diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/config.yaml b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8f1cf5ace97923996f9e7e3c27c32459163ec708 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/config.yaml @@ -0,0 +1,139 @@ +framework: + name: QwenGR00T + qwenvl: + base_vlm: Qwen/Qwen3-VL-4B-Instruct + 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: 6 + state_dim: 17 + 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: 6 + future_action_window_size: 0 + past_action_window_size: 0 +version_id: '0.21' +datasets: + vla_data: + include_state: true + obs_image_size: + - 224 + - 224 + image_mode: single + stitch_grid: + - 2 + - 2 + num_obs_frames: 1 + gymnasium_task_contract: &id001 + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Walker2d robot forward while keeping its torso upright. + Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, + right foot, left thigh, left leg, and left foot. + env_fps: 5 + env_id: LatencyBench/Walker2dContinuous-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Walker2d-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 + - 0.0 + - 0.0 + - 0.0 + obs_fps: 5 + registration_imports: + - latency_bench.envs.gymnasium_walker2d + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + task_name: walker2d_rgb_state + robot_type: rl_games_gymnasium_native +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 diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/dataset_statistics.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..41f73f174c884b22cd712665498cadce4864d15b --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/dataset_statistics.json @@ -0,0 +1,180 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.8840610980987549, + 0.34449484944343567, + 0.11654752492904663, + 0.8480036854743958, + 0.32758569717407227, + 0.9875396490097046 + ], + "std": [ + 0.32312333583831787, + 0.7096099853515625, + 0.9048961400985718, + 0.343753844499588, + 0.7393367886543274, + 0.11781969666481018 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + 1.238466842895141, + -0.06925228012199014, + 0.013843682985346106, + -0.6430665165309817, + 0.25527598426943143, + -0.005801074896853109, + -0.6064919422827169, + 0.8156332787057394, + 3.2711544773126446, + -0.018943209958848684, + -0.41566070169210434, + -0.06785172037780285, + -2.1467362344264984, + -2.302139699459076, + -0.08182121440768242, + -1.9842907786369324, + -0.01664921874180436 + ], + "std": [ + 0.047995599973336134, + 0.28501967592058364, + 0.07016521667480013, + 0.6130376644334259, + 0.7710443120285504, + 0.09444457063412903, + 0.6930455153335311, + 0.09426500996483651, + 2.063281284612044, + 0.9129097727359188, + 5.710971355438232, + 1.9414709508419037, + 7.9745882749557495, + 7.378174662590027, + 3.2647520303726196, + 7.747778296470642, + 1.0512100160121918 + ], + "max": [ + 1.4312387704849243, + 0.9942846298217773, + 0.35824716091156006, + 0.42332249879837036, + 1.4080666303634644, + 0.19403602182865143, + 0.508411705493927, + 1.1665540933609009, + 9.758368492126465, + 2.7117056846618652, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0 + ], + "min": [ + 0.8001501560211182, + -0.9963381290435791, + -1.2083065509796143, + -2.6031124591827393, + -1.4880801439285278, + -1.7395809888839722, + -2.8114991188049316, + -1.4173651933670044, + -1.9014521837234497, + -5.880380630493164, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0 + ], + "q01": [ + 0.8001501560211182, + -0.9963381290435791, + -1.2083065509796143, + -2.6031124591827393, + -1.4880801439285278, + -1.7395809888839722, + -2.8114991188049316, + -1.4173651933670044, + -1.9014521837234497, + -5.880380630493164, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0 + ], + "q99": [ + 1.4312387704849243, + 0.9942846298217773, + 0.35824716091156006, + 0.42332249879837036, + 1.4080666303634644, + 0.19403602182865143, + 0.508411705493927, + 1.1665540933609009, + 9.758368492126465, + 2.7117056846618652, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0 + ] + }, + "num_transitions": 85160, + "num_trajectories": 90 + } +} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/episode_metrics.jsonl b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/episode_metrics.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..183ceefe134a07392e7af15e6fd5897d872f5a0c --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/episode_metrics.jsonl @@ -0,0 +1,100 @@ +{"episode_id": 0, "episode_return": 65.58934628306696, "episode_return_env": 65.58934628306696, "game_score": null, "mean_latency_ms": 110.8839504019401, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 42, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.0467783762562, "p99_latency_ms": 119.63059097566956, "return_raw": null, "survival_steps": 61} +{"episode_id": 1, "episode_return": 60.910104659119604, "episode_return_env": 60.910104659119604, "game_score": null, "mean_latency_ms": 111.93465806089286, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 43, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.02613908435058, "p99_latency_ms": 121.46686582276925, "return_raw": null, "survival_steps": 62} +{"episode_id": 2, "episode_return": 58.6906141377254, "episode_return_env": 58.6906141377254, "game_score": null, "mean_latency_ms": 111.8819020208502, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 44, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.68690292322054, "p99_latency_ms": 119.60099331815027, "return_raw": null, "survival_steps": 61} +{"episode_id": 3, "episode_return": 64.10477141088124, "episode_return_env": 64.10477141088124, "game_score": null, "mean_latency_ms": 111.37755767064323, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 45, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.12991172137123, "p99_latency_ms": 119.52343241862259, "return_raw": null, "survival_steps": 61} +{"episode_id": 4, "episode_return": 65.92255461971546, "episode_return_env": 65.92255461971546, "game_score": null, "mean_latency_ms": 111.94080549753697, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 46, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 63, "workload_id": "walker2d"}, "num_actions": 63, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.84581177471529, "p99_latency_ms": 119.39183115897083, "return_raw": null, "survival_steps": 63} +{"episode_id": 5, "episode_return": 58.746843629465424, "episode_return_env": 58.746843629465424, "game_score": null, "mean_latency_ms": 111.67393495486449, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 47, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.09605691342188, "p99_latency_ms": 119.07434142167659, "return_raw": null, "survival_steps": 60} +{"episode_id": 6, "episode_return": 67.88707403247128, "episode_return_env": 67.88707403247128, "game_score": null, "mean_latency_ms": 111.66272015921237, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 48, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 63, "workload_id": "walker2d"}, "num_actions": 63, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.10690802175404, "p99_latency_ms": 118.46989224350258, "return_raw": null, "survival_steps": 63} +{"episode_id": 7, "episode_return": 60.43841413450237, "episode_return_env": 60.43841413450237, "game_score": null, "mean_latency_ms": 111.44067283618958, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 49, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.24964927661297, "p99_latency_ms": 119.05012924062669, "return_raw": null, "survival_steps": 60} +{"episode_id": 8, "episode_return": 54.675644882580826, "episode_return_env": 54.675644882580826, "game_score": null, "mean_latency_ms": 111.50520365238724, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 50, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 58, "workload_id": "walker2d"}, "num_actions": 58, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.86349373512653, "p99_latency_ms": 119.46920972816656, "return_raw": null, "survival_steps": 58} +{"episode_id": 9, "episode_return": 74.02482771919311, "episode_return_env": 74.02482771919311, "game_score": null, "mean_latency_ms": 112.12756106818364, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 51, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 67, "workload_id": "walker2d"}, "num_actions": 67, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.44484663423646, "p99_latency_ms": 119.85488972034227, "return_raw": null, "survival_steps": 67} +{"episode_id": 10, "episode_return": 64.9016114422907, "episode_return_env": 64.9016114422907, "game_score": null, "mean_latency_ms": 111.48821459809227, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 52, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.84394214876431, "p99_latency_ms": 118.45341302178863, "return_raw": null, "survival_steps": 61} +{"episode_id": 11, "episode_return": 79.37998840663535, "episode_return_env": 79.37998840663535, "game_score": null, "mean_latency_ms": 111.82475222202208, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 53, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 66, "workload_id": "walker2d"}, "num_actions": 66, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.17215172490361, "p99_latency_ms": 119.36250112563394, "return_raw": null, "survival_steps": 66} +{"episode_id": 12, "episode_return": 59.62504858513165, "episode_return_env": 59.62504858513165, "game_score": null, "mean_latency_ms": 110.43433032605847, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 54, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 115.65264945197639, "p99_latency_ms": 117.43349702080107, "return_raw": null, "survival_steps": 60} +{"episode_id": 13, "episode_return": 68.37548770946009, "episode_return_env": 68.37548770946009, "game_score": null, "mean_latency_ms": 111.65930389541187, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 55, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 63, "workload_id": "walker2d"}, "num_actions": 63, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.58946588475169, "p99_latency_ms": 118.58058498546893, "return_raw": null, "survival_steps": 63} +{"episode_id": 14, "episode_return": 61.35187531973693, "episode_return_env": 61.35187531973693, "game_score": null, "mean_latency_ms": 110.53791370244885, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 56, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.23753223083115, "p99_latency_ms": 120.22176381411123, "return_raw": null, "survival_steps": 62} +{"episode_id": 15, "episode_return": 62.34654990800029, "episode_return_env": 62.34654990800029, "game_score": null, "mean_latency_ms": 111.21686885382807, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 57, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.42507405467705, "p99_latency_ms": 119.3149287343125, "return_raw": null, "survival_steps": 60} +{"episode_id": 16, "episode_return": 54.66817833173596, "episode_return_env": 54.66817833173596, "game_score": null, "mean_latency_ms": 111.05020531988188, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 58, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 58, "workload_id": "walker2d"}, "num_actions": 58, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.84795314364132, "p99_latency_ms": 119.34992557870291, "return_raw": null, "survival_steps": 58} +{"episode_id": 17, "episode_return": 49.99494950144074, "episode_return_env": 49.99494950144074, "game_score": null, "mean_latency_ms": 111.4324369297119, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 59, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 56, "workload_id": "walker2d"}, "num_actions": 56, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.52554640995099, "p99_latency_ms": 120.29181579701147, "return_raw": null, "survival_steps": 56} +{"episode_id": 18, "episode_return": 60.77289365707944, "episode_return_env": 60.77289365707944, "game_score": null, "mean_latency_ms": 111.46299806130624, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 60, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.07961788712608, "p99_latency_ms": 118.01330409792942, "return_raw": null, "survival_steps": 61} +{"episode_id": 19, "episode_return": 56.59874465519329, "episode_return_env": 56.59874465519329, "game_score": null, "mean_latency_ms": 111.65259198995167, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 61, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 59, "workload_id": "walker2d"}, "num_actions": 59, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.4331324292411, "p99_latency_ms": 119.48895362727635, "return_raw": null, "survival_steps": 59} +{"episode_id": 20, "episode_return": 56.00974402186857, "episode_return_env": 56.00974402186857, "game_score": null, "mean_latency_ms": 111.75973015216213, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 62, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 59, "workload_id": "walker2d"}, "num_actions": 59, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 115.9969436073384, "p99_latency_ms": 118.42821010226348, "return_raw": null, "survival_steps": 59} +{"episode_id": 21, "episode_return": 53.82648469814237, "episode_return_env": 53.82648469814237, "game_score": null, "mean_latency_ms": 111.99415807427265, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 63, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 58, "workload_id": "walker2d"}, "num_actions": 58, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.02772961338928, "p99_latency_ms": 119.08171542462631, "return_raw": null, "survival_steps": 58} +{"episode_id": 22, "episode_return": 62.660223045200205, "episode_return_env": 62.660223045200205, "game_score": null, "mean_latency_ms": 110.70306540792983, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 64, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.04781381784719, "p99_latency_ms": 118.96755673189622, "return_raw": null, "survival_steps": 61} +{"episode_id": 23, "episode_return": 71.17729716307879, "episode_return_env": 71.17729716307879, "game_score": null, "mean_latency_ms": 111.48963432907675, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 65, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 64, "workload_id": "walker2d"}, "num_actions": 64, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.62422922303458, "p99_latency_ms": 119.754090923863, "return_raw": null, "survival_steps": 64} +{"episode_id": 24, "episode_return": 66.14795250423595, "episode_return_env": 66.14795250423595, "game_score": null, "mean_latency_ms": 112.53327075104325, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 66, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.40505847641094, "p99_latency_ms": 119.56838326091612, "return_raw": null, "survival_steps": 62} +{"episode_id": 25, "episode_return": 71.71416604052975, "episode_return_env": 71.71416604052975, "game_score": null, "mean_latency_ms": 110.99188932692445, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 67, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 67, "workload_id": "walker2d"}, "num_actions": 67, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.17731430512376, "p99_latency_ms": 119.13274126449431, "return_raw": null, "survival_steps": 67} +{"episode_id": 26, "episode_return": 52.563629389245314, "episode_return_env": 52.563629389245314, "game_score": null, "mean_latency_ms": 110.91303425701669, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 68, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 57, "workload_id": "walker2d"}, "num_actions": 57, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.98304511814793, "p99_latency_ms": 119.32519218567451, "return_raw": null, "survival_steps": 57} +{"episode_id": 27, "episode_return": 57.546448071731014, "episode_return_env": 57.546448071731014, "game_score": null, "mean_latency_ms": 111.45603176977313, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 69, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.83087075754028, "p99_latency_ms": 118.86495377084253, "return_raw": null, "survival_steps": 60} +{"episode_id": 28, "episode_return": 51.94105814180708, "episode_return_env": 51.94105814180708, "game_score": null, "mean_latency_ms": 112.40053643018423, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 70, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 57, "workload_id": "walker2d"}, "num_actions": 57, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.13882364806041, "p99_latency_ms": 120.20095175695158, "return_raw": null, "survival_steps": 57} +{"episode_id": 29, "episode_return": 56.609985105268635, "episode_return_env": 56.609985105268635, "game_score": null, "mean_latency_ms": 111.11339415314796, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 71, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 59, "workload_id": "walker2d"}, "num_actions": 59, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.07839886244305, "p99_latency_ms": 119.16720936667087, "return_raw": null, "survival_steps": 59} +{"episode_id": 30, "episode_return": 72.99183331354432, "episode_return_env": 72.99183331354432, "game_score": null, "mean_latency_ms": 111.77501055747597, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 72, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 68, "workload_id": "walker2d"}, "num_actions": 68, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.20681144028066, "p99_latency_ms": 119.48130540931027, "return_raw": null, "survival_steps": 68} +{"episode_id": 31, "episode_return": 62.255062153566996, "episode_return_env": 62.255062153566996, "game_score": null, "mean_latency_ms": 110.65293772754309, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 73, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.55338857980607, "p99_latency_ms": 118.94229348493349, "return_raw": null, "survival_steps": 61} +{"episode_id": 32, "episode_return": 63.24413894052726, "episode_return_env": 63.24413894052726, "game_score": null, "mean_latency_ms": 111.68504787300773, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 74, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.3317067996783, "p99_latency_ms": 119.57533361039876, "return_raw": null, "survival_steps": 62} +{"episode_id": 33, "episode_return": 59.98506838393857, "episode_return_env": 59.98506838393857, "game_score": null, "mean_latency_ms": 110.69705530177998, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 75, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.80231304095123, "p99_latency_ms": 119.49868885797636, "return_raw": null, "survival_steps": 60} +{"episode_id": 34, "episode_return": 49.88831138344363, "episode_return_env": 49.88831138344363, "game_score": null, "mean_latency_ms": 110.56717861175287, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 76, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 56, "workload_id": "walker2d"}, "num_actions": 56, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.33647879483183, "p99_latency_ms": 120.47212847066251, "return_raw": null, "survival_steps": 56} +{"episode_id": 35, "episode_return": 62.349249083304535, "episode_return_env": 62.349249083304535, "game_score": null, "mean_latency_ms": 110.5382322702147, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 77, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.00395177759383, "p99_latency_ms": 117.9584921242351, "return_raw": null, "survival_steps": 60} +{"episode_id": 36, "episode_return": 54.0895700823393, "episode_return_env": 54.0895700823393, "game_score": null, "mean_latency_ms": 110.89895475244653, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 78, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 58, "workload_id": "walker2d"}, "num_actions": 58, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.98513604951613, "p99_latency_ms": 118.73039611907441, "return_raw": null, "survival_steps": 58} +{"episode_id": 37, "episode_return": 71.29731982286225, "episode_return_env": 71.29731982286225, "game_score": null, "mean_latency_ms": 110.18813842175767, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 79, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 66, "workload_id": "walker2d"}, "num_actions": 66, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 115.95508419819552, "p99_latency_ms": 119.0452829652406, "return_raw": null, "survival_steps": 66} +{"episode_id": 38, "episode_return": 63.096403515271646, "episode_return_env": 63.096403515271646, "game_score": null, "mean_latency_ms": 111.41408140965522, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 80, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.0814426490466, "p99_latency_ms": 119.04517919191919, "return_raw": null, "survival_steps": 60} +{"episode_id": 39, "episode_return": 67.90110748509426, "episode_return_env": 67.90110748509426, "game_score": null, "mean_latency_ms": 112.15234077164763, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 81, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 64, "workload_id": "walker2d"}, "num_actions": 64, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.54540601717665, "p99_latency_ms": 119.61507514229083, "return_raw": null, "survival_steps": 64} +{"episode_id": 40, "episode_return": 80.1515603391677, "episode_return_env": 80.1515603391677, "game_score": null, "mean_latency_ms": 110.89566524307311, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 82, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 67, "workload_id": "walker2d"}, "num_actions": 67, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.1336151604813, "p99_latency_ms": 118.48585981321193, "return_raw": null, "survival_steps": 67} +{"episode_id": 41, "episode_return": 59.99183865273101, "episode_return_env": 59.99183865273101, "game_score": null, "mean_latency_ms": 110.4020665624525, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 83, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 115.81123900084948, "p99_latency_ms": 121.1496224293019, "return_raw": null, "survival_steps": 62} +{"episode_id": 42, "episode_return": 55.49212989780022, "episode_return_env": 55.49212989780022, "game_score": null, "mean_latency_ms": 111.87234160843434, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 84, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 58, "workload_id": "walker2d"}, "num_actions": 58, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.90933057943533, "p99_latency_ms": 