Import Standard-Pipeline walker2d selected inference bundles

latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/README.md

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+# walker2d / sample-factory-appo
+
+Training condition: `latency-aware`. Run: `walker2d_profile_appo_h1_5fps_20260917`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/small_model/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoint.pth`
+- Selection: training_best
+- Checkpoint SHA256: `c0f38c72c5aa5c4a17565a7ca4dc63bf95e70a656dc446a05d2e41b1a0f50740`
+- Configuration, FPS, actions, normalization and latency semantics retain their source values.
+- This import does not run evaluations or change training/evaluation/acceptance status.
+
+Sample Factory APPO inference bundle: `config.json` and the explicit `checkpoint.pth`.
+The checkpoint contains `model`, `train_step`, and `env_steps`; every exported model
+tensor was reloaded and compared bit-for-bit with the selected source checkpoint.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/checkpoint.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c0f38c72c5aa5c4a17565a7ca4dc63bf95e70a656dc446a05d2e41b1a0f50740
+size 29877

latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/config.full.yaml

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+experiment:
+  name: walker2d_profile_appo_h1_5fps_20260917
+  seed: 0
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/checkpoints
+  restart_behavior: overwrite
+  run_mode: train
+  extra_args:
+  - --wandb_user
+  - dongqianyu99-zhejiang-university
+executor:
+  mode: simulated
+env:
+  name: gymnasium
+  task_name: walker2d
+  env_id: LatencyBench/Walker2dContinuous-v0
+  registration_imports:
+  - latency_bench.envs.gymnasium_walker2d
+  make_kwargs:
+    base_env_id: Walker2d-v4
+    render_mode: rgb_array
+    base_make_kwargs:
+      forward_reward_weight: 1.0
+      ctrl_cost_weight: 0.001
+      healthy_reward: 1.0
+      terminate_when_unhealthy: true
+      reset_noise_scale: 0.005
+      exclude_current_positions_from_observation: true
+  env_fps: 5
+  obs_fps: 5
+  frame_stack: 1
+  action_space:
+    type: box
+    labels:
+    - 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
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    dtype: float32
+  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
+latency:
+  method: iid
+  profile_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/profile_3090_20260917T164637291306Z/profile.json
+  profile_worker_slot: 0
+  seed: 0
+  add_latency_info: false
+scheduler:
+  hold_policy: hold
+  ordering_policy: issue_order_fifo
+policy:
+  type: random
+training:
+  train_for_env_steps: 10000000
+  num_workers: 8
+  num_envs_per_worker: 8
+  worker_num_splits: 2
+  num_policies: 1
+  batch_size: 1024
+  rollout: 64
+  recurrence: 1
+  num_epochs: 2
+  num_batches_per_epoch: 4
+  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_interval_steps: null
+  eval_episodes: 20
+  eval_parallel_envs: 1
+  eval_max_steps: 1000
+  eval_deterministic: true
+  eval_latency_values: null
+logging:
+  output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/training
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: false
+  save_action_records: false
+  save_latency_records: false
+  wandb_project: latency-sensitive-bench
+  wandb_group: gr00t-six-env-h1-5fps
+  wandb_job_type: profile_teacher

latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/config.json

@@ -0,0 +1,256 @@
+{
+  "help": false,
+  "algo": "APPO",
+  "env": "latency_gymnasium",
+  "experiment": "walker2d_profile_appo_h1_5fps_20260917",
+  "train_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/checkpoints",
+  "restart_behavior": "overwrite",
+  "device": "gpu",
+  "seed": 0,
+  "initial_model_path": null,
+  "num_policies": 1,
+  "async_rl": false,
+  "serial_mode": false,
+  "batched_sampling": false,
+  "num_batches_to_accumulate": 2,
+  "worker_num_splits": 2,
+  "policy_workers_per_policy": 1,
+  "max_policy_lag": 300,
+  "num_workers": 8,
+  "num_envs_per_worker": 8,
+  "batch_size": 1024,
+  "num_batches_per_epoch": 4,
+  "num_epochs": 2,
+  "rollout": 64,
+  "fasttd3_replay_capacity": 6553600,
+  "fasttd3_replay_batch_size": 32768,
+  "fasttd3_action_chunk_horizon": 1,
+  "fasttd3_transitions_per_update": 64,
+  "fasttd3_train_for_optimizer_steps": 10000000000,
+  "fasttd3_v_min": -250.0,
+  "fasttd3_v_max": 250.0,
+  "fasttd3_actor_action_l2": 0.0,
+  "fasttd3_compile": true,
+  "recurrence": 1,
+  "shuffle_minibatches": false,
+  "gamma": 0.99,
+  "reward_scale": 1.0,
+  "reward_clip": 1000.0,
+  "value_bootstrap": true,
+  "normalize_returns": true,
+  "exploration_loss_coeff": 0.0,
+  "value_loss_coeff": 1.3,
+  "kl_loss_coeff": 0.1,
+  "exploration_loss": "entropy",
+  "gae_lambda": 0.95,
+  "ppo_clip_ratio": 0.2,
+  "ppo_clip_value": 0.2,
+  "with_vtrace": false,
+  "vtrace_rho": 1.0,
+  "vtrace_c": 1.0,
+  "optimizer": "adam",
+  "adam_eps": 1e-06,
+  "adam_beta1": 0.9,
+  "adam_beta2": 0.999,
+  "max_grad_norm": 3.5,
+  "learning_rate": 0.00295,
+  "lr_schedule": "linear_decay",
+  "lr_schedule_kl_threshold": 0.008,
+  "lr_adaptive_min": 1e-06,
+  "lr_adaptive_max": 0.01,
+  "obs_subtract_mean": 0.0,
+  "obs_scale": 1.0,
+  "normalize_input": true,
+  "normalize_input_keys": null,
+  "decorrelate_experience_max_seconds": 0,
+  "decorrelate_envs_on_one_worker": true,
+  "actor_worker_gpus": [],
+  "set_workers_cpu_affinity": true,
+  "force_envs_single_thread": false,
+  "default_niceness": 0,
+  "log_to_file": true,
+  "experiment_summaries_interval": 10,
+  "flush_summaries_interval": 30,
+  "stats_avg": 100,
+  "summaries_use_frameskip": true,
+  "heartbeat_interval": 20,
+  "heartbeat_reporting_interval": 180,
+  "train_for_env_steps": 10000000,
+  "train_for_seconds": 10000000000,
+  "save_every_sec": 600,
+  "keep_checkpoints": 5,
+  "load_checkpoint_kind": "latest",
+  "save_milestones_sec": -1,
+  "save_best_every_sec": 5,
+  "save_best_metric": "reward",
+  "save_best_after": 100000,
+  "benchmark": false,
+  "encoder_mlp_layers": [
+    64,
+    64
+  ],
+  "encoder_conv_architecture": "convnet_simple",
+  "encoder_conv_mlp_layers": [
+    512
+  ],
+  "use_rnn": false,
+  "rnn_size": 512,
+  "rnn_type": "gru",
+  "rnn_num_layers": 1,
+  "decoder_mlp_layers": [],
+  "nonlinearity": "tanh",
+  "policy_initialization": "torch_default",
+  "policy_init_gain": 1.0,
+  "actor_critic_share_weights": true,
+  "adaptive_stddev": false,
+  "continuous_tanh_scale": 0.0,
+  "initial_stddev": 1.0,
+  "use_env_info_cache": false,
+  "env_gpu_actions": false,
+  "env_gpu_observations": true,
+  "env_frameskip": 1,
+  "env_framestack": 1,
+  "pixel_format": "CHW",
+  "use_record_episode_statistics": false,
+  "with_wandb": true,
+  "wandb_user": "dongqianyu99-zhejiang-university",
+  "wandb_project": "latency-sensitive-bench",
+  "wandb_group": "gr00t-six-env-h1-5fps",
+  "wandb_job_type": "profile_teacher",
+  "wandb_tags": null,
+  "with_pbt": false,
+  "pbt_mix_policies_in_one_env": true,
+  "pbt_period_env_steps": 5000000,
+  "pbt_start_mutation": 20000000,
+  "pbt_replace_fraction": 0.3,
+  "pbt_mutation_rate": 0.15,
+  "pbt_replace_reward_gap": 0.1,
+  "pbt_replace_reward_gap_absolute": 1e-06,
+  "pbt_optimize_gamma": false,
+  "pbt_target_objective": "true_objective",
+  "pbt_perturb_min": 1.1,
+  "pbt_perturb_max": 1.5,
+  "gym_task_name": "walker2d",
+  "gym_env_id": "LatencyBench/Walker2dContinuous-v0",
+  "gym_make_kwargs_json": "{\"base_env_id\": \"Walker2d-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {\"forward_reward_weight\": 1.0, \"ctrl_cost_weight\": 0.001, \"healthy_reward\": 1.0, \"terminate_when_unhealthy\": true, \"reset_noise_scale\": 0.005, \"exclude_current_positions_from_observation\": true}}",
+  "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_walker2d\"]",
+  "gym_action_space_json": "{\"type\": \"box\", \"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], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
+  "gym_action_labels_json": null,
+  "gym_action_values_json": null,
+  "gym_noop_action_id": null,
+  "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
+  "gym_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.",
+  "gym_state_labels_json": "[\"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\"]",
+  "env_fps": 5.0,
+  "obs_fps": 5.0,
+  "frame_stack": 1,
+  "export_env_raw_rgb_frames": false,
+  "mode": "train",
+  "latency_type": "iid",
+  "fixed_latency_ms": null,
+  "mean_latency_ms": null,
+  "std_latency_ms": null,
+  "min_latency_ms": null,
+  "max_latency_ms": null,
+  "latency_seed": 0,
+  "latency_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/profile_3090_20260917T164637291306Z/profile.json",
+  "latency_profile_worker_slot": 0,
+  "simulated_worker_capacity": null,
+  "add_latency_info": false,
+  "max_pending_actions": null,
+  "hold_last_chunk_action": false,
+  "hold_policy": "hold",
+  "ordering_policy": "issue_order_fifo",
+  "eval_episodes": 20,
+  "eval_parallel_envs": 1,
+  "eval_latency_raw_frame_values": null,
+  "eval_max_steps": 1000,
+  "eval_deterministic": true,
+  "eval_raw_reward": false,
+  "episode_metrics_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/checkpoints/walker2d_profile_appo_h1_5fps_20260917/episode_metrics.jsonl",
+  "ppo": null,
+  "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment walker2d_profile_appo_h1_5fps_20260917 --train_dir /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/checkpoints --restart_behavior overwrite --device gpu --seed 0 --episode_metrics_path /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/checkpoints/walker2d_profile_appo_h1_5fps_20260917/episode_metrics.jsonl --train_for_env_steps 10000000 --num_workers 8 --num_envs_per_worker 8 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 1 --num_epochs 2 --num_batches_per_epoch 4 --worker_num_splits 2 --max_policy_lag 300 --learning_rate 0.00295 --kl_loss_coeff 0.1 --nonlinearity tanh --policy_initialization torch_default --initial_stddev 1.0 --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.2 --ppo_clip_value 0.2 --exploration_loss_coeff 0.0 --value_loss_coeff 1.3 --max_grad_norm 3.5 --save_every_sec 600 --keep_checkpoints 5 --async_rl False --batched_sampling False --serial_mode False --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --shuffle_minibatches False --value_bootstrap True --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/profile_3090_20260917T164637291306Z/profile.json --latency-profile-worker-slot 0 --add-latency-info False --eval-episodes 20 --eval-parallel-envs 1 --eval-max-steps 1000 --eval-deterministic True --with_wandb True --wandb_project latency-sensitive-bench --wandb_group gr00t-six-env-h1-5fps --wandb_job_type profile_teacher --wandb_user dongqianyu99-zhejiang-university --gym-task-name walker2d --gym-env-id LatencyBench/Walker2dContinuous-v0 --gym-make-kwargs-json {\"base_env_id\": \"Walker2d-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {\"forward_reward_weight\": 1.0, \"ctrl_cost_weight\": 0.001, \"healthy_reward\": 1.0, \"terminate_when_unhealthy\": true, \"reset_noise_scale\": 0.005, \"exclude_current_positions_from_observation\": true}} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_walker2d\"] --gym-action-space-json {\"type\": \"box\", \"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], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"} --gym-noop-action-json [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] --gym-base-prompt 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. --gym-state-labels-json [\"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\"] --env-fps 5 --obs-fps 5 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+  "cli_args": {
+    "algo": "APPO",
+    "env": "latency_gymnasium",
+    "experiment": "walker2d_profile_appo_h1_5fps_20260917",
+    "train_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/checkpoints",
+    "restart_behavior": "overwrite",
+    "device": "gpu",
+    "seed": 0,
+    "num_policies": 1,
+    "async_rl": false,
+    "serial_mode": false,
+    "batched_sampling": false,
+    "worker_num_splits": 2,
+    "max_policy_lag": 300,
+    "num_workers": 8,
+    "num_envs_per_worker": 8,
+    "batch_size": 1024,
+    "num_batches_per_epoch": 4,
+    "num_epochs": 2,
+    "rollout": 64,
+    "recurrence": 1,
+    "shuffle_minibatches": false,
+    "gamma": 0.99,
+    "value_bootstrap": true,
+    "normalize_returns": true,
+    "exploration_loss_coeff": 0.0,
+    "value_loss_coeff": 1.3,
+    "kl_loss_coeff": 0.1,
+    "gae_lambda": 0.95,
+    "ppo_clip_ratio": 0.2,
+    "ppo_clip_value": 0.2,
+    "max_grad_norm": 3.5,
+    "learning_rate": 0.00295,
+    "normalize_input": true,
+    "train_for_env_steps": 10000000,
+    "save_every_sec": 600,
+    "keep_checkpoints": 5,
+    "encoder_mlp_layers": [
+      64,
+      64
+    ],
+    "use_rnn": false,
+    "nonlinearity": "tanh",
+    "policy_initialization": "torch_default",
+    "adaptive_stddev": false,
+    "initial_stddev": 1.0,
+    "use_env_info_cache": false,
+    "with_wandb": true,
+    "wandb_user": "dongqianyu99-zhejiang-university",
+    "wandb_project": "latency-sensitive-bench",
+    "wandb_group": "gr00t-six-env-h1-5fps",
+    "wandb_job_type": "profile_teacher",
+    "gym_task_name": "walker2d",
+    "gym_env_id": "LatencyBench/Walker2dContinuous-v0",
+    "gym_make_kwargs_json": "{\"base_env_id\": \"Walker2d-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {\"forward_reward_weight\": 1.0, \"ctrl_cost_weight\": 0.001, \"healthy_reward\": 1.0, \"terminate_when_unhealthy\": true, \"reset_noise_scale\": 0.005, \"exclude_current_positions_from_observation\": true}}",
+    "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_walker2d\"]",
+    "gym_action_space_json": "{\"type\": \"box\", \"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], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
+    "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
+    "gym_base_prompt": "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.",
+    "gym_state_labels_json": "[\"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\"]",
+    "env_fps": 5.0,
+    "obs_fps": 5.0,
+    "frame_stack": 1,
+    "mode": "train",
+    "latency_type": "iid",
+    "latency_seed": 0,
+    "latency_profile_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/profile_3090_20260917T164637291306Z/profile.json",
+    "latency_profile_worker_slot": 0,
+    "add_latency_info": false,
+    "hold_policy": "hold",
+    "ordering_policy": "issue_order_fifo",
+    "eval_episodes": 20,
+    "eval_parallel_envs": 1,
+    "eval_max_steps": 1000,
+    "eval_deterministic": true,
+    "episode_metrics_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/checkpoints/walker2d_profile_appo_h1_5fps_20260917/episode_metrics.jsonl",
+    "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/training"
+  },
+  "git_hash": "unknown",
+  "git_repo_name": "not a git repository",
+  "eval_env_frameskip": 1,
+  "output_dir": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/training",
+  "wandb_unique_id": "walker2d_profile_appo_h1_5fps_20260917"
+}

latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/hardware.json

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

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latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/profile/profile.json

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+    "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": {
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+    "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"
+}

latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/provenance.json

@@ -0,0 +1,44 @@
+{
+  "task": "walker2d",
+  "model": "sample-factory-appo",
+  "training_condition": "latency-aware",
+  "training_run_id": "walker2d_profile_appo_h1_5fps_20260917",
+  "source": {
+    "repo_id": "latency-sensitive-bench/Standard-Pipeline",
+    "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
+    "path": "walker2d/profile_latency/small_model/GR00T",
+    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/small_model/GR00T"
+  },
+  "hf_repo_id": "latency-sensitive-bench/benchmark-models",
+  "hf_path": "latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1",
+  "checkpoint": {
+    "source_file": "walker2d/profile_latency/small_model/GR00T/checkpoints/selected.pth",
+    "source_sha256": "a9f0e63f8094fe10f82d2395fc7b59958dc22ac1abc59a6da52772eb1fd944ab",
+    "source_bytes": 83973,
+    "file": "checkpoint.pth",
+    "selection_rule": "training_best",
+    "method": "inference_export",
+    "sha256": "c0f38c72c5aa5c4a17565a7ca4dc63bf95e70a656dc446a05d2e41b1a0f50740",
+    "bytes": 29877,
+    "train_step": 14536,
+    "env_steps": 7442432,
+    "tensor_count": 15,
+    "tensor_equality_verified": true,
+    "removed_fields": [
+      "best_performance",
+      "curr_lr",
+      "optimizer"
+    ]
+  },
+  "config_source": "walker2d/profile_latency/small_model/GR00T/config.json",
+  "task_contract_file": null,
+  "missing_source_files": [],
+  "migration": {
+    "operation": "copy_selected_inference_bundle",
+    "source_modified": false,
+    "evaluation_performed": false,
+    "experiment_status": "preserved_in_source_evidence"
+  },
+  "algorithm": "APPO",
+  "latency_model": "qwengr00t"
+}

latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/selection.json

@@ -0,0 +1,66 @@
+{
+  "selected": "training_best",
+  "candidates": {
+    "final": {
+      "checkpoint": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/checkpoints/walker2d_profile_appo_h1_5fps_20260917/checkpoint_p0/checkpoint_000019536_10002432.pth",
+      "sha256": "dcfe291db668f89db2fead0028a76fb5a005965b9daaab7a29bd19eb13c43ca0",
+      "episodes": 20,
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+      "strict_gt3000": 20
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+    "training_best": {
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+      "sha256": "a9f0e63f8094fe10f82d2395fc7b59958dc22ac1abc59a6da52772eb1fd944ab",
+      "episodes": 20,
+      "returns": [
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+      "strict_gt3000": 20
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+  "completed_at": "2026-09-17T17:24:56.075104+00:00"
+}

latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/teacher-preparation.json

@@ -0,0 +1,16 @@
+{
+  "state": "PROFILE_TEACHER_CONFIG_READY",
+  "profile": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/profile_3090_20260917T164637291306Z/profile.json",
+  "profile_sha256": "acf0a997fa7866b5a101714ec1479b8cc19b36ae1262f11081ab828de3e79661",
+  "source_recipe": "/mnt/local/lzj/latency-sensitive-bench/code/h1-5fps-20260917-v2/configs/examples/gymnasium/walker2d/small_model_train_sf_official_10m.yaml",
+  "source_recipe_sha256": "ef0abc795b6c33d152dbdeaa4a5a817df2546f400c17ce27ac9159e01bb92901",
+  "config": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher.yaml",
+  "algo": "APPO",
+  "budget_env_steps": 10000000,
+  "seed": 0,
+  "fps": 5,
+  "latency": "iid",
+  "initialization": "fresh",
+  "metadata_derivation": "current task_name walker2d and state17 labels from wrapper; original official10m recipe seed0/hyperparameters/native physics preserved",
+  "next": "Run only after immutable new P is verified; Final/best20 tieFinal, E10, bounded12probe, strictreturn>3000."
+}

latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/validation/E10-summary.json

@@ -0,0 +1,20 @@
+{
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+  "sha256": "a9f0e63f8094fe10f82d2395fc7b59958dc22ac1abc59a6da52772eb1fd944ab",
+  "episodes": 10,
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+  "std": 14.588936196978617,
+  "strict_gt3000": 10
+}

latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/validation/E10/episode_metrics.jsonl

@@ -0,0 +1,10 @@
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latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/validation/probe_state.json

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latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/validation/selection_final/episode_metrics.jsonl

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latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/validation/selection_training_best/episode_metrics.jsonl

@@ -0,0 +1,20 @@
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latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1/validation/teacher_probe_audit.json

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+          4286.0125421364155
+        ],
+        "mean": 4197.294322423132,
+        "std": 264.3552584808844,
+        "strict_gt3000": 20
+      },
+      "training_best": {
+        "checkpoint": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/teacher/checkpoints/walker2d_profile_appo_h1_5fps_20260917/checkpoint_p0/best_000014536_7442432_reward_4186.861.pth",
+        "sha256": "a9f0e63f8094fe10f82d2395fc7b59958dc22ac1abc59a6da52772eb1fd944ab",
+        "episodes": 20,
+        "returns": [
+          4232.421844289257,
+          4211.834128554937,
+          4235.009681429353,
+          4216.192126194387,
+          4225.968774742952,
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+          4211.69597436189,
+          4227.7128439529915,
+          4219.107550141977,
+          4176.009289189152,
+          4216.315331519501,
+          4233.440001863116,
+          4210.597842410642,
+          4216.913958972969,
+          4236.856116118128,
+          4241.158612744575,
+          4224.4414913018245,
+          4191.601768644205,
+          4233.529106106846
+        ],
+        "mean": 4223.315330954163,
+        "std": 18.175464884559204,
+        "strict_gt3000": 20
+      }
+    },
+    "completed_at": "2026-09-17T17:24:56.075104+00:00"
+  },
+  "recipe_seed": 0,
+  "profile_sha256": "acf0a997fa7866b5a101714ec1479b8cc19b36ae1262f11081ab828de3e79661",
+  "note": "E10 reuses first10 selection heldoutseeds"
+}

