df5ecef6735d5d824944e7acdee5bf204e1545",
+  "note": "config and rollout descriptor preserve exact H100 training paths; rebind latency profile to bundled profile/profile.json when moving hosts"
+}

latency-aware/hopper/small-policy/sample-factory-qwenoft-rtx3090-v1/small_train.yaml

@@ -0,0 +1,167 @@
+experiment:
+  name: hopper_profile_20260911T180943Z
+  seed: 3333
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_models
+  restart_behavior: overwrite
+  run_mode: train
+executor:
+  mode: simulated
+env:
+  name: gymnasium
+  action_space:
+    dtype: float32
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    labels:
+    - thigh_torque
+    - leg_torque
+    - foot_torque
+    low:
+    - -1.0
+    - -1.0
+    - -1.0
+    type: box
+  base_prompt: Move the Hopper robot forward while keeping its torso upright. Predict
+    three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+  env_fps: 10.0
+  env_id: LatencyBench/Hopper-v0
+  frame_stack: 1
+  make_kwargs:
+    base_env_id: Hopper-v4
+    base_make_kwargs:
+      ctrl_cost_weight: 0.001
+      exclude_current_positions_from_observation: true
+      forward_reward_weight: 1.0
+      healthy_reward: 1.0
+      reset_noise_scale: 0.005
+      terminate_when_unhealthy: true
+    render_mode: rgb_array
+  noop_action:
+  - 0.0
+  - 0.0
+  - 0.0
+  obs_fps: 10.0
+  registration_imports:
+  - latency_bench.envs.gymnasium_hopper
+  state_space:
+    labels:
+    - torso_height
+    - torso_angle
+    - thigh_angle
+    - leg_angle
+    - foot_angle
+    - torso_x_velocity
+    - torso_z_velocity
+    - torso_angular_velocity
+    - thigh_angular_velocity
+    - leg_angular_velocity
+    - foot_angular_velocity
+  task_name: hopper_rgb_state
+latency:
+  method: iid
+  fixed_latency_ms: null
+  profile_path: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/profile/profile.json
+  profile_worker_slot: 0
+  seed: 0
+  add_latency_info: false
+scheduler:
+  hold_policy: hold
+  ordering_policy: issue_order_fifo
+policy:
+  type: random
+training:
+  train_for_env_steps: 10000000
+  num_workers: 8
+  num_envs_per_worker: 8
+  worker_num_splits: 2
+  num_policies: 1
+  batch_size: 1024
+  rollout: 64
+  recurrence: 1
+  num_epochs: 2
+  num_batches_per_epoch: 4
+  num_batches_to_accumulate: 2
+  policy_workers_per_policy: 1
+  max_policy_lag: 10000
+  learning_rate: 0.00295
+  lr_schedule: linear_decay
+  lr_schedule_kl_threshold: 0.008
+  gamma: 0.99
+  gae_lambda: 0.95
+  ppo_clip_ratio: 0.2
+  ppo_clip_value: 1.0
+  value_loss_coeff: 1.3
+  max_grad_norm: 3.5
+  exploration_loss: entropy
+  exploration_loss_coeff: 0.0
+  kl_loss_coeff: 0.1
+  reward_scale: 1.0
+  reward_clip: 1000.0
+  async_rl: false
+  serial_mode: false
+  batched_sampling: false
+  with_vtrace: false
+  use_rnn: false
+  env_framestack: 4
+  encoder_mlp_layers:
+  - 64
+  - 64
+  nonlinearity: tanh
+  adaptive_stddev: false
+  policy_initialization: torch_default
+  initial_stddev: 1.0
+  actor_critic_share_weights: true
+  shuffle_minibatches: false
+  value_bootstrap: false
+  normalize_input: true
+  normalize_returns: true
+  decorrelate_experience_max_seconds: 10
+  decorrelate_envs_on_one_worker: true
+  set_workers_cpu_affinity: true
+  force_envs_single_thread: true
+  save_every_sec: 600
+  keep_checkpoints: 3
+  save_best_every_sec: 60
+  save_best_after: 100000
+  continuous_tanh_scale: 0.0
+  optimizer: adam
+  adam_eps: 1.0e-06
+  adam_beta1: 0.9
+  adam_beta2: 0.999
+  obs_subtract_mean: 0.0
+  obs_scale: 1.0
+  default_niceness: 0
+  rnn_type: gru
+  rnn_size: 512
+  save_milestones_sec: -1
+  stats_avg: 100
+  experiment_summaries_interval: 10
+  fasttd3_replay_capacity: 6553600
+  fasttd3_replay_batch_size: 32768
+  fasttd3_transitions_per_update: 64
+  fasttd3_v_min: -250.0
+  fasttd3_v_max: 250.0
+  fasttd3_actor_action_l2: 0.0
+  fasttd3_sonic_decoder_path: null
+  with_wandb: false
+  fasttd3_compile: true
+evaluation:
+  eval_interval_steps: null
+  eval_episodes: 10
+  eval_parallel_envs: 1
+  eval_max_steps: 1000
+  eval_deterministic: true
+logging:
+  output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/hopper/20260911T180943Z-hopper/small_train
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: false
+  save_action_records: false
+  save_latency_records: false

latency-aware/hopper/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/README.md

@@ -0,0 +1,30 @@
+# hopper / sample-factory-appo
+
+Training condition: `latency-aware`. Run: `pi05_hopper_profile_appo_h1_5fps_g128_20260921`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/small_model/Pi05) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoint.pth`
+- Selection: final
+- Checkpoint SHA256: `fe04cfa766b0953fcb63331a7277f432582585edc30f03651f69095f105c552c`
+- Configuration, FPS, actions, normalization and latency semantics retain their source values.
+- This import does not run evaluations or change training/evaluation/acceptance status.
+
+Sample Factory APPO inference bundle: `config.json` and the explicit `checkpoint.pth`.
+The checkpoint contains `model`, `train_step`, and `env_steps`; every exported model
+tensor was reloaded and compared bit-for-bit with the selected source checkpoint.
+
+See [the original model notes](source/README.md) for experiment results and limitations.
+
+[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/hopper/small-policy/sample-factory-qwenpi_v3-rtx3090-v1"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

latency-aware/hopper/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/checkpoint.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe04cfa766b0953fcb63331a7277f432582585edc30f03651f69095f105c552c
+size 27403

latency-aware/hopper/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/config.json