118.8327793538078, "return_raw": null, "survival_steps": 58} +{"episode_id": 43, "episode_return": 72.43860504374975, "episode_return_env": 72.43860504374975, "game_score": null, "mean_latency_ms": 110.22523840676844, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 85, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 65, "workload_id": "walker2d"}, "num_actions": 65, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.2968885117389, "p99_latency_ms": 118.5082091525239, "return_raw": null, "survival_steps": 65} +{"episode_id": 44, "episode_return": 59.45542755072249, "episode_return_env": 59.45542755072249, "game_score": null, "mean_latency_ms": 111.92446560085449, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 86, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.13515477071292, "p99_latency_ms": 118.83239472399859, "return_raw": null, "survival_steps": 61} +{"episode_id": 45, "episode_return": 51.6880341429204, "episode_return_env": 51.6880341429204, "game_score": null, "mean_latency_ms": 111.234845361817, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 87, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 57, "workload_id": "walker2d"}, "num_actions": 57, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.99407399224421, "p99_latency_ms": 119.12905925169716, "return_raw": null, "survival_steps": 57} +{"episode_id": 46, "episode_return": 48.23184843315497, "episode_return_env": 48.23184843315497, "game_score": null, "mean_latency_ms": 111.54748726864594, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 88, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 56, "workload_id": "walker2d"}, "num_actions": 56, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.97100013070394, "p99_latency_ms": 119.19441958422675, "return_raw": null, "survival_steps": 56} +{"episode_id": 47, "episode_return": 81.13700087930098, "episode_return_env": 81.13700087930098, "game_score": null, "mean_latency_ms": 111.41753460370643, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 89, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 67, "workload_id": "walker2d"}, "num_actions": 67, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.57365782596412, "p99_latency_ms": 119.56224945577455, "return_raw": null, "survival_steps": 67} +{"episode_id": 48, "episode_return": 67.66015103851316, "episode_return_env": 67.66015103851316, "game_score": null, "mean_latency_ms": 110.93575017047147, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 90, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.96116172770157, "p99_latency_ms": 119.94830754190734, "return_raw": null, "survival_steps": 62} +{"episode_id": 49, "episode_return": 51.22542749398001, "episode_return_env": 51.22542749398001, "game_score": null, "mean_latency_ms": 111.2269148792187, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 91, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 57, "workload_id": "walker2d"}, "num_actions": 57, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 115.95612877837144, "p99_latency_ms": 118.61918058403923, "return_raw": null, "survival_steps": 57} +{"episode_id": 50, "episode_return": 63.49473020573836, "episode_return_env": 63.49473020573836, "game_score": null, "mean_latency_ms": 110.8031434621352, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 92, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 64, "workload_id": "walker2d"}, "num_actions": 64, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.31372400566013, "p99_latency_ms": 119.82228649490017, "return_raw": null, "survival_steps": 64} +{"episode_id": 51, "episode_return": 65.35333575367018, "episode_return_env": 65.35333575367018, "game_score": null, "mean_latency_ms": 111.61440343971348, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 93, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.3116804897901, "p99_latency_ms": 118.72205009034909, "return_raw": null, "survival_steps": 61} +{"episode_id": 52, "episode_return": 78.37645975258664, "episode_return_env": 78.37645975258664, "game_score": null, "mean_latency_ms": 111.46530806652589, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 94, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 66, "workload_id": "walker2d"}, "num_actions": 66, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.50880653524206, "p99_latency_ms": 119.2447141287312, "return_raw": null, "survival_steps": 66} +{"episode_id": 53, "episode_return": 54.73960009940515, "episode_return_env": 54.73960009940515, "game_score": null, "mean_latency_ms": 111.77153247463559, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 95, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 58, "workload_id": "walker2d"}, "num_actions": 58, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.49337237376295, "p99_latency_ms": 119.40759102082002, "return_raw": null, "survival_steps": 58} +{"episode_id": 54, "episode_return": 73.99850364408039, "episode_return_env": 73.99850364408039, "game_score": null, "mean_latency_ms": 110.93553189597732, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 96, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 65, "workload_id": "walker2d"}, "num_actions": 65, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.7001582859226, "p99_latency_ms": 118.61500306002571, "return_raw": null, "survival_steps": 65} +{"episode_id": 55, "episode_return": 58.490422210343134, "episode_return_env": 58.490422210343134, "game_score": null, "mean_latency_ms": 110.47464561177034, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 97, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 115.66566548937823, "p99_latency_ms": 118.03949674715716, "return_raw": null, "survival_steps": 60} +{"episode_id": 56, "episode_return": 63.65676063523494, "episode_return_env": 63.65676063523494, "game_score": null, "mean_latency_ms": 111.8105327117083, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 98, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.75550209256463, "p99_latency_ms": 121.68019753937693, "return_raw": null, "survival_steps": 61} +{"episode_id": 57, "episode_return": 53.11584317729289, "episode_return_env": 53.11584317729289, "game_score": null, "mean_latency_ms": 110.7817772335245, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 99, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 58, "workload_id": "walker2d"}, "num_actions": 58, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.15337621303549, "p99_latency_ms": 119.25016682208673, "return_raw": null, "survival_steps": 58} +{"episode_id": 58, "episode_return": 80.01690931246624, "episode_return_env": 80.01690931246624, "game_score": null, "mean_latency_ms": 111.5834785728444, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 100, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 70, "workload_id": "walker2d"}, "num_actions": 70, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.34493952983291, "p99_latency_ms": 118.54946199085225, "return_raw": null, "survival_steps": 70} +{"episode_id": 59, "episode_return": 69.62043546263862, "episode_return_env": 69.62043546263862, "game_score": null, "mean_latency_ms": 110.50962996504643, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 101, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 63, "workload_id": "walker2d"}, "num_actions": 63, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 115.89244427119849, "p99_latency_ms": 118.43338318219227, "return_raw": null, "survival_steps": 63} +{"episode_id": 60, "episode_return": 71.82747311321972, "episode_return_env": 71.82747311321972, "game_score": null, "mean_latency_ms": 111.90544983138511, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 102, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.1182726168822, "p99_latency_ms": 119.82455383559721, "return_raw": null, "survival_steps": 62} +{"episode_id": 61, "episode_return": 56.30660155176094, "episode_return_env": 56.30660155176094, "game_score": null, "mean_latency_ms": 111.16262937145265, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 103, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 59, "workload_id": "walker2d"}, "num_actions": 59, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.50172579253245, "p99_latency_ms": 119.33072471493497, "return_raw": null, "survival_steps": 59} +{"episode_id": 62, "episode_return": 82.15531250395905, "episode_return_env": 82.15531250395905, "game_score": null, "mean_latency_ms": 110.83922856976783, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 104, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 67, "workload_id": "walker2d"}, "num_actions": 67, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.17384229351359, "p99_latency_ms": 119.38126410611193, "return_raw": null, "survival_steps": 67} +{"episode_id": 63, "episode_return": 61.859128391254615, "episode_return_env": 61.859128391254615, "game_score": null, "mean_latency_ms": 112.33287455887435, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 105, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.85039931209002, "p99_latency_ms": 119.36397198591044, "return_raw": null, "survival_steps": 61} +{"episode_id": 64, "episode_return": 58.25119256459583, "episode_return_env": 58.25119256459583, "game_score": null, "mean_latency_ms": 111.15049239572207, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 106, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.09530600222874, "p99_latency_ms": 119.58407034114133, "return_raw": null, "survival_steps": 61} +{"episode_id": 65, "episode_return": 59.597231871121124, "episode_return_env": 59.597231871121124, "game_score": null, "mean_latency_ms": 110.70152527093121, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 107, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 59, "workload_id": "walker2d"}, "num_actions": 59, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 115.36632233817393, "p99_latency_ms": 120.29241351930744, "return_raw": null, "survival_steps": 59} +{"episode_id": 66, "episode_return": 64.76233821759561, "episode_return_env": 64.76233821759561, "game_score": null, "mean_latency_ms": 111.18188100777941, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 108, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.18568338422212, "p99_latency_ms": 118.92661732372771, "return_raw": null, "survival_steps": 61} +{"episode_id": 67, "episode_return": 57.9737979101359, "episode_return_env": 57.9737979101359, "game_score": null, "mean_latency_ms": 110.97494912722848, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 109, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 59, "workload_id": "walker2d"}, "num_actions": 59, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.24286969240038, "p99_latency_ms": 118.73885132168684, "return_raw": null, "survival_steps": 59} +{"episode_id": 68, "episode_return": 64.60330646235138, "episode_return_env": 64.60330646235138, "game_score": null, "mean_latency_ms": 110.25061757757481, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 110, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.65630689169592, "p99_latency_ms": 119.18861577646854, "return_raw": null, "survival_steps": 