latency-aware/walker2d/small-policy/sample-factory-qwenoft-rtx3090-v1/README.md

@@ -0,0 +1,26 @@
+# walker2d / sample-factory-appo
+
+Training condition: `latency-aware`. Run: `walker2d_profile_20260912T092949Z`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/small_model) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoint.pth`
+- Selection: best_reward_after_full_training_budget
+- Checkpoint SHA256: `c90dca9e5eb3ef609daec95bf2334e5d8637ab9d4454afffda26826ec22f71b8`
+- Configuration, FPS, actions, normalization and latency semantics retain their source values.
+- This import does not run evaluations or change training/evaluation/acceptance status.
+
+Sample Factory APPO inference bundle: `config.json` and the explicit `checkpoint.pth`.
+The checkpoint contains `model`, `train_step`, and `env_steps`; every exported model
+tensor was reloaded and compared bit-for-bit with the selected source checkpoint.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/walker2d/small-policy/sample-factory-qwenoft-rtx3090-v1"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

latency-aware/walker2d/small-policy/sample-factory-qwenoft-rtx3090-v1/checkpoint.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c90dca9e5eb3ef609daec95bf2334e5d8637ab9d4454afffda26826ec22f71b8
+size 29877

latency-aware/walker2d/small-policy/sample-factory-qwenoft-rtx3090-v1/config.json