@@ -0,0 +1,287 @@
+{
+  "help": false,
+  "algo": "APPO",
+  "env": "latency_gymnasium",
+  "experiment": "pi05_hopper_profile_appo_h1_5fps_g128_20260921",
+  "train_dir": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints",
+  "restart_behavior": "overwrite",
+  "device": "gpu",
+  "seed": 3333,
+  "initial_model_path": null,
+  "num_policies": 1,
+  "async_rl": false,
+  "serial_mode": false,
+  "batched_sampling": false,
+  "num_batches_to_accumulate": 2,
+  "worker_num_splits": 2,
+  "policy_workers_per_policy": 1,
+  "max_policy_lag": 10000,
+  "num_workers": 8,
+  "num_envs_per_worker": 8,
+  "batch_size": 1024,
+  "num_batches_per_epoch": 4,
+  "num_epochs": 2,
+  "rollout": 64,
+  "fasttd3_replay_capacity": 6553600,
+  "fasttd3_replay_batch_size": 32768,
+  "fasttd3_action_chunk_horizon": 1,
+  "fasttd3_transitions_per_update": 64,
+  "fasttd3_train_for_optimizer_steps": 10000000000,
+  "fasttd3_v_min": -250.0,
+  "fasttd3_v_max": 250.0,
+  "fasttd3_actor_action_l2": 0.0,
+  "fasttd3_compile": true,
+  "recurrence": 1,
+  "shuffle_minibatches": false,
+  "gamma": 0.99,
+  "reward_scale": 1.0,
+  "reward_clip": 1000.0,
+  "value_bootstrap": false,
+  "normalize_returns": true,
+  "exploration_loss_coeff": 0.0,
+  "value_loss_coeff": 1.3,
+  "kl_loss_coeff": 0.1,
+  "exploration_loss": "entropy",
+  "gae_lambda": 0.95,
+  "ppo_clip_ratio": 0.2,
+  "ppo_clip_value": 1.0,
+  "with_vtrace": false,
+  "vtrace_rho": 1.0,
+  "vtrace_c": 1.0,
+  "optimizer": "adam",
+  "adam_eps": 1e-06,
+  "adam_beta1": 0.9,
+  "adam_beta2": 0.999,
+  "max_grad_norm": 3.5,
+  "learning_rate": 0.00295,
+  "lr_schedule": "linear_decay",
+  "lr_schedule_kl_threshold": 0.008,
+  "lr_adaptive_min": 1e-06,
+  "lr_adaptive_max": 0.01,
+  "obs_subtract_mean": 0.0,
+  "obs_scale": 1.0,
+  "normalize_input": true,
+  "normalize_input_keys": null,
+  "decorrelate_experience_max_seconds": 10,
+  "decorrelate_envs_on_one_worker": true,
+  "actor_worker_gpus": [],
+  "set_workers_cpu_affinity": true,
+  "force_envs_single_thread": true,
+  "default_niceness": 0,
+  "log_to_file": true,
+  "experiment_summaries_interval": 10,
+  "flush_summaries_interval": 30,
+  "stats_avg": 100,
+  "summaries_use_frameskip": true,
+  "heartbeat_interval": 20,
+  "heartbeat_reporting_interval": 180,
+  "train_for_env_steps": 10000000,
+  "train_for_seconds": 10000000000,
+  "save_every_sec": 600,
+  "keep_checkpoints": 3,
+  "load_checkpoint_kind": "latest",
+  "save_milestones_sec": -1,
+  "save_best_every_sec": 60,
+  "save_best_metric": "reward",
+  "save_best_after": 100000,
+  "benchmark": false,
+  "encoder_mlp_layers": [
+    64,
+    64
+  ],
+  "encoder_conv_architecture": "convnet_simple",
+  "encoder_conv_mlp_layers": [
+    512
+  ],
+  "use_rnn": false,
+  "rnn_size": 512,
+  "rnn_type": "gru",
+  "rnn_num_layers": 1,
+  "decoder_mlp_layers": [],
+  "nonlinearity": "tanh",
+  "policy_initialization": "torch_default",
+  "policy_init_gain": 1.0,
+  "actor_critic_share_weights": true,
+  "adaptive_stddev": false,
+  "continuous_tanh_scale": 0.0,
+  "initial_stddev": 1.0,
+  "use_env_info_cache": false,
+  "env_gpu_actions": false,
+  "env_gpu_observations": true,
+  "env_frameskip": 1,
+  "env_framestack": 4,
+  "pixel_format": "CHW",
+  "use_record_episode_statistics": false,
+  "with_wandb": true,
+  "wandb_user": "dongqianyu99-zhejiang-university",
+  "wandb_project": "latency-sensitive-bench",
+  "wandb_group": "pi05-profile-teachers-h1-5fps-20260921",
+  "wandb_job_type": "profile_teacher",
+  "wandb_tags": [
+    "hopper",
+    "APPO",
+    "Pi05",
+    "measured-IID-profile",
+    "H1",
+    "5FPS"
+  ],
+  "with_pbt": false,
+  "pbt_mix_policies_in_one_env": true,
+  "pbt_period_env_steps": 5000000,
+  "pbt_start_mutation": 20000000,
+  "pbt_replace_fraction": 0.3,
+  "pbt_mutation_rate": 0.15,
+  "pbt_replace_reward_gap": 0.1,
+  "pbt_replace_reward_gap_absolute": 1e-06,
+  "pbt_optimize_gamma": false,
+  "pbt_target_objective": "true_objective",
+  "pbt_perturb_min": 1.1,
+  "pbt_perturb_max": 1.5,
+  "gym_task_name": "hopper",
+  "gym_env_id": "LatencyBench/Hopper-v0",
+  "gym_make_kwargs_json": "{\"base_env_id\": \"Hopper-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {\"forward_reward_weight\": 1.0, \"ctrl_cost_weight\": 0.001, \"healthy_reward\": 1.0, \"terminate_when_unhealthy\": true, \"reset_noise_scale\": 0.005, \"exclude_current_positions_from_observation\": true}}",
+  "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_hopper\"]",
+  "gym_action_space_json": "{\"type\": \"box\", \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
+  "gym_action_labels_json": null,
+  "gym_action_values_json": null,
+  "gym_noop_action_id": null,
+  "gym_noop_action_json": "[0.0, 0.0, 0.0]",
+  "gym_base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+  "gym_state_labels_json": "[\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"]",
+  "env_fps": 5.0,
+  "obs_fps": 5.0,
+  "frame_stack": 1,
+  "export_env_raw_rgb_frames": false,
+  "mode": "train",
+  "latency_type": "iid",
+  "fixed_latency_ms": null,
+  "mean_latency_ms": null,
+  "std_latency_ms": null,
+  "min_latency_ms": null,
+  "max_latency_ms": null,
+  "latency_seed": 0,
+  "latency_profile_path": "${PI05_RUN_DIR}/profile_latency/profile/profile.json",
+  "latency_profile_worker_slot": 0,
+  "simulated_worker_capacity": null,
+  "add_latency_info": false,
+  "max_pending_actions": null,
+  "hold_last_chunk_action": false,
+  "hold_policy": "hold",
+  "ordering_policy": "issue_order_fifo",
+  "eval_episodes": 10,
+  "eval_parallel_envs": 1,
+  "eval_latency_raw_frame_values": null,
+  "eval_max_steps": 1000,
+  "eval_deterministic": true,
+  "eval_raw_reward": false,
+  "episode_metrics_path": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_hopper_profile_appo_h1_5fps_g128_20260921/episode_metrics.jsonl",
+  "ppo": null,