61} +{"episode_id": 69, "episode_return": 68.39216738999188, "episode_return_env": 68.39216738999188, "game_score": null, "mean_latency_ms": 110.4680802349512, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 111, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 63, "workload_id": "walker2d"}, "num_actions": 63, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.20547101916985, "p99_latency_ms": 118.24942016384242, "return_raw": null, "survival_steps": 63} +{"episode_id": 70, "episode_return": 81.3662837124034, "episode_return_env": 81.3662837124034, "game_score": null, "mean_latency_ms": 111.63901578943546, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 112, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 64, "workload_id": "walker2d"}, "num_actions": 64, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.70367720887899, "p99_latency_ms": 119.80283846420542, "return_raw": null, "survival_steps": 64} +{"episode_id": 71, "episode_return": 67.29804304208545, "episode_return_env": 67.29804304208545, "game_score": null, "mean_latency_ms": 112.2893315284938, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 113, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.31888685152396, "p99_latency_ms": 119.61808749909753, "return_raw": null, "survival_steps": 62} +{"episode_id": 72, "episode_return": 60.074967392758104, "episode_return_env": 60.074967392758104, "game_score": null, "mean_latency_ms": 111.86918837373761, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 114, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.05578913816835, "p99_latency_ms": 118.75829693970306, "return_raw": null, "survival_steps": 60} +{"episode_id": 73, "episode_return": 49.48560328970113, "episode_return_env": 49.48560328970113, "game_score": null, "mean_latency_ms": 112.11036809442851, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 115, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 56, "workload_id": "walker2d"}, "num_actions": 56, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.81726248967496, "p99_latency_ms": 119.9429353758941, "return_raw": null, "survival_steps": 56} +{"episode_id": 74, "episode_return": 53.64601842069606, "episode_return_env": 53.64601842069606, "game_score": null, "mean_latency_ms": 111.05094656412061, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 116, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 58, "workload_id": "walker2d"}, "num_actions": 58, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.23318482087114, "p99_latency_ms": 118.86626415034442, "return_raw": null, "survival_steps": 58} +{"episode_id": 75, "episode_return": 60.23141241188301, "episode_return_env": 60.23141241188301, "game_score": null, "mean_latency_ms": 111.62553377773294, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 117, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.88412502605885, "p99_latency_ms": 119.54608532174295, "return_raw": null, "survival_steps": 60} +{"episode_id": 76, "episode_return": 79.30348746591321, "episode_return_env": 79.30348746591321, "game_score": null, "mean_latency_ms": 110.9717881078432, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 118, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 68, "workload_id": "walker2d"}, "num_actions": 68, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.66263525962057, "p99_latency_ms": 119.21708311285019, "return_raw": null, "survival_steps": 68} +{"episode_id": 77, "episode_return": 78.75576124166064, "episode_return_env": 78.75576124166064, "game_score": null, "mean_latency_ms": 112.20502055226451, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 119, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 68, "workload_id": "walker2d"}, "num_actions": 68, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.52029892534676, "p99_latency_ms": 126.4398457392319, "return_raw": null, "survival_steps": 68} +{"episode_id": 78, "episode_return": 66.66050040145521, "episode_return_env": 66.66050040145521, "game_score": null, "mean_latency_ms": 112.15932534448993, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 120, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.20340570209538, "p99_latency_ms": 119.63883017042112, "return_raw": null, "survival_steps": 62} +{"episode_id": 79, "episode_return": 69.41285966686652, "episode_return_env": 69.41285966686652, "game_score": null, "mean_latency_ms": 110.74335883858566, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 121, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 64, "workload_id": "walker2d"}, "num_actions": 64, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.77232130058496, "p99_latency_ms": 119.14859773119784, "return_raw": null, "survival_steps": 64} +{"episode_id": 80, "episode_return": 75.93722358106352, "episode_return_env": 75.93722358106352, "game_score": null, "mean_latency_ms": 110.72900979164602, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 122, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 67, "workload_id": "walker2d"}, "num_actions": 67, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.61569635508053, "p99_latency_ms": 119.61548457415928, "return_raw": null, "survival_steps": 67} +{"episode_id": 81, "episode_return": 75.80464883575021, "episode_return_env": 75.80464883575021, "game_score": null, "mean_latency_ms": 111.27247293848521, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 123, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 66, "workload_id": "walker2d"}, "num_actions": 66, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.63710473653667, "p99_latency_ms": 119.71644852953389, "return_raw": null, "survival_steps": 66} +{"episode_id": 82, "episode_return": 50.070590637278656, "episode_return_env": 50.070590637278656, "game_score": null, "mean_latency_ms": 111.86069941289199, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 124, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 57, "workload_id": "walker2d"}, "num_actions": 57, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.92074930858261, "p99_latency_ms": 119.09828644186254, "return_raw": null, "survival_steps": 57} +{"episode_id": 83, "episode_return": 74.13232493970976, "episode_return_env": 74.13232493970976, "game_score": null, "mean_latency_ms": 112.28042730929253, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 125, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 67, "workload_id": "walker2d"}, "num_actions": 67, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.11677947733999, "p99_latency_ms": 120.07840022214371, "return_raw": null, "survival_steps": 67} +{"episode_id": 84, "episode_return": 100.41852859810552, "episode_return_env": 100.41852859810552, "game_score": null, "mean_latency_ms": 110.5152984164563, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 126, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 75, "workload_id": "walker2d"}, "num_actions": 75, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.3586551757091, "p99_latency_ms": 118.3418265558036, "return_raw": null, "survival_steps": 75} +{"episode_id": 85, "episode_return": 62.158942374459116, "episode_return_env": 62.158942374459116, "game_score": null, "mean_latency_ms": 111.22828200350267, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 127, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.09751623775524, "p99_latency_ms": 119.62204135252642, "return_raw": null, "survival_steps": 60} +{"episode_id": 86, "episode_return": 61.672971329352315, "episode_return_env": 61.672971329352315, "game_score": null, "mean_latency_ms": 110.74909890896463, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 128, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 115.46661446575818, "p99_latency_ms": 117.44400763342631, "return_raw": null, "survival_steps": 60} +{"episode_id": 87, "episode_return": 70.41987562553149, "episode_return_env": 70.41987562553149, "game_score": null, "mean_latency_ms": 111.87698840329345, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 129, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 66, "workload_id": "walker2d"}, "num_actions": 66, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.98893336893929, "p99_latency_ms": 119.9793142979757, "return_raw": null, "survival_steps": 66} +{"episode_id": 88, "episode_return": 59.78786763486186, "episode_return_env": 59.78786763486186, "game_score": null, "mean_latency_ms": 111.83073048355615, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 130, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.67344805199434, "p99_latency_ms": 124.11591420172027, "return_raw": null, "survival_steps": 62} +{"episode_id": 89, "episode_return": 86.22198605778937, "episode_return_env": 86.22198605778937, "game_score": null, "mean_latency_ms": 111.9427572096376, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 131, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 66, "workload_id": "walker2d"}, "num_actions": 66, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.29441995328102, "p99_latency_ms": 120.20578255461157, "return_raw": null, "survival_steps": 66} +{"episode_id": 90, "episode_return": 50.21946186367313, "episode_return_env": 50.21946186367313, "game_score": null, "mean_latency_ms": 109.8146031516811, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 132, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 57, "workload_id": "walker2d"}, "num_actions": 57, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.79441007657397, "p99_latency_ms": 118.66098381068494, "return_raw": null, "survival_steps": 57} +{"episode_id": 91, "episode_return": 56.62210038351286, "episode_return_env": 56.62210038351286, "game_score": null, "mean_latency_ms": 111.19495853988977, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 133, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 59, "workload_id": "walker2d"}, "num_actions": 59, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.5455839123372, "p99_latency_ms": 118.85958546211543, "return_raw": null, "survival_steps": 59} +{"episode_id": 92, "episode_return": 59.83064133753597, "episode_return_env": 59.83064133753597, "game_score": null, "mean_latency_ms": 110.80744108963158, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 134, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.61579857124545, "p99_latency_ms": 119.05132966557002, "return_raw": null, "survival_steps": 60} +{"episode_id": 93, "episode_return": 58.83068130459795, "episode_return_env": 58.83068130459795, "game_score": null, "mean_latency_ms": 112.0107910649472, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 135, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 60, "workload_id": "walker2d"}, "num_actions": 60, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.23943950228387, "p99_latency_ms": 123.96593669065851, "return_raw": null, "survival_steps": 60} +{"episode_id": 94, "episode_return": 61.824244198604724, "episode_return_env": 61.824244198604724, "game_score": null, "mean_latency_ms": 110.58697656862216, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 136, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 