@@ -0,0 +1,276 @@
+{
+  "help": false,
+  "algo": "APPO",
+  "env": "latency_gymnasium",
+  "experiment": "walker2d_profile_20260912T092949Z",
+  "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models",
+  "restart_behavior": "overwrite",
+  "device": "gpu",
+  "seed": 0,
+  "initial_model_path": null,
+  "num_policies": 1,
+  "async_rl": false,
+  "serial_mode": false,
+  "batched_sampling": false,
+  "num_batches_to_accumulate": 2,
+  "worker_num_splits": 2,
+  "policy_workers_per_policy": 1,
+  "max_policy_lag": 300,
+  "num_workers": 8,
+  "num_envs_per_worker": 8,
+  "batch_size": 1024,
+  "num_batches_per_epoch": 4,
+  "num_epochs": 2,
+  "rollout": 64,
+  "fasttd3_replay_capacity": 6553600,
+  "fasttd3_replay_batch_size": 32768,
+  "fasttd3_transitions_per_update": 64,
+  "fasttd3_v_min": -250.0,
+  "fasttd3_v_max": 250.0,
+  "fasttd3_actor_action_l2": 0.0,
+  "fasttd3_compile": true,
+  "fasttd3_sonic_decoder_path": null,
+  "recurrence": 1,
+  "shuffle_minibatches": false,
+  "gamma": 0.99,
+  "reward_scale": 1.0,
+  "reward_clip": 1000.0,
+  "value_bootstrap": true,
+  "normalize_returns": true,
+  "exploration_loss_coeff": 0.0,
+  "value_loss_coeff": 1.3,
+  "kl_loss_coeff": 0.1,
+  "exploration_loss": "entropy",
+  "gae_lambda": 0.95,
+  "ppo_clip_ratio": 0.2,
+  "ppo_clip_value": 0.2,
+  "with_vtrace": false,
+  "vtrace_rho": 1.0,
+  "vtrace_c": 1.0,
+  "optimizer": "adam",
+  "adam_eps": 1e-06,
+  "adam_beta1": 0.9,
+  "adam_beta2": 0.999,
+  "max_grad_norm": 3.5,
+  "learning_rate": 0.00295,
+  "lr_schedule": "linear_decay",
+  "lr_schedule_kl_threshold": 0.008,
+  "lr_adaptive_min": 1e-06,
+  "lr_adaptive_max": 0.01,
+  "obs_subtract_mean": 0.0,
+  "obs_scale": 1.0,
+  "normalize_input": true,
+  "normalize_input_keys": null,
+  "decorrelate_experience_max_seconds": 0,
+  "decorrelate_envs_on_one_worker": true,
+  "actor_worker_gpus": [],
+  "set_workers_cpu_affinity": true,
+  "force_envs_single_thread": false,
+  "default_niceness": 0,
+  "log_to_file": true,
+  "experiment_summaries_interval": 10,
+  "flush_summaries_interval": 30,
+  "stats_avg": 100,
+  "summaries_use_frameskip": true,
+  "heartbeat_interval": 20,
+  "heartbeat_reporting_interval": 180,
+  "train_for_env_steps": 10000000,
+  "train_for_seconds": 10000000000,
+  "save_every_sec": 600,
+  "keep_checkpoints": 5,
+  "load_checkpoint_kind": "latest",
+  "save_milestones_sec": -1,
+  "save_best_every_sec": 5,
+  "save_best_metric": "reward",
+  "save_best_after": 100000,
+  "benchmark": false,
+  "encoder_mlp_layers": [
+    64,
+    64
+  ],
+  "encoder_conv_architecture": "convnet_simple",
+  "encoder_conv_mlp_layers": [
+    512
+  ],
+  "use_rnn": false,
+  "rnn_size": 512,
+  "rnn_type": "gru",
+  "rnn_num_layers": 1,
+  "decoder_mlp_layers": [],
+  "nonlinearity": "tanh",
+  "policy_initialization": "torch_default",
+  "policy_init_gain": 1.0,
+  "actor_critic_share_weights": true,
+  "adaptive_stddev": false,
+  "continuous_tanh_scale": 0.0,
+  "initial_stddev": 1.0,
+  "use_env_info_cache": false,
+  "env_gpu_actions": false,
+  "env_gpu_observations": true,
+  "env_frameskip": 1,
+  "env_framestack": 1,
+  "pixel_format": "CHW",
+  "use_record_episode_statistics": false,
+  "with_wandb": false,
+  "wandb_user": null,
+  "wandb_project": "sample_factory",
+  "wandb_group": null,
+  "wandb_job_type": "SF",
+  "wandb_tags": [],
+  "with_pbt": false,
+  "pbt_mix_policies_in_one_env": true,
+  "pbt_period_env_steps": 5000000,
+  "pbt_start_mutation": 20000000,
+  "pbt_replace_fraction": 0.3,
+  "pbt_mutation_rate": 0.15,
+  "pbt_replace_reward_gap": 0.1,
+  "pbt_replace_reward_gap_absolute": 1e-06,
+  "pbt_optimize_gamma": false,
+  "pbt_target_objective": "true_objective",
+  "pbt_perturb_min": 1.1,
+  "pbt_perturb_max": 1.5,
+  "gym_task_name": "walker2d_rgb_state",
+  "gym_env_id": "LatencyBench/Walker2dContinuous-v0",
+  "gym_make_kwargs_json": "{\"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\"}",
+  "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_walker2d\"]",
+  "gym_action_space_json": "{\"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\"}",
+  "gym_action_labels_json": null,
+  "gym_action_values_json": null,
+  "gym_noop_action_id": null,
+  "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
+  "gym_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.",
+  "gym_state_labels_json": "[\"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\"]",
+  "env_fps": 10.0,
+  "obs_fps": 10.0,
+  "frame_stack": 1,
+  "export_env_raw_rgb_frames": false,
+  "mode": "train",
+  "latency_type": "iid",
+  "fixed_latency_ms": null,
+  "mean_latency_ms": null,
+  "std_latency_ms": null,
+  "min_latency_ms": null,
+  "max_latency_ms": null,
+  "latency_seed": 0,
+  "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/profile/profile.json",
+  "latency_profile_worker_slot": 0,
+  "simulated_worker_capacity": null,
+  "add_latency_info": false,
+  "max_pending_actions": null,
+  "hold_policy": "hold",
+  "ordering_policy": "issue_order_fifo",
+  "eval_episodes": 5,
+  "eval_parallel_envs": 1,
+  "eval_latency_raw_frame_values": null,
+  "eval_max_steps": 1000,
+  "eval_deterministic": true,
+  "eval_raw_reward": false,
+  "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/episode_metrics.jsonl",
+  "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment walker2d_profile_20260912T092949Z --train_dir /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models --restart_behavior overwrite --device gpu --seed 0 --episode_metrics_path /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/episode_metrics.jsonl --train_for_env_steps 10000000 --num_workers 8 --num_envs_per_worker 8 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 1 --num_epochs 2 --num_batches_per_epoch 4 --worker_num_splits 2 --max_policy_lag 300 --num_batches_to_accumulate 2 --policy_workers_per_policy 1 --learning_rate 0.00295 --kl_loss_coeff 0.1 --lr_schedule_kl_threshold 0.008 --nonlinearity tanh --policy_initialization torch_default --continuous_tanh_scale 0.0 --initial_stddev 1.0 --env_framestack 1 --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.2 --ppo_clip_value 0.2 --exploration_loss entropy --exploration_loss_coeff 0.0 --reward_scale 1.0 --reward_clip 1000.0 --value_loss_coeff 1.3 --max_grad_norm 3.5 --optimizer adam --adam_eps 1e-06 --adam_beta1 0.9 --adam_beta2 0.999 --obs_subtract_mean 0.0 --obs_scale 1.0 --decorrelate_experience_max_seconds 0 --default_niceness 0 --rnn_type gru --rnn_size 512 --save_every_sec 600 --keep_checkpoints 5 --save_milestones_sec -1 --save_best_every_sec 5 --save_best_after 100000 --stats_avg 100 --experiment_summaries_interval 10 --async_rl False --batched_sampling False --serial_mode False --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --shuffle_minibatches False --value_bootstrap True --with_vtrace False --decorrelate_envs_on_one_worker True --set_workers_cpu_affinity True --force_envs_single_thread False --actor_critic_share_weights True --with_wandb False --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/profile/profile.json --latency-profile-worker-slot 0 --add-latency-info False --eval-episodes 5 --eval-parallel-envs 1 --eval-max-steps 1000 --eval-deterministic True --gym-task-name walker2d_rgb_state --gym-env-id LatencyBench/Walker2dContinuous-v0 --gym-make-kwargs-json {\"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\"} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_walker2d\"] --gym-action-space-json {\"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\"} --gym-noop-action-json [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] --gym-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. --gym-state-labels-json [\"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\"] --env-fps 10.0 --obs-fps 10.0 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+  "cli_args": {
+    "algo": "APPO",
+    "env": "latency_gymnasium",
+    "experiment": "walker2d_profile_20260912T092949Z",
+    "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models",
+    "restart_behavior": "overwrite",
+    "device": "gpu",
+    "seed": 0,
+    "num_policies": 1,
+    "async_rl": false,
+    "serial_mode": false,
+    "batched_sampling": false,
+    "num_batches_to_accumulate": 2,
+    "worker_num_splits": 2,
+    "policy_workers_per_policy": 1,
+    "max_policy_lag": 300,
+    "num_workers": 8,
+    "num_envs_per_worker": 8,
+    "batch_size": 1024,
+    "num_batches_per_epoch": 4,
+    "num_epochs": 2,
+    "rollout": 64,
+    "recurrence": 1,
+    "shuffle_minibatches": false,
+    "gamma": 0.99,
+    "reward_scale": 1.0,
+    "reward_clip": 1000.0,
+    "value_bootstrap": true,
+    "normalize_returns": true,
+    "exploration_loss_coeff": 0.0,
+    "value_loss_coeff": 1.3,
+    "kl_loss_coeff": 0.1,
+    "exploration_loss": "entropy",
+    "gae_lambda": 0.95,
+    "ppo_clip_ratio": 0.2,
+    "ppo_clip_value": 0.2,
+    "with_vtrace": false,
+    "optimizer": "adam",
+    "adam_eps": 1e-06,
+    "adam_beta1": 0.9,
+    "adam_beta2": 0.999,
+    "max_grad_norm": 3.5,
+    "learning_rate": 0.00295,
+    "lr_schedule_kl_threshold": 0.008,
+    "obs_subtract_mean": 0.0,
+    "obs_scale": 1.0,
+    "normalize_input": true,
+    "decorrelate_experience_max_seconds": 0,
+    "decorrelate_envs_on_one_worker": true,
+    "set_workers_cpu_affinity": true,
+    "force_envs_single_thread": false,
+    "default_niceness": 0,
+    "experiment_summaries_interval": 10,
+    "stats_avg": 100,
+    "train_for_env_steps": 10000000,
+    "save_every_sec": 600,
+    "keep_checkpoints": 5,
+    "save_milestones_sec": -1,
+    "save_best_every_sec": 5,
+    "save_best_after": 100000,
+    "encoder_mlp_layers": [
+      64,
+      64
+    ],
+    "use_rnn": false,
+    "rnn_size": 512,
+    "rnn_type": "gru",
+    "nonlinearity": "tanh",
+    "policy_initialization": "torch_default",
+    "actor_critic_share_weights": true,
+    "adaptive_stddev": false,
+    "continuous_tanh_scale": 0.0,
+    "initial_stddev": 1.0,
+    "use_env_info_cache": false,
+    "env_framestack": 1,
+    "with_wandb": false,
+    "gym_task_name": "walker2d_rgb_state",
+    "gym_env_id": "LatencyBench/Walker2dContinuous-v0",
+    "gym_make_kwargs_json": "{\"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\"}",
+    "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_walker2d\"]",
+    "gym_action_space_json": "{\"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\"}",
+    "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
+    "gym_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.",
+    "gym_state_labels_json": "[\"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\"]",
+    "env_fps": 10.0,
+    "obs_fps": 10.0,
+    "frame_stack": 1,
+    "mode": "train",
+    "latency_type": "iid",
+    "latency_seed": 0,
+    "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/profile/profile.json",
+    "latency_profile_worker_slot": 0,
+    "add_latency_info": false,
+    "hold_policy": "hold",
+    "ordering_policy": "issue_order_fifo",
+    "eval_episodes": 5,
+    "eval_parallel_envs": 1,
+    "eval_max_steps": 1000,
+    "eval_deterministic": true,
+    "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/episode_metrics.jsonl",
+    "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_train"
+  },
+  "git_hash": "unknown",
+  "git_repo_name": "not a git repository",
+  "eval_env_frameskip": 1,
+  "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_train"
+}

latency-aware/walker2d/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/hardware.json

@@ -0,0 +1,40 @@
+{
+  "driver_version": "580.173.02",
+  "gpu_class": "1x-rtx3090",
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latency-aware/walker2d/small-policy/sample-factory-qwenoft-rtx3090-v1/profile/profile.json

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+{
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+  "distribution_path": "latency_distribution.json",
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+  "provenance": {
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+    "checkpoint_kind": "best",
+    "model_artifact": {
+      "checkpoint": "checkpoints/steps_5000_pytorch_model.pt",
+      "model_config": "config.full.yaml",
+      "path_in_repo": "OpenVLA/zero-latency/walker2d_rgb_state_l0_return_gt3000_100ep_openvla_native_continuous_projector_sft_5k",
+      "repo_id": "latency-sensitive-bench/extra-envs-checkpoints",
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+  "visualization_path": "latency_profile.png",
+  "workload_id": "walker2d"
+}

latency-aware/walker2d/small-policy/sample-factory-qwenoft-rtx3090-v1/provenance.json