+  "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment pi05_hopper_profile_appo_h1_5fps_g128_20260921 --train_dir ${PI05_RUN_DIR}/profile_latency/teacher/checkpoints --restart_behavior overwrite --device gpu --seed 3333 --episode_metrics_path ${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_hopper_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 --env_framestack 4 --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 ${PI05_RUN_DIR}/profile_latency/profile/profile.json --latency-profile-worker-slot 0 --add-latency-info False --eval-episodes 10 --eval-parallel-envs 1 --eval-max-steps 1000 --eval-deterministic True --with_wandb True --wandb_project latency-sensitive-bench --wandb_group pi05-profile-teachers-h1-5fps-20260921 --wandb_job_type profile_teacher --wandb_tags hopper APPO Pi05 measured-IID-profile H1 5FPS --wandb_user dongqianyu99-zhejiang-university --gym-task-name hopper --gym-env-id LatencyBench/Hopper-v0 --gym-make-kwargs-json {\"base_env_id\": \"Hopper-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {\"forward_reward_weight\": 1.0, \"ctrl_cost_weight\": 0.001, \"healthy_reward\": 1.0, \"terminate_when_unhealthy\": true, \"reset_noise_scale\": 0.005, \"exclude_current_positions_from_observation\": true}} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_hopper\"] --gym-action-space-json {\"type\": \"box\", \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0], \"dtype\": \"float32\"} --gym-noop-action-json [0.0, 0.0, 0.0] --gym-base-prompt Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. --gym-state-labels-json [\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"] --env-fps 5 --obs-fps 5 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+  "cli_args": {
+    "algo": "APPO",
+    "env": "latency_gymnasium",
+    "experiment": "pi05_hopper_profile_appo_h1_5fps_g128_20260921",
+    "train_dir": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints",
+    "restart_behavior": "overwrite",
+    "device": "gpu",
+    "seed": 3333,
+    "num_policies": 1,
+    "async_rl": false,
+    "serial_mode": false,
+    "batched_sampling": false,
+    "num_batches_to_accumulate": 2,
+    "worker_num_splits": 2,
+    "policy_workers_per_policy": 1,
+    "max_policy_lag": 10000,
+    "num_workers": 8,
+    "num_envs_per_worker": 8,
+    "batch_size": 1024,
+    "num_batches_per_epoch": 4,
+    "num_epochs": 2,
+    "rollout": 64,
+    "recurrence": 1,
+    "shuffle_minibatches": false,
+    "gamma": 0.99,
+    "reward_scale": 1.0,
+    "reward_clip": 1000.0,
+    "value_bootstrap": false,
+    "normalize_returns": true,
+    "exploration_loss_coeff": 0.0,
+    "value_loss_coeff": 1.3,
+    "kl_loss_coeff": 0.1,
+    "exploration_loss": "entropy",
+    "gae_lambda": 0.95,
+    "ppo_clip_ratio": 0.2,
+    "ppo_clip_value": 1.0,
+    "with_vtrace": false,
+    "max_grad_norm": 3.5,
+    "learning_rate": 0.00295,
+    "lr_schedule_kl_threshold": 0.008,
+    "normalize_input": true,
+    "decorrelate_experience_max_seconds": 10,
+    "decorrelate_envs_on_one_worker": true,
+    "set_workers_cpu_affinity": true,
+    "force_envs_single_thread": true,
+    "train_for_env_steps": 10000000,
+    "save_every_sec": 600,
+    "keep_checkpoints": 3,
+    "save_best_every_sec": 60,
+    "save_best_after": 100000,
+    "encoder_mlp_layers": [
+      64,
+      64
+    ],
+    "use_rnn": false,
+    "nonlinearity": "tanh",
+    "policy_initialization": "torch_default",
+    "actor_critic_share_weights": true,
+    "adaptive_stddev": false,
+    "initial_stddev": 1.0,
+    "use_env_info_cache": false,
+    "env_framestack": 4,
+    "with_wandb": true,
+    "wandb_user": "dongqianyu99-zhejiang-university",
+    "wandb_project": "latency-sensitive-bench",
+    "wandb_group": "pi05-profile-teachers-h1-5fps-20260921",
+    "wandb_job_type": "profile_teacher",
+    "wandb_tags": [
+      "hopper",
+      "APPO",
+      "Pi05",
+      "measured-IID-profile",
+      "H1",
+      "5FPS"
+    ],
+    "gym_task_name": "hopper",
+    "gym_env_id": "LatencyBench/Hopper-v0",
+    "gym_make_kwargs_json": "{\"base_env_id\": \"Hopper-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {\"forward_reward_weight\": 1.0, \"ctrl_cost_weight\": 0.001, \"healthy_reward\": 1.0, \"terminate_when_unhealthy\": true, \"reset_noise_scale\": 0.005, \"exclude_current_positions_from_observation\": true}}",
+    "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_hopper\"]",
+    "gym_action_space_json": "{\"type\": \"box\", \"labels\": [\"thigh_torque\", \"leg_torque\", \"foot_torque\"], \"low\": [-1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
+    "gym_noop_action_json": "[0.0, 0.0, 0.0]",
+    "gym_base_prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.",
+    "gym_state_labels_json": "[\"torso_height\", \"torso_angle\", \"thigh_angle\", \"leg_angle\", \"foot_angle\", \"torso_x_velocity\", \"torso_z_velocity\", \"torso_angular_velocity\", \"thigh_angular_velocity\", \"leg_angular_velocity\", \"foot_angular_velocity\"]",
+    "env_fps": 5.0,
+    "obs_fps": 5.0,
+    "frame_stack": 1,
+    "mode": "train",
+    "latency_type": "iid",
+    "latency_seed": 0,
+    "latency_profile_path": "${PI05_RUN_DIR}/profile_latency/profile/profile.json",
+    "latency_profile_worker_slot": 0,
+    "add_latency_info": false,
+    "hold_policy": "hold",
+    "ordering_policy": "issue_order_fifo",
+    "eval_episodes": 10,
+    "eval_parallel_envs": 1,
+    "eval_max_steps": 1000,
+    "eval_deterministic": true,
+    "episode_metrics_path": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_hopper_profile_appo_h1_5fps_g128_20260921/episode_metrics.jsonl",
+    "output_dir": "${PI05_RUN_DIR}/profile_latency/teacher/training",
+    "wandb_unique_id": "pi05_hopper_profile_appo_h1_5fps_g128_20260921"
+  },
+  "git_hash": "unknown",
+  "git_repo_name": "not a git repository",
+  "eval_env_frameskip": 1,
+  "output_dir": "${PI05_RUN_DIR}/profile_latency/teacher/training",
+  "wandb_unique_id": "pi05_hopper_profile_appo_h1_5fps_g128_20260921"
+}