59, "workload_id": "walker2d"}, "num_actions": 59, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.34686379008042, "p99_latency_ms": 119.14726161848131, "return_raw": null, "survival_steps": 59} +{"episode_id": 95, "episode_return": 62.89603391334393, "episode_return_env": 62.89603391334393, "game_score": null, "mean_latency_ms": 111.26979109885023, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 137, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 61, "workload_id": "walker2d"}, "num_actions": 61, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.57460782797305, "p99_latency_ms": 118.74165766567691, "return_raw": null, "survival_steps": 61} +{"episode_id": 96, "episode_return": 71.27124528832528, "episode_return_env": 71.27124528832528, "game_score": null, "mean_latency_ms": 111.2623083227981, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 138, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 64, "workload_id": "walker2d"}, "num_actions": 64, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 118.03454609232656, "p99_latency_ms": 119.7427069848635, "return_raw": null, "survival_steps": 64} +{"episode_id": 97, "episode_return": 64.64764120346435, "episode_return_env": 64.64764120346435, "game_score": null, "mean_latency_ms": 111.56656563872998, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 139, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.75373309795275, "p99_latency_ms": 119.46116108498833, "return_raw": null, "survival_steps": 62} +{"episode_id": 98, "episode_return": 66.07376166858724, "episode_return_env": 66.07376166858724, "game_score": null, "mean_latency_ms": 111.49547353625586, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 140, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 62, "workload_id": "walker2d"}, "num_actions": 62, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 117.22445550403538, "p99_latency_ms": 118.65186179139042, "return_raw": null, "survival_steps": 62} +{"episode_id": 99, "episode_return": 51.863129588608565, "episode_return_env": 51.863129588608565, "game_score": null, "mean_latency_ms": 111.66540691482543, "metadata": {"action_prefix": {"mode": "none"}, "checkpoint_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt", "config_name": "walker2d_gr00t_l0_iid_100ep", "dropped_observation_count": 0, "env_fps": 5.0, "env_id": "LatencyBench/Walker2dContinuous-v0", "episode_seed": 141, "frame_ms": 200.0, "gpu_class": "1x-rtx3090", "idle_worker_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": "instance_859cf1e47bca6046", "latency_type": "profile_sample", "mode": "simulated", "model_id": "gr00t", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32", "policy_id": "starvla", "profile_ref": null, "run_name": "walker2d_gr00t_l0_iid_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json", "source_run_id": "20260917T164637291306Z", "submitted_observation_frames": 58, "workload_id": "walker2d"}, "num_actions": 58, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 116.90585192219231, "p99_latency_ms": 119.16159480561049, "return_raw": null, "survival_steps": 58} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/eval_config.yaml b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..493cd34a1ee1ab8833a967cfc8c0a2c947a9c2a8 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/eval_config.yaml @@ -0,0 +1,166 @@ +experiment: + name: walker2d_gr00t_l0_iid_100ep + seed: 42 +backend: + type: sample_factory + algo: APPO + device: cuda + train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/walker2d + restart_behavior: overwrite + run_mode: eval +executor: + mode: simulated + inference_devices: + - cuda:0 + - cuda:1 + inference_batch_size: 8 + simulated_inference_pool: true + simulated_worker_capacity: 1 +env: + name: gymnasium + task_name: walker2d + env_id: LatencyBench/Walker2dContinuous-v0 + registration_imports: + - latency_bench.envs.tasks.walker2d + make_kwargs: + base_env_id: Walker2d-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 + env_fps: 5 + obs_fps: 5 + frame_stack: 1 + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + - 1.0 + labels: + - right_thigh_torque + - right_leg_torque + - right_foot_torque + - left_thigh_torque + - left_leg_torque + - left_foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + - -1.0 + type: box + noop_action: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + base_prompt: Move the Walker2d robot forward while keeping its torso upright. Predict + six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, + left thigh, left leg, and left foot. + state_space: + labels: + - torso_height + - torso_angle + - right_thigh_angle + - right_leg_angle + - right_foot_angle + - left_thigh_angle + - left_leg_angle + - left_foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - right_thigh_angular_velocity + - right_leg_angular_velocity + - right_foot_angular_velocity + - left_thigh_angular_velocity + - left_leg_angular_velocity + - left_foot_angular_velocity + obs_resize: + - 224 + - 224 +latency: + method: iid + sync_cuda: false + profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json + profile_worker_slot: 0 + seed: 0 +scheduler: + hold_policy: hold + ordering_policy: issue_order_fifo +policy: + type: starvla + checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt + model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/config.yaml + backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 + device: cuda:0 + task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/manifest.json + latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/latency_prompt_map.json + latency_prompt_key: 0 +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 + max_policy_lag: 300 + learning_rate: 0.00295 + gamma: 0.99 + gae_lambda: 0.95 + ppo_clip_ratio: 0.2 + ppo_clip_value: 0.2 + value_loss_coeff: 1.3 + max_grad_norm: 3.5 + exploration_loss_coeff: 0.0 + async_rl: false + batched_sampling: false + use_rnn: false + encoder_mlp_layers: + - 64 + - 64 + normalize_input: true + normalize_returns: true + save_every_sec: 600 + keep_checkpoints: 5 + lr_schedule: linear_decay + kl_loss_coeff: 0.1 + serial_mode: false + nonlinearity: tanh + adaptive_stddev: false + policy_initialization: torch_default + initial_stddev: 1.0 + shuffle_minibatches: false + value_bootstrap: true +evaluation: + eval_episodes: 100 + eval_parallel_envs: 32 + eval_max_steps: 1000 + eval_deterministic: true + eval_latency_values: null + episode_seed_offset: 0 +logging: + output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32 + video: + enabled: false + num_bins: 1 + save_step_records: true + save_action_records: true + save_latency_records: true + realtime_pipeline_profile: false diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0_metadata_source.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0_metadata_source.json new file mode 100644 index 0000000000000000000000000000000000000000..b5286446c63fd00071aabefd40967a2280494dc0 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0_metadata_source.json @@ -0,0 +1,43 @@ +[ + { + "task": "ant", + "file": "manifest.json", + "repo": "MLL-Lab/LAGEN-datasets", + "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc", + "path": "experiments/benchmark-training/archive/standard-pipeline/ant/zero_latency/OpenVLA/legacy/vla/provenance/dataset_contract/manifest.json" + }, + { + "task": "hopper", + "file": "manifest.json", + "repo": "MLL-Lab/LAGEN-datasets", + "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc", + "path": "experiments/benchmark-training/archive/standard-pipeline/hopper/evidence/legacy/zero_latency/OpenVLA/provenance/dataset_contract/manifest.json" + }, + { + "task": "hopper", + "file": "latency_prompt_map.json", + "repo": "MLL-Lab/LAGEN-datasets", + "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc", + "path": "experiments/benchmark-training/archive/standard-pipeline/hopper/evidence/legacy/zero_latency/OpenVLA/provenance/dataset_contract/latency_prompt_map.json" + }, + { + "task": "walker2d", + "file": "manifest.json", + "repo": "MLL-Lab/LAGEN-datasets", + "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc", + "path": "experiments/benchmark-training/archive/standard-pipeline/walker2d/evidence/legacy/zero_latency/source_contract/manifest.json" + }, + { + "task": "walker2d", + "file": "latency_prompt_map.json", + "repo": "MLL-Lab/LAGEN-datasets", + "revision": "0b3b64a5d5f4a52e5b1decf1a30b01ec8637becc", + "path": "experiments/benchmark-training/archive/standard-pipeline/walker2d/evidence/legacy/zero_latency/source_contract/latency_prompt_map.json" + }, + { + "task": "ant", + "file": "latency_prompt_map.json", + "source": "manifest.task_prompts[0]", + "latency_raw_frames": 0 + } +] diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/latency_prompt_map.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..727b2dd7642ac6926aa0451c1859cfa4ed29d397 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/latency_prompt_map.json @@ -0,0 +1,7 @@ +{ + "0": { + "prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 0 raw frames (0.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.", + "latency_raw_frames": 0, + "latency_ms": 0.0 + } +} \ No newline at end of file diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/legacy_normalization_verification.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/legacy_normalization_verification.json new file mode 100644 index 0000000000000000000000000000000000000000..b13da1b6b17f8255c042deeb3dc4beab4a87aba9 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/legacy_normalization_verification.json @@ -0,0 +1,74 @@ +[ + { + "task": "hopper", + "model": "openvla", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "hopper", + "model": "gr00t", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "hopper", + "model": "pi05", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "walker2d", + "model": "openvla", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "walker2d", + "model": "gr00t", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "walker2d", + "model": "pi05", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "ant", + "model": "openvla", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "ant", + "model": "gr00t", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "ant", + "model": "pi05", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "hopper", + "model": "pi05_profile", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "walker2d", + "model": "pi05_profile", + "maximum_abs_difference": 0.0, + "states": 128 + }, + { + "task": "ant", + "model": "pi05_profile", + "maximum_abs_difference": 0.0, + "states": 128 + } +] diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/manifest.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..7627f415c140b0e9670294f11806a4389db03464 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/manifest.json @@ -0,0 +1,184 @@ +{ + "dataset_name": "walker2d_h1_5fps_l0", + "env_name": "walker2d_rgb_state", + "episodes": 90, + "frames": 85160, + "task_prompts": [ + "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 0 raw frames (0.