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+{
+  "task": "walker2d",
+  "model": "sample-factory-appo",
+  "training_condition": "latency-aware",
+  "training_run_id": "walker2d_profile_20260912T092949Z",
+  "source": {
+    "repo_id": "latency-sensitive-bench/Standard-Pipeline",
+    "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
+    "path": "walker2d/profile_latency/small_model",
+    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/small_model"
+  },
+  "hf_repo_id": "latency-sensitive-bench/benchmark-models",
+  "hf_path": "latency-aware/walker2d/small-policy/sample-factory-qwenoft-rtx3090-v1",
+  "checkpoint": {
+    "source_file": "walker2d/profile_latency/small_model/checkpoint_p0/best_000013520_6922240_reward_4348.151.pth",
+    "source_sha256": "32607b821cdecb0fcfc15867ea073ea2719706644ab59fd5b135774a0de7dbb4",
+    "source_bytes": 83973,
+    "file": "checkpoint.pth",
+    "selection_rule": "best_reward_after_full_training_budget",
+    "method": "inference_export",
+    "sha256": "c90dca9e5eb3ef609daec95bf2334e5d8637ab9d4454afffda26826ec22f71b8",
+    "bytes": 29877,
+    "train_step": 13520,
+    "env_steps": 6922240,
+    "tensor_count": 15,
+    "tensor_equality_verified": true,
+    "removed_fields": [
+      "best_performance",
+      "curr_lr",
+      "optimizer"
+    ]
+  },
+  "config_source": "walker2d/profile_latency/small_model/config.json",
+  "task_contract_file": null,
+  "missing_source_files": [],
+  "migration": {
+    "operation": "copy_selected_inference_bundle",
+    "source_modified": false,
+    "evaluation_performed": false,
+    "experiment_status": "preserved_in_source_evidence"
+  },
+  "algorithm": "APPO",
+  "latency_model": "qwenoft"
+}

latency-aware/walker2d/small-policy/sample-factory-qwenoft-rtx3090-v1/rollout_descriptor.json