latency-aware/hopper/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/provenance.json

@@ -0,0 +1,40 @@
+{
+  "task": "hopper",
+  "model": "sample-factory-appo",
+  "training_condition": "latency-aware",
+  "training_run_id": "pi05_hopper_profile_appo_h1_5fps_g128_20260921",
+  "source": {
+    "repo_id": "latency-sensitive-bench/Standard-Pipeline",
+    "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
+    "path": "hopper/profile_latency/small_model/Pi05",
+    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/small_model/Pi05"
+  },
+  "hf_repo_id": "latency-sensitive-bench/benchmark-models",
+  "hf_path": "latency-aware/hopper/small-policy/sample-factory-qwenpi_v3-rtx3090-v1",
+  "checkpoint": {
+    "source_file": "hopper/profile_latency/small_model/Pi05/checkpoint_p0/selected.pth",
+    "source_sha256": "fe04cfa766b0953fcb63331a7277f432582585edc30f03651f69095f105c552c",
+    "source_bytes": 27403,
+    "file": "checkpoint.pth",
+    "selection_rule": "final",
+    "method": "copy",
+    "sha256": "fe04cfa766b0953fcb63331a7277f432582585edc30f03651f69095f105c552c",
+    "bytes": 27403,
+    "train_step": 19536,
+    "env_steps": 10002432,
+    "tensor_count": 15,
+    "tensor_equality_verified": true,
+    "removed_fields": []
+  },
+  "config_source": "hopper/profile_latency/small_model/Pi05/config.json",
+  "task_contract_file": null,
+  "missing_source_files": [],
+  "migration": {
+    "operation": "copy_selected_inference_bundle",
+    "source_modified": false,
+    "evaluation_performed": false,
+    "experiment_status": "preserved_in_source_evidence"
+  },
+  "algorithm": "APPO",
+  "latency_model": "qwenpi_v3"
+}

latency-aware/hopper/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/selection.json

@@ -0,0 +1,112 @@
+{
+  "selected": "final",
+  "candidates": {
+    "final": {
+      "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_hopper_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/checkpoint_000019536_10002432.pth",
+      "sha256": "9b78ae32c795cf0eecbd2b66e04f2775091a9756a40e5f5635791ac2b2ca4b86",
+      "episodes": 20,
+      "seeds": [
+        104771,
+        104772,
+        104773,
+        104774,
+        104775,
+        104776,
+        104777,
+        104778,
+        104779,
+        104780,
+        104781,
+        104782,
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+        104784,
+        104785,
+        104786,
+        104787,
+        104788,
+        104789,
+        104790
+      ],
+      "returns": [
+        2224.1403163381674,
+        2819.128114077857,
+        3489.646074260514,
+        2009.7554991069278,
+        2113.0389978032463,
+        2530.889359173486,
+        3528.0257119878297,
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+      ],
+      "mean": 2473.704844220784,
+      "population_std": 983.5990191484575,
+      "strict_gt3000": 7
+    },
+    "training_best": {
+      "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_hopper_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/best_000019536_10002432_reward_2535.456.pth",
+      "sha256": "f0d71c11d6f468510a6b1e98d528060bfe213e094ae81a13a7c9129af2f5b2ec",
+      "episodes": 20,
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+        104784,
+        104785,
+        104786,
+        104787,
+        104788,
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+        2009.7554991069278,
+        2113.0389978032463,
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+      "mean": 2473.704844220784,
+      "population_std": 983.5990191484575,
+      "strict_gt3000": 7
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+  },
+  "completed_at": "2026-09-21T14:06:00.799410+00:00",
+  "final_checkpoint_env_steps": 10002432,
+  "final_checkpoint_train_step": 19536
+}

latency-aware/hopper/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/source/README.md