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action." + ], + "format": "lerobot_v2_image_parquet", + "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/raw_5fps", + "integration_name": "gymnasium", + "task_name": "walker2d_rgb_state", + "action_layout": "gymnasium_continuous_v1", + "action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "carrier_action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "action_dim": 6, + "active_action_dim": 6, + "action_carrier": "native", + "rows_unit": "decision_step", + "obs_fps": 5, + "obs_stride_raw_frames": 1, + "uses_state": true, + "state_dim": 17, + "state_labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.8001501560211182, + -0.9963381290435791, + -1.2083065509796143, + -2.6031124591827393, + -1.4880801439285278, + -1.7395809888839722, + -2.8114991188049316, + -1.4173651933670044, + -1.9014521837234497, + -5.880380630493164, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0 + ], + "max": [ + 1.4312387704849243, + 0.9942846298217773, + 0.35824716091156006, + 0.42332249879837036, + 1.4080666303634644, + 0.19403602182865143, + 0.508411705493927, + 1.1665540933609009, + 9.758368492126465, + 2.7117056846618652, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0 + ] + }, + "robot_type": "rl_games_gymnasium_native", + "latency_prompt_map_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/walker2d_h1_5fps_l0/latency_prompt_map.json", + "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/_generated_mixtures/walker2d_h1_5fps_l0.json", + "gymnasium_task": { + "action_space": { + "dtype": "float32", + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "type": "box" + }, + "base_prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot.", + "env_fps": 5, + "env_id": "LatencyBench/Walker2dContinuous-v0", + "frame_stack": 1, + "make_kwargs": { + "base_env_id": "Walker2d-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, + 0.0, + 0.0, + 0.0 + ], + "obs_fps": 5, + "registration_imports": [ + "latency_bench.envs.gymnasium_walker2d" + ], + "state_space": { + "labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ] + }, + "task_name": "walker2d_rgb_state" + }, + "validation_dataset_name": "walker2d_h1_5fps_l0__val", + "validation_episodes": 10, + "validation_frames": 9664 +} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/normalization_binding.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/normalization_binding.json new file mode 100644 index 0000000000000000000000000000000000000000..bfe2be4cd485e4b871c729afd165954b5fe94296 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/normalization_binding.json @@ -0,0 +1,7 @@ +{ + "source_robot_type": "rl_games_gymnasium", + "robot_type": "rl_games_gymnasium_native", + "weights": "unchanged", + "state": "clipped source converter min/max", + "action": "identity q99 bounds [-1,1]" +} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/original_training_statistics.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/original_training_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..bfb9e72f511b15f1aba80c6eb1faa007fa88cee2 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/original_training_statistics.json @@ -0,0 +1,180 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.8840610980987549, + 0.34449484944343567, + 0.11654752492904663, + 0.8480036854743958, + 0.32758569717407227, + 0.9875396490097046 + ], + "std": [ + 0.32312333583831787, + 0.7096099853515625, + 0.9048961400985718, + 0.343753844499588, + 0.7393367886543274, + 0.11781969666481018 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.5243898153305053, + -1.0, + -1.0, + -0.5588397586345673, + -1.0, + 0.5681399703025818 + ], + "q99": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "mask": [ + true, + true, + true, + true, + true, + true + ] + }, + "state": { + "mean": [ + 0.38908126950263977, + -0.06854692101478577, + 0.5603042840957642, + 0.295283704996109, + 0.20391421020030975, + 0.7933022975921631, + 0.32835325598716736, + 0.7283809781074524, + -0.11274679005146027, + 0.36438047885894775, + -0.041566070169210434, + -0.006785172037780285, + -0.21467362344264984, + -0.2302139699459076, + -0.008182121440768242, + -0.19842907786369324, + -0.0016649218741804361 + ], + "std": [ + 0.15210415422916412, + 0.28636232018470764, + 0.08957907557487488, + 0.40512198209762573, + 0.5324621796607971, + 0.09768694639205933, + 0.4175085127353668, + 0.07296281307935677, + 0.3539130389690399, + 0.21250014007091522, + 0.5710971355438232, + 0.19414709508419037, + 0.797458827495575, + 0.7378174662590027, + 0.32647520303726196, + 0.7747778296470642, + 0.10512100160121918 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "q01": [ + -0.01641636550426483, + -0.5725254046916962, + 0.1497414314746857, + -0.5082594507932663, + -0.704446622133255, + 0.4100250256061554, + -0.7682463544607162, + 0.7055095672607422, + -0.8300059294700622, + -0.09350170254707335, + -1.0, + -0.7184711527824402, + -1.0, + -1.0, + -0.9244865983724594, + -1.0, + -0.37168214678764344 + ], + "q99": [ + 0.6826163899898535, + 0.5332732021808625, + 0.7265087735652924, + 0.9429451179504394, + 0.963300715684891, + 0.9189580070972443, + 0.8997541296482087, + 0.7992216396331789, + 0.7250751173496247, + 0.9080468678474427, + 1.0, + 0.8595866250991845, + 1.0, + 1.0, + 1.0, + 1.0, + 0.04421793460845973 + ] + }, + "num_transitions": 85160, + "num_trajectories": 90 + } +} \ No newline at end of file diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/DONE b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/DONE new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/hardware.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/hardware.json new file mode 100644 index 0000000000000000000000000000000000000000..e8204e81807044975c0e0a0953d16d6835192f31 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/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" + } +} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/latency_burst_model.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/latency_burst_model.json new file mode 100644 index 0000000000000000000000000000000000000000..9fb77aea7efff37dbb5ff7955c2673f7fc9f1322 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/latency_burst_model.json @@ -0,0 +1,1308 @@ +{ + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "burst_dwell_lengths": [ + 1 + ], + "burst_merge_gap_records": 30, + "burst_rank_processes": [ + { + "draw_count": 1, + "dwell_length_spearman_rho": 0.0, + "level_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396, + 159.24888014793396 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "level_residual_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "severity": { + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "spike_count": 1 + } + ], + "burst_slot_rank_templates": [ + { + "dwell_length": 1, + "slot_to_rank": { + "0": 0 + } + } + ], + "model_type": "hidden_regime", + "pre_worker_time_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 0.32036399841308594, + 0.32036399841308594, + 0.32723311603069305, + 0.33272179365158083, + 0.34245591163635253, + 0.3487426149845123, + 0.35062161445617673, + 0.3524500966072083, + 0.35448283672332764, + 0.3576815378665924, + 0.3607575559616089, + 0.36199055671691893, + 0.3643078088760376, + 0.3815332889556885, + 0.394054114818573, + 0.4045921802520752, + 0.4232257008552551, + 0.588078451156616, + 0.6740153789520265, + 0.7390505075454712, + 1.1690887093544007, + 1.1805009841918945, + 1.1854936599731445, + 1.190834927558899, + 1.1936466217041015, + 1.196754789352417, + 1.2016456127166748, + 1.2052122354507446, + 1.2098347425460816, + 1.2136710166931153, + 1.2186432838439942, + 1.2227401733398438, + 1.2264718174934388, + 1.2304659366607666, + 1.2377743244171142, + 1.242726945877075, + 1.2481653690338135, + 1.2525454998016357, + 1.2580512285232544, + 1.265002679824829, + 1.2748169422149658, + 1.2793519496917725, + 1.2833239436149597, + 1.2864039421081543, + 1.288594913482666, + 1.2904037475585939, + 1.2922656536102295, + 1.2936686992645263, + 1.2952197790145874, + 1.2970149040222168, + 1.2982266306877137, + 1.2992517948150635, + 1.3002004027366638, + 1.3013105869293213, + 1.3023244500160218, + 1.3032267332077025, + 1.3042846322059631, + 1.3051421642303467, + 1.3060412645339965, + 1.3069873332977295, + 1.3077953457832336, + 1.3088939189910889, + 1.30997976064682, + 1.3111885070800782, + 1.3117629051208497, + 1.3126658916473388, + 1.313631296157837, + 1.3146527767181397, + 1.3157230734825134, + 1.3167790412902831, + 1.3174383997917176, + 1.3183507919311523, + 1.3192538976669312, + 1.3202075004577636, + 1.321112072467804, + 1.3222339153289795, + 1.3233216404914856, + 1.3245097160339356, + 1.3256892442703248, + 1.3268343687057496, + 1.327985405921936, + 1.3291511535644531, + 1.3307852745056152, + 1.332238245010376, + 1.3338016510009765, + 1.3351406574249267, + 1.336811363697052, + 1.3386332511901855, + 1.3400704741477967, + 1.3418533325195312, + 1.3438435316085815, + 1.3454315662384033, + 1.3476183533668518, + 1.3502938270568847, + 1.3530936598777772, + 1.3553231954574585, + 1.3583070039749146, + 1.3610630989074708, + 1.3649658799171447, + 1.3685470581054688, + 1.373920977115631, + 1.3793320655822754, + 1.3871524214744568, + 1.3926500082015991, + 1.3995159149169922, + 1.4119826316833495, + 1.4287474155426025, + 1.4381157636642456, + 1.4493753790855408, + 1.4671900272369385, + 1.4888291239738467, + 1.4907235157489775, + 1.4924510049819946, + 1.4941827166080475, + 1.4968405318260192, + 1.5028127133846283, + 1.5108259582519525, + 1.518246532678605, + 1.5366208744049068, + 1.6046243298053764, + 1.6402621507644752, + 1.778925895690918, + 1.778925895690918 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "regime_step_counts": { + "burst": 1, + "calm": 3094 + }, + "regime_transition_counts": { + "burst": { + "burst": 0, + "calm": 1 + }, + "calm": { + "burst": 1, + "calm": 3088 + } + }, + "reset_scope": "session", + "schema_version": 12, + "spike_median_multiplier": 1.25, + "spike_threshold_ms_by_worker_slot": { + "0": 135.06769254803658 + }, + "worker_count": 1 +} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/latency_distribution.