@@ -0,0 +1,310 @@
+{
+  "env_name": "walker2d_rgb_state",
+  "integration_name": "gymnasium",
+  "action_spec": {
+    "layout": "gymnasium_continuous_v1",
+    "labels": [
+      "right_thigh_torque",
+      "right_leg_torque",
+      "right_foot_torque",
+      "left_thigh_torque",
+      "left_leg_torque",
+      "left_foot_torque"
+    ],
+    "row_fields": [
+      "action",
+      "action_text"
+    ],
+    "reward_field": "raw_reward",
+    "episode_return_field": "episode_raw_return",
+    "reward_semantics": "raw_reward"
+  },
+  "base_prompt": "Move the 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.",
+  "checkpoint_experiment_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z",
+  "checkpoint_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/checkpoint_p0/best_000013520_6922240_reward_4348.151.pth",
+  "flat_cfg": {
+    "help": false,
+    "algo": "APPO",
+    "env": "latency_gymnasium",
+    "experiment": "walker2d_profile_20260912T092949Z",
+    "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models",
+    "restart_behavior": "overwrite",
+    "device": "gpu",
+    "seed": 0,
+    "initial_model_path": null,
+    "num_policies": 1,
+    "async_rl": false,
+    "serial_mode": false,
+    "batched_sampling": false,
+    "num_batches_to_accumulate": 2,
+    "worker_num_splits": 2,
+    "policy_workers_per_policy": 1,
+    "max_policy_lag": 300,
+    "num_workers": 8,
+    "num_envs_per_worker": 8,
+    "batch_size": 1024,
+    "num_batches_per_epoch": 4,
+    "num_epochs": 2,
+    "rollout": 64,
+    "fasttd3_replay_capacity": 6553600,
+    "fasttd3_replay_batch_size": 32768,
+    "fasttd3_transitions_per_update": 64,
+    "fasttd3_v_min": -250.0,
+    "fasttd3_v_max": 250.0,
+    "fasttd3_actor_action_l2": 0.0,
+    "fasttd3_compile": true,
+    "fasttd3_sonic_decoder_path": null,
+    "recurrence": 1,
+    "shuffle_minibatches": false,
+    "gamma": 0.99,
+    "reward_scale": 1.0,
+    "reward_clip": 1000.0,
+    "value_bootstrap": true,
+    "normalize_returns": true,
+    "exploration_loss_coeff": 0.0,
+    "value_loss_coeff": 1.3,
+    "kl_loss_coeff": 0.1,
+    "exploration_loss": "entropy",
+    "gae_lambda": 0.95,
+    "ppo_clip_ratio": 0.2,
+    "ppo_clip_value": 0.2,
+    "with_vtrace": false,
+    "vtrace_rho": 1.0,
+    "vtrace_c": 1.0,
+    "optimizer": "adam",
+    "adam_eps": 1e-06,
+    "adam_beta1": 0.9,
+    "adam_beta2": 0.999,
+    "max_grad_norm": 3.5,
+    "learning_rate": 0.00295,
+    "lr_schedule": "linear_decay",
+    "lr_schedule_kl_threshold": 0.008,
+    "lr_adaptive_min": 1e-06,
+    "lr_adaptive_max": 0.01,
+    "obs_subtract_mean": 0.0,
+    "obs_scale": 1.0,
+    "normalize_input": true,
+    "normalize_input_keys": null,
+    "decorrelate_experience_max_seconds": 0,
+    "decorrelate_envs_on_one_worker": true,
+    "actor_worker_gpus": [],
+    "set_workers_cpu_affinity": true,
+    "force_envs_single_thread": false,
+    "default_niceness": 0,
+    "log_to_file": true,
+    "experiment_summaries_interval": 10,
+    "flush_summaries_interval": 30,
+    "stats_avg": 100,
+    "summaries_use_frameskip": true,
+    "heartbeat_interval": 20,
+    "heartbeat_reporting_interval": 180,
+    "train_for_env_steps": 10000000,
+    "train_for_seconds": 10000000000,
+    "save_every_sec": 600,
+    "keep_checkpoints": 5,
+    "load_checkpoint_kind": "latest",
+    "save_milestones_sec": -1,
+    "save_best_every_sec": 5,
+    "save_best_metric": "reward",
+    "save_best_after": 100000,
+    "benchmark": false,
+    "encoder_mlp_layers": [
+      64,
+      64
+    ],
+    "encoder_conv_architecture": "convnet_simple",
+    "encoder_conv_mlp_layers": [
+      512
+    ],
+    "use_rnn": false,
+    "rnn_size": 512,
+    "rnn_type": "gru",
+    "rnn_num_layers": 1,
+    "decoder_mlp_layers": [],
+    "nonlinearity": "tanh",
+    "policy_initialization": "torch_default",
+    "policy_init_gain": 1.0,
+    "actor_critic_share_weights": true,
+    "adaptive_stddev": false,
+    "continuous_tanh_scale": 0.0,
+    "initial_stddev": 1.0,
+    "use_env_info_cache": false,
+    "env_gpu_actions": false,
+    "env_gpu_observations": true,
+    "env_frameskip": 1,
+    "env_framestack": 1,
+    "pixel_format": "CHW",
+    "use_record_episode_statistics": false,
+    "with_wandb": false,
+    "wandb_user": null,
+    "wandb_project": "sample_factory",
+    "wandb_group": null,
+    "wandb_job_type": "SF",
+    "wandb_tags": [],
+    "with_pbt": false,
+    "pbt_mix_policies_in_one_env": true,
+    "pbt_period_env_steps": 5000000,
+    "pbt_start_mutation": 20000000,
+    "pbt_replace_fraction": 0.3,
+    "pbt_mutation_rate": 0.15,
+    "pbt_replace_reward_gap": 0.1,
+    "pbt_replace_reward_gap_absolute": 1e-06,
+    "pbt_optimize_gamma": false,
+    "pbt_target_objective": "true_objective",
+    "pbt_perturb_min": 1.1,
+    "pbt_perturb_max": 1.5,
+    "gym_task_name": "walker2d_rgb_state",
+    "gym_env_id": "LatencyBench/Walker2dContinuous-v0",
+    "gym_make_kwargs_json": "{\"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\"}",
+    "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_walker2d\"]",
+    "gym_action_space_json": "{\"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\"}",
+    "gym_action_labels_json": null,
+    "gym_action_values_json": null,
+    "gym_noop_action_id": null,
+    "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
+    "gym_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.",
+    "gym_state_labels_json": "[\"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\"]",
+    "env_fps": 10.0,
+    "obs_fps": 10.0,
+    "frame_stack": 1,
+    "export_env_raw_rgb_frames": false,
+    "mode": "train",
+    "latency_type": "iid",
+    "fixed_latency_ms": null,
+    "mean_latency_ms": null,
+    "std_latency_ms": null,
+    "min_latency_ms": null,
+    "max_latency_ms": null,
+    "latency_seed": 0,
+    "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/profile/profile.json",
+    "latency_profile_worker_slot": 0,
+    "simulated_worker_capacity": null,
+    "add_latency_info": false,
+    "max_pending_actions": null,
+    "hold_policy": "hold",
+    "ordering_policy": "issue_order_fifo",
+    "eval_episodes": 5,
+    "eval_parallel_envs": 1,
+    "eval_latency_raw_frame_values": null,
+    "eval_max_steps": 1000,
+    "eval_deterministic": true,
+    "eval_raw_reward": false,
+    "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/episode_metrics.jsonl",
+    "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment walker2d_profile_20260912T092949Z --train_dir /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models --restart_behavior overwrite --device gpu --seed 0 --episode_metrics_path /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/episode_metrics.jsonl --train_for_env_steps 10000000 --num_workers 8 --num_envs_per_worker 8 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 1 --num_epochs 2 --num_batches_per_epoch 4 --worker_num_splits 2 --max_policy_lag 300 --num_batches_to_accumulate 2 --policy_workers_per_policy 1 --learning_rate 0.00295 --kl_loss_coeff 0.1 --lr_schedule_kl_threshold 0.008 --nonlinearity tanh --policy_initialization torch_default --continuous_tanh_scale 0.0 --initial_stddev 1.0 --env_framestack 1 --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.2 --ppo_clip_value 0.2 --exploration_loss entropy --exploration_loss_coeff 0.0 --reward_scale 1.0 --reward_clip 1000.0 --value_loss_coeff 1.3 --max_grad_norm 3.5 --optimizer adam --adam_eps 1e-06 --adam_beta1 0.9 --adam_beta2 0.999 --obs_subtract_mean 0.0 --obs_scale 1.0 --decorrelate_experience_max_seconds 0 --default_niceness 0 --rnn_type gru --rnn_size 512 --save_every_sec 600 --keep_checkpoints 5 --save_milestones_sec -1 --save_best_every_sec 5 --save_best_after 100000 --stats_avg 100 --experiment_summaries_interval 10 --async_rl False --batched_sampling False --serial_mode False --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --shuffle_minibatches False --value_bootstrap True --with_vtrace False --decorrelate_envs_on_one_worker True --set_workers_cpu_affinity True --force_envs_single_thread False --actor_critic_share_weights True --with_wandb False --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/profile/profile.json --latency-profile-worker-slot 0 --add-latency-info False --eval-episodes 5 --eval-parallel-envs 1 --eval-max-steps 1000 --eval-deterministic True --gym-task-name walker2d_rgb_state --gym-env-id LatencyBench/Walker2dContinuous-v0 --gym-make-kwargs-json {\"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\"} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_walker2d\"] --gym-action-space-json {\"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\"} --gym-noop-action-json [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] --gym-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. --gym-state-labels-json [\"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\"] --env-fps 10.0 --obs-fps 10.0 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+    "cli_args": {
+      "algo": "APPO",
+      "env": "latency_gymnasium",
+      "experiment": "walker2d_profile_20260912T092949Z",
+      "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models",
+      "restart_behavior": "overwrite",
+      "device": "gpu",
+      "seed": 0,
+      "num_policies": 1,
+      "async_rl": false,
+      "serial_mode": false,
+      "batched_sampling": false,
+      "num_batches_to_accumulate": 2,
+      "worker_num_splits": 2,
+      "policy_workers_per_policy": 1,
+      "max_policy_lag": 300,
+      "num_workers": 8,
+      "num_envs_per_worker": 8,
+      "batch_size": 1024,
+      "num_batches_per_epoch": 4,
+      "num_epochs": 2,
+      "rollout": 64,
+      "recurrence": 1,
+      "shuffle_minibatches": false,
+      "gamma": 0.99,
+      "reward_scale": 1.0,
+      "reward_clip": 1000.0,
+      "value_bootstrap": true,
+      "normalize_returns": true,
+      "exploration_loss_coeff": 0.0,
+      "value_loss_coeff": 1.3,
+      "kl_loss_coeff": 0.1,
+      "exploration_loss": "entropy",
+      "gae_lambda": 0.95,
+      "ppo_clip_ratio": 0.2,
+      "ppo_clip_value": 0.2,
+      "with_vtrace": false,
+      "optimizer": "adam",
+      "adam_eps": 1e-06,
+      "adam_beta1": 0.9,
+      "adam_beta2": 0.999,
+      "max_grad_norm": 3.5,
+      "learning_rate": 0.00295,
+      "lr_schedule_kl_threshold": 0.008,
+      "obs_subtract_mean": 0.0,
+      "obs_scale": 1.0,
+      "normalize_input": true,
+      "decorrelate_experience_max_seconds": 0,
+      "decorrelate_envs_on_one_worker": true,
+      "set_workers_cpu_affinity": true,
+      "force_envs_single_thread": false,
+      "default_niceness": 0,
+      "experiment_summaries_interval": 10,
+      "stats_avg": 100,
+      "train_for_env_steps": 10000000,
+      "save_every_sec": 600,
+      "keep_checkpoints": 5,
+      "save_milestones_sec": -1,
+      "save_best_every_sec": 5,
+      "save_best_after": 100000,
+      "encoder_mlp_layers": [
+        64,
+        64
+      ],
+      "use_rnn": false,
+      "rnn_size": 512,
+      "rnn_type": "gru",
+      "nonlinearity": "tanh",
+      "policy_initialization": "torch_default",
+      "actor_critic_share_weights": true,
+      "adaptive_stddev": false,
+      "continuous_tanh_scale": 0.0,
+      "initial_stddev": 1.0,
+      "use_env_info_cache": false,
+      "env_framestack": 1,
+      "with_wandb": false,
+      "gym_task_name": "walker2d_rgb_state",
+      "gym_env_id": "LatencyBench/Walker2dContinuous-v0",
+      "gym_make_kwargs_json": "{\"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\"}",
+      "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_walker2d\"]",
+      "gym_action_space_json": "{\"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\"}",
+      "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
+      "gym_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.",
+      "gym_state_labels_json": "[\"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\"]",
+      "env_fps": 10.0,
+      "obs_fps": 10.0,
+      "frame_stack": 1,
+      "mode": "train",
+      "latency_type": "iid",
+      "latency_seed": 0,
+      "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/profile/profile.json",
+      "latency_profile_worker_slot": 0,
+      "add_latency_info": false,
+      "hold_policy": "hold",
+      "ordering_policy": "issue_order_fifo",
+      "eval_episodes": 5,
+      "eval_parallel_envs": 1,
+      "eval_max_steps": 1000,
+      "eval_deterministic": true,
+      "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/episode_metrics.jsonl",
+      "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_train"
+    },
+    "git_hash": "unknown",
+    "git_repo_name": "not a git repository",
+    "eval_env_frameskip": 1,
+    "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_train"
+  },
+  "device_override": "gpu",
+  "latency_override": {
+    "method": "iid",
+    "fixed_latency_ms": null,
+    "profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/profile/profile.json",
+    "profile_worker_slot": 0,
+    "seed": 0,
+    "add_latency_info": false
+  }
+}