@@ -0,0 +1,7 @@
+# Hopper Pi0.5 profile-latency APPO checkpoint
+
+Selected `final` at train step 19536 / 10002432 Sample Factory environment steps, seed 3333, native state/action 11/3, and 5/5 FPS. The selected paired evaluation mean was 2473.704844 (population SD 983.599019); 7 of 20 returns were strictly above 3000. P profile SHA256 `1289653bf6e8591cdd5cf805ad539ddd1cb041cdad08a9f2833597fe72271e1e` (publication revision `e1a9bdd566b96d5da4703f769d40eab656af491e`).
+
+Original probe accepted 2/12 under episode_raw_return >3000. A later, separately authorized dataset used >2500; that data gate does not change this teacher audit. P session-1 warmup-drift warning is retained in verification.json.
+
+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/hopper/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/source/provenance.json

@@ -0,0 +1,51 @@
+{
+  "state": "SELECTED_TEACHER_INFERENCE_EXPORT_CPU_RELOAD_VERIFIED",
+  "task": "hopper",
+  "selected": "final",
+  "source_checkpoint": "checkpoint_000019536_10002432.pth",
+  "source_checkpoint_sha256": "9b78ae32c795cf0eecbd2b66e04f2775091a9756a40e5f5635791ac2b2ca4b86",
+  "export_checkpoint": "checkpoint_p0/selected.pth",
+  "export_checkpoint_sha256": "fe04cfa766b0953fcb63331a7277f432582585edc30f03651f69095f105c552c",
+  "retained_keys": [
+    "model",
+    "train_step",
+    "env_steps"
+  ],
+  "removed_keys": [
+    "best_performance",
+    "curr_lr",
+    "optimizer"
+  ],
+  "model_tensors_bit_identical": true,
+  "model_tensor_count": 15,
+  "selected_train_step": 19536,
+  "selected_env_steps": 10002432,
+  "actual_final_train_step": 19536,
+  "actual_final_env_steps": 10002432,
+  "budget_sample_factory_env_steps": 10000000,
+  "seed": 3333,
+  "native_state_dim": 11,
+  "native_action_dim": 3,
+  "profile_sha256": "1289653bf6e8591cdd5cf805ad539ddd1cb041cdad08a9f2833597fe72271e1e",
+  "profile_publication_revision": "e1a9bdd566b96d5da4703f769d40eab656af491e",
+  "audit_state": "TEACHER_FULL_TRACE_AUDIT_PASSED",
+  "audit_gate": "PASSED",
+  "selected_mean": 2473.704844220784,
+  "selected_population_std": 983.5990191484575,
+  "selected_strict_gt3000_episodes": 7,
+  "data": {
+    "state": "PUBLISHED_SEPARATELY",
+    "revision": "c974fe66922af6cadd425696b60133753e955566",
+    "accepted": 100,
+    "attempts": 218,
+    "rows": 97180,
+    "retained_plus_new": "53+47",
+    "gate": "episode_raw_return >2500"
+  },
+  "source_sha256": {
+    "config.json": "b3c5bdc0727ff0358ed5f04c957687fd4ac2f838b74c4d1842d6cf5b8efb4f1b",
+    "teacher.yaml": "522195b46f4a951b43682c8c186cb1509d1ac8e179f62c7874e55a034f05aaa4",
+    "selection.json": "68eeacb6897edba524166194486359ca0278efeb6f27dba236ff3c4a7d0c4a8e",
+    "verification.json": "0c132bddf56fabe6dcf9d2cfddd37942e459e97b718b4816a6a9549ad50c801c"
+  }
+}

latency-aware/hopper/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/teacher.yaml

@@ -0,0 +1,158 @@
+env:
+  state_space:
+    labels:
+    - torso_height
+    - torso_angle
+    - thigh_angle
+    - leg_angle
+    - foot_angle
+    - torso_x_velocity
+    - torso_z_velocity
+    - torso_angular_velocity
+    - thigh_angular_velocity
+    - leg_angular_velocity
+    - foot_angular_velocity
+  name: gymnasium
+  task_name: hopper
+  env_id: LatencyBench/Hopper-v0
+  registration_imports:
+  - latency_bench.envs.gymnasium_hopper
+  make_kwargs:
+    base_env_id: Hopper-v4
+    render_mode: rgb_array
+    base_make_kwargs:
+      forward_reward_weight: 1.0
+      ctrl_cost_weight: 0.001
+      healthy_reward: 1.0
+      terminate_when_unhealthy: true
+      reset_noise_scale: 0.005
+      exclude_current_positions_from_observation: true
+  env_fps: 5
+  obs_fps: 5
+  frame_stack: 1
+  action_space:
+    type: box
+    labels:
+    - thigh_torque
+    - leg_torque
+    - foot_torque
+    low:
+    - -1.0
+    - -1.0
+    - -1.0
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    dtype: float32
+  noop_action:
+  - 0.0
+  - 0.0
+  - 0.0
+  base_prompt: Move the Hopper robot forward while keeping its torso upright. Predict
+    three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+experiment:
+  name: pi05_hopper_profile_appo_h1_5fps_g128_20260921
+  seed: 3333
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: ${PI05_RUN_DIR}/profile_latency/teacher/checkpoints
+  restart_behavior: overwrite
+  run_mode: train
+  extra_args:
+  - --wandb_user
+  - dongqianyu99-zhejiang-university
+executor:
+  mode: simulated
+latency:
+  method: iid
+  profile_path: ${PI05_RUN_DIR}/profile_latency/profile/profile.json
+  profile_worker_slot: 0
+  seed: 0
+  add_latency_info: false
+scheduler:
+  hold_policy: hold
+  ordering_policy: issue_order_fifo
+policy:
+  type: random
+training:
+  train_for_env_steps: 10000000
+  num_workers: 8
+  num_envs_per_worker: 8
+  worker_num_splits: 2
+  num_policies: 1
+  batch_size: 1024
+  rollout: 64
+  recurrence: 1
+  num_epochs: 2
+  num_batches_per_epoch: 4
+  num_batches_to_accumulate: 2
+  policy_workers_per_policy: 1
+  max_policy_lag: 10000
+  learning_rate: 0.00295
+  lr_schedule: linear_decay
+  lr_schedule_kl_threshold: 0.008
+  gamma: 0.99
+  gae_lambda: 0.95
+  ppo_clip_ratio: 0.2
+  ppo_clip_value: 1.0
+  value_loss_coeff: 1.3
+  max_grad_norm: 3.5
+  exploration_loss: entropy
+  exploration_loss_coeff: 0.0
+  kl_loss_coeff: 0.1
+  reward_scale: 1.0
+  reward_clip: 1000.0
+  async_rl: false
+  serial_mode: false
+  batched_sampling: false
+  with_vtrace: false
+  use_rnn: false
+  env_framestack: 4
+  encoder_mlp_layers:
+  - 64
+  - 64
+  nonlinearity: tanh
+  adaptive_stddev: false
+  policy_initialization: torch_default
+  initial_stddev: 1.0
+  actor_critic_share_weights: true
+  shuffle_minibatches: false
+  value_bootstrap: false
+  normalize_input: true
+  normalize_returns: true
+  decorrelate_experience_max_seconds: 10
+  decorrelate_envs_on_one_worker: true
+  set_workers_cpu_affinity: true
+  force_envs_single_thread: true
+  save_every_sec: 600
+  keep_checkpoints: 3
+  save_best_every_sec: 60
+  save_best_after: 100000
+evaluation:
+  eval_interval_steps: null
+  eval_episodes: 10
+  eval_parallel_envs: 1
+  eval_max_steps: 1000
+  eval_deterministic: true
+logging:
+  output_dir: ${PI05_RUN_DIR}/profile_latency/teacher/training
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: false
+  save_action_records: false
+  save_latency_records: false
+  wandb_project: latency-sensitive-bench
+  wandb_group: pi05-profile-teachers-h1-5fps-20260921
+  wandb_name: pi05_hopper_profile_appo_h1_5fps_g128_20260921
+  wandb_job_type: profile_teacher
+  wandb_tags:
+  - hopper
+  - APPO
+  - Pi05
+  - measured-IID-profile
+  - H1
+  - 5FPS