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/latency_distribution.json new file mode 100644 index 0000000000000000000000000000000000000000..5e63d9ce5275743c1183763f2ee38d615e61c26c --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/latency_distribution.json @@ -0,0 +1,1027 @@ +{ + "schema_version": 3, + "worker_slots": { + "0": { + "all": { + "count": 3095, + "observation_to_action_latency_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 99.22320699691772, + 99.22320699691772, + 99.42916572034359, + 99.58709894537925, + 99.93997703313828, + 100.03245514512062, + 100.10576476097107, + 100.27338070869446, + 100.43154655694961, + 100.54514897346496, + 100.58786373138427, + 100.73122339248657, + 100.93288924694062, + 101.83683857917785, + 102.17618277072907, + 102.78488368988037, + 103.20275801420212, + 103.53771271705628, + 103.85141879320145, + 104.17247416973115, + 104.4531753540039, + 104.67428803443909, + 104.9984158873558, + 105.19882352352143, + 105.36013214588165, + 105.530988073349, + 105.69296550750732, + 105.84973270893097, + 105.99273630380631, + 106.12834568023682, + 106.27271245718002, + 106.45480394363403, + 106.58185195922852, + 106.70940933227538, + 106.84196033477784, + 106.97506012916566, + 107.14249867200851, + 107.33465428352356, + 107.54035266637803, + 107.81159157752991, + 108.04246901273727, + 108.23629212379456, + 108.52575784921646, + 108.8793125629425, + 109.29595267772675, + 109.5309287071228, + 109.81568521261215, + 110.03037614822388, + 110.22245434522628, + 110.44733695983886, + 110.7103401184082, + 110.85259914398193, + 110.97723712921143, + 111.13601436614991, + 111.27977132797241, + 111.44822533130646, + 111.55709743499756, + 111.66463627815247, + 111.7913564801216, + 111.89587769508361, + 111.99657224416733, + 112.08105206489563, + 112.17835522890091, + 112.24816064834594, + 112.3046331524849, + 112.37526683807373, + 112.48177295923233, + 112.56383666992187, + 112.66144201755523, + 112.80137748718262, + 112.87896525859833, + 112.9791659116745, + 113.06426136493683, + 113.15538420677186, + 113.25501419305802, + 113.35301032066346, + 113.45775592327118, + 113.59696660041809, + 113.73112956285476, + 113.86885089874268, + 113.97324702739715, + 114.07272100448608, + 114.18734756708145, + 114.33366961479187, + 114.4551468372345, + 114.60303611755371, + 114.74404376745224, + 114.87333765029908, + 115.02998926639557, + 115.21705346107483, + 115.35996603965759, + 115.51110208034515, + 115.73145149946212, + 115.8619243621826, + 116.05849715471268, + 116.29468376636504, + 116.46762311458588, + 116.60534596443176, + 116.71262007951736, + 116.87904567718506, + 117.05468183755875, + 117.31163811683655, + 117.53008776903152, + 117.71672832965851, + 117.88815916776657, + 118.11798558235168, + 118.31915485858917, + 118.52074434757233, + 118.7206486582756, + 119.12539472579955, + 119.64151037931443, + 119.72379802703857, + 119.82497741699218, + 119.89392696619034, + 119.95471127033234, + 120.0299242734909, + 120.2847660255432, + 120.95733683109297, + 121.91578974008559, + 124.49807678222673, + 132.0581759798551, + 159.91820216178894, + 159.91820216178894 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "spearman_rho": 0.9995485054067693, + "worker_service_time_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 98.75452613830566, + 98.75452613830566, + 98.85438686907291, + 99.02571328401565, + 99.45779752254487, + 99.59049253582954, + 99.65989756584167, + 99.70000897049904, + 99.91803278923035, + 100.05549708247185, + 100.16672918319702, + 100.28120213747025, + 100.35547195672989, + 101.29415669441224, + 101.74761251211166, + 102.14199221134186, + 102.41365730762482, + 102.65487484931946, + 102.93827275037765, + 103.12642040252686, + 103.3542575955391, + 103.63435292243958, + 103.81708480119705, + 103.98665144443513, + 104.14164572954178, + 104.28317828178406, + 104.47517436742783, + 104.60352334976196, + 104.76213237047196, + 104.87410960197448, + 105.04031020402908, + 105.19616520404816, + 105.32718687057495, + 105.45814895629883, + 105.57121027708054, + 105.70132374763489, + 105.86968612670898, + 106.07166357040406, + 106.30302008390427, + 106.52139294147491, + 106.76226021051407, + 106.99370408058167, + 107.2647524356842, + 107.57935655117035, + 107.97918523550034, + 108.25467529296876, + 108.51256901025772, + 108.72574026584626, + 108.9212993979454, + 109.13033485412598, + 109.40382331609726, + 109.52390909194946, + 109.67240022420883, + 109.81641945838928, + 109.98103808164596, + 110.12876727581025, + 110.24520576000214, + 110.36289238929749, + 110.47831959724427, + 110.58496022224426, + 110.66886518001556, + 110.75457000732422, + 110.8484365940094, + 110.92572956085205, + 110.98994392156601, + 111.0608488559723, + 111.15075767040253, + 111.25024995803832, + 111.34399528503418, + 111.45287566184997, + 111.56470843553544, + 111.6521270275116, + 111.76101347208024, + 111.87006192207336, + 111.97028158903122, + 112.040327334404, + 112.16831284761429, + 112.26242628097535, + 112.4190979361534, + 112.55684206485749, + 112.65307712554932, + 112.76242399215698, + 112.86989911794662, + 113.01847443580627, + 113.14175227880477, + 113.29016342163087, + 113.41451501846313, + 113.55460324287415, + 113.72017403841019, + 113.88516240119934, + 114.0360654592514, + 114.20723950862885, + 114.40640790462494, + 114.56653847694398, + 114.7652627468109, + 114.98923602104186, + 115.16235131025314, + 115.29728622436524, + 115.41436080932617, + 115.55528964996338, + 115.75665469169617, + 116.0090708732605, + 116.20922166109085, + 116.39691112041473, + 116.58660510778427, + 116.81812901496887, + 117.00732922554016, + 117.21111283302307, + 117.43425514698029, + 117.8212960243225, + 118.36746326684951, + 118.45590266108513, + 118.54080009937286, + 118.6620908510685, + 118.7169402194023, + 118.84759024977686, + 119.11940640449524, + 120.22933041453364, + 120.82420707464213, + 123.00159268975266, + 131.4062336653499, + 159.24888014793396, + 159.24888014793396 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + } + }, + "steady": { + "count": 3094, + "observation_to_action_latency_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 99.22320699691772, + 99.22320699691772, + 99.4291475265026, + 99.58689176225663, + 99.9398753490448, + 100.03237170553207, + 100.10574906158448, + 100.27301820755005, + 100.43145009040832, + 100.54510977363586, + 100.58768297195435, + 100.73106924057006, + 100.93229277610779, + 101.83682395935058, + 102.17598546028137, + 102.78485960006714, + 103.2027048110962, + 103.53631356239319, + 103.84930500984191, + 104.17240930080413, + 104.45295521736145, + 104.67423934936524, + 104.99618706703185, + 105.19881187915801, + 105.35895367622375, + 105.5295336675644, + 105.69243893623351, + 105.84872452259064, + 105.99248383522034, + 106.12704199790954, + 106.27097979545593, + 106.45084190368652, + 106.57948274612427, + 106.70563902378082, + 106.84049203872681, + 106.97161992073059, + 107.14191794395447, + 107.33255678653717, + 107.53844790458679, + 107.80959053993224, + 108.04170256614685, + 108.23570296764373, + 108.52342710494995, + 108.87580090522766, + 109.28260650634766, + 109.53078701019287, + 109.8145525932312, + 110.0303715133667, + 110.21772505760192, + 110.44604891300202, + 110.7100734424591, + 110.85057506561279, + 110.976790599823, + 111.13558660030365, + 111.27604258537292, + 111.44789675712586, + 111.55351853370667, + 111.6602259683609, + 111.79104159355164, + 111.89472816944122, + 111.9902446269989, + 112.08060002326965, + 112.17793950080872, + 112.24794021606445, + 112.30365852355958, + 112.37482343673706, + 112.47858295440673, + 112.56282970428467, + 112.66075355529784, + 112.80043536663055, + 112.87583395004272, + 112.97757012844086, + 113.06352269172669, + 113.15406580924987, + 113.25393080711365, + 113.35285932064056, + 113.45304865837097, + 113.5951464176178, + 113.72895416259766, + 113.86850547790527, + 113.97013641357422, + 114.07239472866058, + 114.18514239311219, + 114.3329379940033, + 114.45335556030274, + 114.59983550548553, + 114.73854184150696, + 114.86755680561066, + 115.02933004379273, + 115.21143441200256, + 115.35923015594483, + 115.50828003883362, + 115.73064454078674, + 115.84734886169434, + 116.05421135902405, + 116.28132198810577, + 116.4657564163208, + 116.60340900421143, + 116.71045592308045, + 116.87004503250122, + 117.04853163719177, + 117.3057951927185, + 117.52893462181092, + 117.71306704998017, + 117.86754645347595, + 118.1131922674179, + 118.31688604354858, + 118.51486089229583, + 118.70966945648193, + 119.11284963607788, + 119.62059361457824, + 119.70220011806488, + 119.80803647613526, + 119.88963515996933, + 119.94102578544617, + 120.0157650923729, + 120.16904916000364, + 120.5495177865028, + 121.73250816345214, + 123.09343721055976, + 124.95696385955809, + 132.41034197807312, + 132.41034197807312 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + }, + "spearman_rho": 0.9995480674876682, + "worker_service_time_ms": { + "distribution_type": "inverse_cdf", + "latency_ms": [ + 98.75452613830566, + 98.75452613830566, + 98.8543078815937, + 99.02567823314666, + 99.45775291824341, + 99.59041699552536, + 99.65989508628846, + 99.70000818014145, + 99.91795456886291, + 100.0552305226326, + 100.1665827217102, + 100.28072974681854, + 100.35500584602356, + 101.2941440153122, + 101.74742962837219, + 102.14179589748383, + 102.413609457016, + 102.65296932220458, + 102.93745662689209, + 103.12594020843505, + 103.3539143371582, + 103.63286294937134, + 103.81621097564697, + 103.98584180355073, + 104.14075045585632, + 104.28279706478119, + 104.47343454360961, + 104.602457447052, + 104.7621068763733, + 104.87407166481017, + 105.03943796157837, + 105.19612519741058, + 105.32668438911438, + 105.45810830593109, + 105.57101434707641, + 105.7006136417389, + 105.86729383468628, + 106.06924108982086, + 106.30191291809082, + 106.52006046295166, + 106.76016472816467, + 106.98808867931366, + 107.26399293899536, + 107.57933251857757, + 107.97763031959533, + 108.25383613586426, + 108.50995388031006, + 108.7242898130417, + 108.92072467803955, + 109.12973146438598, + 109.40061864852905, + 109.52376661300659, + 109.67168751716613, + 109.81073287963868, + 109.97755250930786, + 110.12792809963226, + 110.24433798789978, + 110.35856191158295, + 110.47724398612976, + 110.58463953971862, + 110.66824443817139, + 110.7544914484024, + 110.8479015827179, + 110.9249896621704, + 110.988516664505, + 111.06074045181275, + 111.15060529708862, + 111.24939653396606, + 111.34373544692993, + 111.44646321296692, + 111.56446446418762, + 111.65086011886596, + 111.75772401809692, + 111.86346021175385, + 111.96789213180541, + 112.03838314056397, + 112.16716780662537, + 112.26036375045777, + 112.41615811347961, + 112.55308448314666, + 112.65031149864197, + 112.75928657054901, + 112.86168020248412, + 113.01474835395813, + 113.138128824234, + 113.28559089183807, + 113.41284990310669, + 113.5493541765213, + 113.70897500991822, + 113.88268896102905, + 114.0343407535553, + 114.20164093971253, + 114.40476523399353, + 114.56448984622955, + 114.75662749290467, + 114.98597189426422, + 115.16058959960938, + 115.29675541877747, + 115.41023595809936, + 115.55201926231385, + 115.75309795379638, + 115.99993162155151, + 116.20096955299377, + 116.39203874588013, + 116.58490141868592, + 116.8105647611618, + 117.00442953109741, + 117.21098148822784, + 117.4254603767395, + 117.8143440246582, + 118.34197818756103, + 118.4202447347641, + 118.50866367816926, + 118.61377112197876, + 118.69165815544129, + 118.79300454854966, + 119.0119661836624, + 119.6289191842078, + 120.43082016181944, + 122.17210936594003, + 123.20034849286078, + 131.81460094451904, + 131.81460094451904 + ], + "quantile_levels": [ + 0.0, + 0.0001, + 0.0005, + 0.001, + 0.002, + 0.003, + 0.004, + 0.005, + 0.006, + 0.007, + 0.008, + 0.009, + 0.01, + 0.02, + 0.03, + 0.04, + 0.05, + 0.06, + 0.07, + 0.08, + 0.09, + 0.1, + 0.11, + 0.12, + 0.13, + 0.14, + 0.15, + 0.16, + 0.17, + 0.18, + 0.19, + 0.2, + 0.21, + 0.22, + 0.23, + 0.24, + 0.25, + 0.26, + 0.27, + 0.28, + 0.29, + 0.3, + 0.31, + 0.32, + 0.33, + 0.34, + 0.35, + 0.36, + 0.37, + 0.38, + 0.39, + 0.4, + 0.41, + 0.42, + 0.43, + 0.44, + 0.45, + 0.46, + 0.47, + 0.48, + 0.49, + 0.5, + 0.51, + 0.52, + 0.53, + 0.54, + 0.55, + 0.56, + 0.57, + 0.58, + 0.59, + 0.6, + 0.61, + 0.62, + 0.63, + 0.64, + 0.65, + 0.66, + 0.67, + 0.68, + 0.69, + 0.7, + 0.71, + 0.72, + 0.73, + 0.74, + 0.75, + 0.76, + 0.77, + 0.78, + 0.79, + 0.8, + 0.81, + 0.82, + 0.83, + 0.84, + 0.85, + 0.86, + 0.87, + 0.88, + 0.89, + 0.9, + 0.91, + 0.92, + 0.93, + 0.94, + 0.95, + 0.96, + 0.97, + 0.98, + 0.99, + 0.991, + 0.992, + 0.993, + 0.994, + 0.995, + 0.996, + 0.997, + 0.998, + 0.999, + 0.9995, + 0.9999, + 1.0 + ] + } + } + } + } +} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/latency_profile.png b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/latency_profile.png new file mode 100644 index 0000000000000000000000000000000000000000..b9a809b7c9b345ae7bfd0c6caf9d6aace40d7916 Binary files /dev/null and b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/latency_profile.png differ diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/profile.