latency-aware/hopper/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/verification.json

@@ -0,0 +1,386 @@
+{
+  "state": "TEACHER_FULL_TRACE_AUDIT_PASSED",
+  "verified_at": "2026-09-21T14:09:31.112834+00:00",
+  "task": "hopper",
+  "model_revision": "408930d8a85f0cb316dc3bdebfb8142526570355",
+  "P_profile_sha256": "1289653bf6e8591cdd5cf805ad539ddd1cb041cdad08a9f2833597fe72271e1e",
+  "P_warnings": [
+    {
+      "session": 1,
+      "warmup_status": "unstable",
+      "warmup_stability_reason": "drifting",
+      "samples_excluded": 100
+    }
+  ],
+  "actual_final_env_steps": 10002432,
+  "actual_final_train_step": 19536,
+  "selection": {
+    "selected": "final",
+    "candidates": {
+      "final": {
+        "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_hopper_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/checkpoint_000019536_10002432.pth",
+        "sha256": "9b78ae32c795cf0eecbd2b66e04f2775091a9756a40e5f5635791ac2b2ca4b86",
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+          104790
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+        "mean": 2473.704844220784,
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+        "sha256": "f0d71c11d6f468510a6b1e98d528060bfe213e094ae81a13a7c9129af2f5b2ec",
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+    "final_checkpoint_env_steps": 10002432,
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+    "mean_length": 723.7,
+    "raw_steps": 7237,
+    "strict_gt3000": 3,
+    "actions": 5577,
+    "action_latency_mean_ms": 199.29742636488007,
+    "action_latency_p95_ms": 257.7097693485515,
+    "commands_requiring_native_clip": 0,
+    "invalid_actions": 0,
+    "dropped_actions": 0,
+    "submitted_observations": 5577,
+    "dropped_observations": 1660,
+    "observation_drop_fraction": 0.22937681359679427,
+    "config_sha256": "8a5246d083413a735ed88e2e3b9a5c4f7b49896abfd3153488d9fcd1edd62176",
+    "state_contract": "Native state11 is bound to manifest/loader QA/saved reload; no per-step state vector is recorded."
+  },
+  "probe": {
+    "attempts": 12,
+    "accepted": 2,
+    "rejected": 10,
+    "source_state_sha256": "fad846336f923f7f0bf755c2d5cdbbcc2a8c4f955556c2299ef088cbd20d1f72",
+    "accepted_specs": [
+      {
+        "attempt_idx": 4,
+        "episode_idx": 0,
+        "episode_length": 1000,
+        "episode_raw_frames": 1000,
+        "episode_raw_return": 3573.1784443855286,
+        "seed": 3337,
+        "split": "train"
+      },
+      {
+        "attempt_idx": 9,
+        "episode_idx": 1,
+        "episode_length": 1000,
+        "episode_raw_frames": 1000,
+        "episode_raw_return": 3552.9572883844376,
+        "seed": 3342,
+        "split": "val"
+      }
+    ]
+  },
+  "strict_gate": "episode_raw_return > 3000",
+  "E10_caveat": "Repeats the first ten selection seeds; not an independent gate.",
+  "training_unit_exit_claim": false,
+  "gate": "PASSED"
+}

latency-aware/hopper/vla/starvla-qwengr00t-h1/hopper_profile_gr00t_h1_5fps_2h100_20260917/F-summary.json

@@ -0,0 +1,163 @@
+{
+  "verified_at": "2026-09-17T21:34:33.830761+00:00",
+  "task": "hopper",
+  "B": {
+    "episodes": 20,
+    "mean_return": 8.553798918701421,
+    "population_std": 0.09164445349807723,
+    "mean_length": 9,
+    "mean_episode_latency_ms": 111.10969192814082,
+    "observation_drops": 0,
+    "submitted_observations": 180,
+    "action_drops": 0,
+    "invalid_actions": 0,
+    "metrics_sha256": "15e0fff2f282cce88a408993c1d1c1c608a8e534af55df802f5019924bb2e9b0"
+  },
+  "F": {
+    "episodes": 20,
+    "mean_return": 242.55055665478992,
+    "population_std": 127.57369659782253,
+    "mean_length": 100.1,
+    "mean_episode_latency_ms": 110.7924141313037,
+    "observation_drops": 0,
+    "submitted_observations": 2002,
+    "action_drops": 0,
+    "invalid_actions": 0,
+    "metrics_sha256": "7e98ffea9db1d79cea521fcba68cf2a1ad76d818eae318a09aaa98e37a70aceb"
+  },
+  "paired": [
+    {
+      "seed": 42,
+      "B": 8.601128245693165,
+      "F": 343.6761117591365,
+      "delta": 335.0749835134433
+    },
+    {
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+      "F": 77.48860293690754,
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+    {
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+      "B": 8.675803868427353,
+      "F": 112.99006876226332,
+      "delta": 104.31426489383597
+    },
+    {
+      "seed": 45,
+      "B": 8.530831452718134,
+      "F": 342.75501631999356,
+      "delta": 334.2241848672754
+    },
+    {
+      "seed": 46,
+      "B": 8.616775268138941,
+      "F": 82.57466802682492,
+      "delta": 73.95789275868599
+    },
+    {
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+      "B": 8.399036294860874,
+      "F": 346.3568388160152,
+      "delta": 337.95780252115435
+    },
+    {
+      "seed": 48,
+      "B": 8.527887103971324,
+      "F": 342.9612816173764,
+      "delta": 334.4333945134051
+    },
+    {
+      "seed": 49,
+      "B": 8.517139018075015,
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+      "delta": 107.55006482231981
+    },
+    {
+      "seed": 50,
+      "B": 8.448905777753668,
+      "F": 171.36873558575093,
+      "delta": 162.91982980799725
+    },
+    {
+      "seed": 51,
+      "B": 8.57681750029125,
+      "F": 107.03821019089881,
+      "delta": 98.46139269060755
+    },
+    {
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+      "B": 8.499147733543529,
+      "F": 407.27526018834806,
+      "delta": 398.77611245480455
+    },
+    {
+      "seed": 53,
+      "B": 8.580534329357635,
+      "F": 168.11576973272216,
+      "delta": 159.5352354033645
+    },
+    {
+      "seed": 54,
+      "B": 8.693173128612607,
+      "F": 112.27675191351292,
+      "delta": 103.58357878490031
+    },
+    {
+      "seed": 55,
+      "B": 8.503254728109283,
+      "F": 345.791405216921,
+      "delta": 337.28815048881177
+    },
+    {
+      "seed": 56,
+      "B": 8.617020606791158,
+      "F": 371.0030376043078,
+      "delta": 362.38601699751666
+    },
+    {
+      "seed": 57,
+      "B": 8.438460003247506,
+      "F": 409.7465920290405,
+      "delta": 401.30813202579304
+    },
+    {
+      "seed": 58,
+      "B": 8.423442879493416,
+      "F": 404.90933966988376,
+      "delta": 396.48589679039037
+    },
+    {
+      "seed": 59,
+      "B": 8.493276290159583,
+      "F": 345.40185098954646,
+      "delta": 336.90857469938686
+    },
+    {
+      "seed": 60,
+      "B": 8.707425662635234,
+      "F": 74.85872734440912,
+      "delta": 66.15130168177389
+    },
+    {
+      "seed": 61,
+      "B": 8.527467030151016,
+      "F": 168.3556605515446,
+      "delta": 159.8281935213936
+    }
+  ],
+  "wins": 20,
+  "ties": 0,
+  "losses": 0,
+  "mean_difference": 233.99675773608848,
+  "F_step_interval_ms": {
+    "mean": 200.0077628149011,
+    "min": 198.96644609980285,
+    "max": 201.19602186605334
+  },
+  "F_revision": "d33af26b7f87357c1b7a2b75bae4923bd90b6cc1",
+  "F_checkpoint_sha256": "fe4fb89a88d9aab7f266a69921b32cfc00a0e2964664be3953988a8f4062d3ca",
+  "protocol": "20 matched seeds42-61;5FPS;cap1000;measured-only;same B/F runtime with model and prompt0\u21921 changes",
+  "interpretation": "Compare measured outcomes and realized latencies; no equal-latency causal claim and no teacher gate applied to VLA."
+}

latency-aware/hopper/vla/starvla-qwengr00t-h1/hopper_profile_gr00t_h1_5fps_2h100_20260917/F-verification.json

@@ -0,0 +1,6 @@
+{
+  "state": "F20_AND_MATCHED_COMPARISON_VERIFIED",
+  "summary": "/workspace/lzj/latency-sensitive-bench/runs/hopper/gr00t_h1_5fps_20260917/F-summary.json",
+  "steps": 2002,
+  "verified_at": "2026-09-17T21:34:33.830761+00:00"
+}

latency-aware/hopper/vla/starvla-qwengr00t-h1/hopper_profile_gr00t_h1_5fps_2h100_20260917/README.md

@@ -0,0 +1,31 @@
+# hopper / qwengr00t
+
+Training condition: `latency-aware`. Run: `hopper_profile_gr00t_h1_5fps_2h100_20260917`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/hopper/profile_latency/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoints/model.pt`
+- Selection: only published VLA checkpoint
+- Checkpoint SHA256: `fe4fb89a88d9aab7f266a69921b32cfc00a0e2964664be3953988a8f4062d3ca`
+- Configuration, FPS, actions, normalization and latency semantics retain their source values.
+- This import does not run evaluations or change training/evaluation/acceptance status.
+
+Action horizon is 1. Use `config.yaml` and `dataset_statistics.json` with the matching
+prepared backbone. `task_contract.json` is extracted from the original training configuration.
+Original machine paths in historical configurations are provenance: bind checkpoint,
+backbone, manifest and profile paths to downloaded local files when running inference.
+
+See [the original model notes](source/README.md) for experiment results and limitations.
+
+[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/hopper/vla/starvla-qwengr00t-h1/hopper_profile_gr00t_h1_5fps_2h100_20260917"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

latency-aware/hopper/vla/starvla-qwengr00t-h1/hopper_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe4fb89a88d9aab7f266a69921b32cfc00a0e2964664be3953988a8f4062d3ca
+size 9976837923

latency-aware/hopper/vla/starvla-qwengr00t-h1/hopper_profile_gr00t_h1_5fps_2h100_20260917/config.full.yaml