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/profile.json new file mode 100644 index 0000000000000000000000000000000000000000..d3e8799b9858188febc70f53168e7969431d069a --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/profile/profile.json @@ -0,0 +1,71 @@ +{ + "burst_model_path": "latency_burst_model.json", + "distribution_path": "latency_distribution.json", + "env_fps": 5, + "frame_ms": 200.0, + "gpu_class": "1x-rtx3090", + "instance_id": "instance_859cf1e47bca6046", + "latency_kind": "observation_to_action_latency", + "latency_method": "temporal", + "model_id": "gr00t", + "n_admitted_observations": 3095, + "n_capacity_drops": 0, + "n_observation_attempts": 3095, + "per_slot_summary": { + "0": { + "admitted_count": 3095, + "mean_observation_to_action_latency_ms": 111.28701411079321, + "mean_worker_service_time_ms": 110.04660924409241, + "p95_observation_to_action_latency_ms": 118.31860404014587, + "p95_worker_service_time_ms": 117.0066906452179, + "p99_worker_service_time_ms": 118.36731338024138 + } + }, + "provenance": { + "base_config": "/workspace/lzj/latency-sensitive-bench/runs/walker2d/gr00t_h1_5fps_20260917/P.yaml", + "checkpoint_kind": "latest", + "model_artifact": { + "action_horizon": 1, + "checkpoint_sha256": "5df7bf29e8cc0bc984cb21ad4f8db673f16b17ceb438f4f4c91be65ee52c4de1", + "clock_fps": 5, + "hf_prefix": "walker2d/zero_latency/GR00T", + "hf_repo": "latency-sensitive-bench/Standard-Pipeline", + "hf_revision": "9ea50f42a1e93a9035c8df6a392e5e9f141493de", + "published": true, + "source": "huggingface", + "training_condition": "zero_latency", + "training_updates": 5000 + }, + "session_ids": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + "sample_model_type": "hidden_regime", + "source_run_id": "20260917T164637291306Z", + "summary": { + "frame_ms": 200.0, + "max_ms": 159.91820216178894, + "mean_effective_frames": 0.556435070553966, + "mean_ms": 111.28701411079321, + "min_ms": 99.22320699691772, + "n_samples": 3095, + "p50_frames": 0.5604052603244781, + "p50_ms": 112.08105206489563, + "p90_frames": 0.5865452063083648, + "p90_ms": 117.30904126167297, + "p95_frames": 0.5915930202007293, + "p95_ms": 118.31860404014587, + "p99_frames": 0.5981799455404282, + "p99_ms": 119.63598910808564, + "prob_latency_gt_1_frame": 0.0, + "prob_latency_gt_2_frames": 0.0, + "prob_latency_gt_3_frames": 0.0, + "std_ms": 4.800312930327855 + }, + "visualization_path": "latency_profile.png", + "workload_id": "walker2d" +} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/result.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/result.json new file mode 100644 index 0000000000000000000000000000000000000000..e88cad1b4fb0f153a141747a4e8136d2be01cf77 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/result.json @@ -0,0 +1,216 @@ +{ + "episodes": 100, + "seeds": [ + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141 + ], + "mean_return": 63.97302986481489, + "population_std_return": 9.417311048745095, + "mean_length": 61.62, + "returns": [ + 65.58934628306696, + 60.910104659119604, + 58.6906141377254, + 64.10477141088124, + 65.92255461971546, + 58.746843629465424, + 67.88707403247128, + 60.43841413450237, + 54.675644882580826, + 74.02482771919311, + 64.9016114422907, + 79.37998840663535, + 59.62504858513165, + 68.37548770946009, + 61.35187531973693, + 62.34654990800029, + 54.66817833173596, + 49.99494950144074, + 60.77289365707944, + 56.59874465519329, + 56.00974402186857, + 53.82648469814237, + 62.660223045200205, + 71.17729716307879, + 66.14795250423595, + 71.71416604052975, + 52.563629389245314, + 57.546448071731014, + 51.94105814180708, + 56.609985105268635, + 72.99183331354432, + 62.255062153566996, + 63.24413894052726, + 59.98506838393857, + 49.88831138344363, + 62.349249083304535, + 54.0895700823393, + 71.29731982286225, + 63.096403515271646, + 67.90110748509426, + 80.1515603391677, + 59.99183865273101, + 55.49212989780022, + 72.43860504374975, + 59.45542755072249, + 51.6880341429204, + 48.23184843315497, + 81.13700087930098, + 67.66015103851316, + 51.22542749398001, + 63.49473020573836, + 65.35333575367018, + 78.37645975258664, + 54.73960009940515, + 73.99850364408039, + 58.490422210343134, + 63.65676063523494, + 53.11584317729289, + 80.01690931246624, + 69.62043546263862, + 71.82747311321972, + 56.30660155176094, + 82.15531250395905, + 61.859128391254615, + 58.25119256459583, + 59.597231871121124, + 64.76233821759561, + 57.9737979101359, + 64.60330646235138, + 68.39216738999188, + 81.3662837124034, + 67.29804304208545, + 60.074967392758104, + 49.48560328970113, + 53.64601842069606, + 60.23141241188301, + 79.30348746591321, + 78.75576124166064, + 66.66050040145521, + 69.41285966686652, + 75.93722358106352, + 75.80464883575021, + 50.070590637278656, + 74.13232493970976, + 100.41852859810552, + 62.158942374459116, + 61.672971329352315, + 70.41987562553149, + 59.78786763486186, + 86.22198605778937, + 50.21946186367313, + 56.62210038351286, + 59.83064133753597, + 58.83068130459795, + 61.824244198604724, + 62.89603391334393, + 71.27124528832528, + 64.64764120346435, + 66.07376166858724, + 51.863129588608565 + ], + "primary_evidence": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32/episode_metrics.jsonl", + "checkpoint": { + "repo": "MLL-Lab/LAGEN-models", + "revision": "bdf24c844c29a2caa29ab6292ce6f63a9d8ace83", + "path": "zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt" + } +} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/source_identity.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/source_identity.json new file mode 100644 index 0000000000000000000000000000000000000000..c0e158e6b25321833422ba92f5635774e81f5fae --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/source_identity.json @@ -0,0 +1,21 @@ +{ + "revision": "a7001d2227fa8b0cbcd58b7b0e32db3dba147810", + "source": "current worktree snapshot", + "dirty_paths": [ + " M AGENTS.md", + " M configs/experiments/memory/small_model/flappy_capped.yaml", + " M configs/experiments/memory/small_model/flappy_extended.yaml", + " M configs/experiments/observation_stride/flappy_capped.yaml", + " M configs/experiments/observation_stride/flappy_extended.yaml", + " M configs/experiments/sim2real.yaml", + " M scripts/experiments/memory/small_model/run.sh", + " M scripts/experiments/observation_stride/run.sh", + " M scripts/experiments/sim2real/study.py", + " M tests/scripts/test_sim2real.py", + "?? configs/experiments/sim2real/five_gpu.yaml", + "?? docs/cleanup-refactor/", + "?? lagen/", + "?? scripts/experiments/sim2real/campaign.py", + "?? servers.md" + ] +} diff --git a/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/source_manifest.json b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/source_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ebb173fb91b2996519c2692aceb8ee656c35b8d1 --- /dev/null +++ b/zero-latency/walker2d/vla/starvla-qwengr00t-h1/walker2d_l0_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/source_manifest.json @@ -0,0 +1,184 @@ +{ + "dataset_name": "walker2d_h1_5fps_l0", + "env_name": "walker2d_rgb_state", + "episodes": 90, + "frames": 85160, + "task_prompts": [ + "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 0 raw frames (0.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action." + ], + "format": "lerobot_v2_image_parquet", + "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/raw_5fps", + "integration_name": "gymnasium", + "task_name": "walker2d_rgb_state", + "action_layout": "gymnasium_continuous_v1", + "action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "carrier_action_labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "action_dim": 6, + "active_action_dim": 6, + "action_carrier": "native", + "rows_unit": "decision_step", + "obs_fps": 5, + "obs_stride_raw_frames": 1, + "uses_state": true, + "state_dim": 17, + "state_labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ], + "state_normalization": { + "type": "min_max", + "min": [ + 0.8001501560211182, + -0.9963381290435791, + -1.2083065509796143, + -2.6031124591827393, + -1.4880801439285278, + -1.7395809888839722, + -2.8114991188049316, + -1.4173651933670044, + -1.9014521837234497, + -5.880380630493164, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0, + -10.0 + ], + "max": [ + 1.4312387704849243, + 0.9942846298217773, + 0.35824716091156006, + 0.42332249879837036, + 1.4080666303634644, + 0.19403602182865143, + 0.508411705493927, + 1.1665540933609009, + 9.758368492126465, + 2.7117056846618652, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0, + 10.0 + ] + }, + "robot_type": "rl_games_gymnasium", + "latency_prompt_map_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/walker2d_h1_5fps_l0/latency_prompt_map.json", + "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/zero_latency/data/lerobot/_generated_mixtures/walker2d_h1_5fps_l0.json", + "gymnasium_task": { + "action_space": { + "dtype": "float32", + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "labels": [ + "right_thigh_torque", + "right_leg_torque", + "right_foot_torque", + "left_thigh_torque", + "left_leg_torque", + "left_foot_torque" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "type": "box" + }, + "base_prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot.", + "env_fps": 5, + "env_id": "LatencyBench/Walker2dContinuous-v0", + "frame_stack": 1, + "make_kwargs": { + "base_env_id": "Walker2d-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, + 0.0, + 0.0, + 0.0 + ], + "obs_fps": 5, + "registration_imports": [ + "latency_bench.envs.gymnasium_walker2d" + ], + "state_space": { + "labels": [ + "torso_height", + "torso_angle", + "right_thigh_angle", + "right_leg_angle", + "right_foot_angle", + "left_thigh_angle", + "left_leg_angle", + "left_foot_angle", + "torso_x_velocity", + "torso_z_velocity", + "torso_angular_velocity", + "right_thigh_angular_velocity", + "right_leg_angular_velocity", + "right_foot_angular_velocity", + "left_thigh_angular_velocity", + "left_leg_angular_velocity", + "left_foot_angular_velocity" + ] + }, + "task_name": "walker2d_rgb_state" + }, + "validation_dataset_name": "walker2d_h1_5fps_l0__val", + "validation_episodes": 10, + "validation_frames": 9664 +} \ No newline at end of file