@@ -0,0 +1,242 @@
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: ${oc.env:GR00T_BACKBONE_DIR}
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 3
+    state_dim: 11
+    task_objective: null
+    action_horizon: 1
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    action_env_dim: 3
+    future_action_window_size: 0
+    past_action_window_size: 0
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /
+    data_mix: train
+    eval_data_mix: validation
+    custom_mixtures_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/vla/mixture.json
+    action_type: continuous
+    sequential_step_sampling: true
+    eval_sequential_step_sampling: null
+    num_workers: 4
+    eval_num_workers: 0
+    prefetch_factor: 2
+    persistent_workers: true
+    pin_memory: true
+    shuffle: true
+    action_balance:
+      enabled: false
+      strategy: balanced_epoch
+      action_key: action_id
+      target_flap_fraction: 0.3
+      noop_id: 0
+      flap_id: 1
+    latency_curriculum:
+      enabled: false
+      strategy: exclusive
+      latencies: null
+      phase_steps: null
+      phase_distributions: null
+      new_latency_passes: 1.0
+      replay_passes: 0.25
+      target_total_passes: 2.0
+      final_equalization: true
+      step_budget_mode: auto
+      eval_at_phase_end: false
+      save_at_phase_end: false
+      computed_plan: null
+    per_device_batch_size: 8
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size:
+    - 224
+    - 224
+    video_backend: pyav
+    lerobot_version: v2.0
+    gymnasium_task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - thigh_torque
+        - leg_torque
+        - foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Hopper robot forward while keeping its torso upright.
+        Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+      env_fps: 5.0
+      env_id: LatencyBench/Hopper-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Hopper-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_hopper
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - thigh_angle
+        - leg_angle
+        - foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - thigh_angular_velocity
+        - leg_angular_velocity
+        - foot_angular_velocity
+      task_name: hopper
+    active_action_dim: 3
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: flappy_train
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: flappy_train
+  mixed_converted_name: flappy_mixed_latency_train
+  single_latency_filter: null
+  mixed_latency_filter: null
+  force_download: false
+  setup_force: false
+  skip_verification: false
+  target_latency_unit: observation_steps
+  verify_rows: 200
+  max_episodes: null
+  episodes_per_latency: null
+  latency_filter: null
+  debug_subset:
+    enabled: false
+    max_episodes: 5
+    suffix: debug
+base_model:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+initialization:
+  checkpoint_local_dir: null
+  checkpoint_hf_repo_id: null
+  checkpoint_filename: null
+trainer:
+  max_train_steps: 5000
+  num_warmup_steps: 100
+  save_interval: 500
+  eval_interval: 500
+  eval_num_batches: 200
+  per_latency_eval_num_batches: null
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  cc_f1_tolerance: 1
+  learning_rate:
+    base: 2.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  freeze_modules: ''
+  freeze_vit: false
+  freeze_tied_embedding: false
+  freeze_llm_layers: []
+  loss_scale:
+    vla: 1.0
+    vlm: 0.1
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 1
+  profile_timing:
+    enabled: false
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 4
+  distributed_backend: deepspeed
+  is_resume: false
+  pretrained_checkpoint: null
+  resume_step: 0
+  reload_modules: null
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+    fused: true
+  save_format: pt
+run_id: hopper_profile_gr00t_h1_5fps_2h100_20260917
+run_root_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/vla/training
+seed: 42
+is_debug: false
+version_id: '0.21'
+wandb_project: latency-sensitive-bench
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_name: hopper_profile_gr00t_h1_5fps_2h100_20260917
+wandb_group: gr00t-six-env-h1-5fps
+wandb_tags:
+- hopper
+- profile_latency
+- GR00T
+- h1
+training_latency_condition: profile_latency
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+checkpoint:
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: true
+  local:
+    keep_last_n: 1
+config_yaml: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/train.yaml
+output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/hopper/profile_latency/vla/training/hopper_profile_gr00t_h1_5fps_2h100_20260917

latency-aware/hopper/vla/starvla-qwengr00t-h1/hopper_profile_gr00t_h1_5fps_2h100_20260917/config.yaml

@@ -0,0 +1,119 @@
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: ${oc.env:GR00T_BACKBONE_DIR}
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 3
+    state_dim: 11
+    task_objective: null
+    action_horizon: 1
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    action_env_dim: 3
+    future_action_window_size: 0
+    past_action_window_size: 0
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size:
+    - 224
+    - 224
+    image_mode: single
+    stitch_grid:
+    - 2
+    - 2
+    num_obs_frames: 1
+    gymnasium_task_contract: &id001
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - thigh_torque
+        - leg_torque
+        - foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Hopper robot forward while keeping its torso upright.
+        Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot.
+      env_fps: 5.0
+      env_id: LatencyBench/Hopper-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Hopper-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5.0
+      registration_imports:
+      - latency_bench.envs.gymnasium_hopper
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - thigh_angle
+        - leg_angle
+        - foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - thigh_angular_velocity
+        - leg_angular_velocity
+        - foot_angular_velocity
+      task_name: hopper
+trainer:
+  pretrained_checkpoint: null
+  profile_timing:
+    enabled: false
+    log_interval: 10
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+rl_games:
+  model_alias: gr00t
+  task: gymnasium
+  action_carrier: native
+  gymnasium:
+    task_contract: *id001
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw

latency-aware/hopper/vla/starvla-qwengr00t-h1/hopper_profile_gr00t_h1_5fps_2h100_20260917/dataset_statistics.json

@@ -0,0 +1,123 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        0.37568429112434387,
+        0.12602593004703522,
+        0.18286840617656708
+      ],
+      "std": [
+        0.5004534125328064,
+        0.5383408665657043,
+        0.7935799360275269
+      ],
+      "max": [
+        1.0,
+        1.0,
+        1.0
+      ],
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+    "num_trajectories": 90
+  }
+}

latency-aware/hopper/vla/starvla-qwengr00t-h1/hopper_profile_gr00t_h1_5fps_2h100_20260917/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "1": {
+    "prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 1 raw frames (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "latency_raw_frames": 1,
+    "latency_ms": 200.0
+  }
+}