latency-aware/walker2d/small-policy/sample-factory-qwenoft-rtx3090-v1/rollout_metadata.json

@@ -0,0 +1,370 @@
+{
+  "checkpoint_experiment_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z",
+  "checkpoint_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/checkpoint_p0/best_000013520_6922240_reward_4348.151.pth",
+  "config_source": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/config.json",
+  "latency_source": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/h100/small_train.yaml",
+  "checkpoint_config": {
+    "help": false,
+    "algo": "APPO",
+    "env": "latency_gymnasium",
+    "experiment": "walker2d_profile_20260912T092949Z",
+    "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models",
+    "restart_behavior": "overwrite",
+    "device": "gpu",
+    "seed": 0,
+    "initial_model_path": null,
+    "num_policies": 1,
+    "async_rl": false,
+    "serial_mode": false,
+    "batched_sampling": false,
+    "num_batches_to_accumulate": 2,
+    "worker_num_splits": 2,
+    "policy_workers_per_policy": 1,
+    "max_policy_lag": 300,
+    "num_workers": 8,
+    "num_envs_per_worker": 8,
+    "batch_size": 1024,
+    "num_batches_per_epoch": 4,
+    "num_epochs": 2,
+    "rollout": 64,
+    "fasttd3_replay_capacity": 6553600,
+    "fasttd3_replay_batch_size": 32768,
+    "fasttd3_transitions_per_update": 64,
+    "fasttd3_v_min": -250.0,
+    "fasttd3_v_max": 250.0,
+    "fasttd3_actor_action_l2": 0.0,
+    "fasttd3_compile": true,
+    "fasttd3_sonic_decoder_path": null,
+    "recurrence": 1,
+    "shuffle_minibatches": false,
+    "gamma": 0.99,
+    "reward_scale": 1.0,
+    "reward_clip": 1000.0,
+    "value_bootstrap": true,
+    "normalize_returns": true,
+    "exploration_loss_coeff": 0.0,
+    "value_loss_coeff": 1.3,
+    "kl_loss_coeff": 0.1,
+    "exploration_loss": "entropy",
+    "gae_lambda": 0.95,
+    "ppo_clip_ratio": 0.2,
+    "ppo_clip_value": 0.2,
+    "with_vtrace": false,
+    "vtrace_rho": 1.0,
+    "vtrace_c": 1.0,
+    "optimizer": "adam",
+    "adam_eps": 1e-06,
+    "adam_beta1": 0.9,
+    "adam_beta2": 0.999,
+    "max_grad_norm": 3.5,
+    "learning_rate": 0.00295,
+    "lr_schedule": "linear_decay",
+    "lr_schedule_kl_threshold": 0.008,
+    "lr_adaptive_min": 1e-06,
+    "lr_adaptive_max": 0.01,
+    "obs_subtract_mean": 0.0,
+    "obs_scale": 1.0,
+    "normalize_input": true,
+    "normalize_input_keys": null,
+    "decorrelate_experience_max_seconds": 0,
+    "decorrelate_envs_on_one_worker": true,
+    "actor_worker_gpus": [],
+    "set_workers_cpu_affinity": true,
+    "force_envs_single_thread": false,
+    "default_niceness": 0,
+    "log_to_file": true,
+    "experiment_summaries_interval": 10,
+    "flush_summaries_interval": 30,
+    "stats_avg": 100,
+    "summaries_use_frameskip": true,
+    "heartbeat_interval": 20,
+    "heartbeat_reporting_interval": 180,
+    "train_for_env_steps": 10000000,
+    "train_for_seconds": 10000000000,
+    "save_every_sec": 600,
+    "keep_checkpoints": 5,
+    "load_checkpoint_kind": "latest",
+    "save_milestones_sec": -1,
+    "save_best_every_sec": 5,
+    "save_best_metric": "reward",
+    "save_best_after": 100000,
+    "benchmark": false,
+    "encoder_mlp_layers": [
+      64,
+      64
+    ],
+    "encoder_conv_architecture": "convnet_simple",
+    "encoder_conv_mlp_layers": [
+      512
+    ],
+    "use_rnn": false,
+    "rnn_size": 512,
+    "rnn_type": "gru",
+    "rnn_num_layers": 1,
+    "decoder_mlp_layers": [],
+    "nonlinearity": "tanh",
+    "policy_initialization": "torch_default",
+    "policy_init_gain": 1.0,
+    "actor_critic_share_weights": true,
+    "adaptive_stddev": false,
+    "continuous_tanh_scale": 0.0,
+    "initial_stddev": 1.0,
+    "use_env_info_cache": false,
+    "env_gpu_actions": false,
+    "env_gpu_observations": true,
+    "env_frameskip": 1,
+    "env_framestack": 1,
+    "pixel_format": "CHW",
+    "use_record_episode_statistics": false,
+    "with_wandb": false,
+    "wandb_user": null,
+    "wandb_project": "sample_factory",
+    "wandb_group": null,
+    "wandb_job_type": "SF",
+    "wandb_tags": [],
+    "with_pbt": false,
+    "pbt_mix_policies_in_one_env": true,
+    "pbt_period_env_steps": 5000000,
+    "pbt_start_mutation": 20000000,
+    "pbt_replace_fraction": 0.3,
+    "pbt_mutation_rate": 0.15,
+    "pbt_replace_reward_gap": 0.1,
+    "pbt_replace_reward_gap_absolute": 1e-06,
+    "pbt_optimize_gamma": false,
+    "pbt_target_objective": "true_objective",
+    "pbt_perturb_min": 1.1,
+    "pbt_perturb_max": 1.5,
+    "gym_task_name": "walker2d_rgb_state",
+    "gym_env_id": "LatencyBench/Walker2dContinuous-v0",
+    "gym_make_kwargs_json": "{\"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\"}",
+    "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_walker2d\"]",
+    "gym_action_space_json": "{\"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\"}",
+    "gym_action_labels_json": null,
+    "gym_action_values_json": null,
+    "gym_noop_action_id": null,
+    "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
+    "gym_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.",
+    "gym_state_labels_json": "[\"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\"]",
+    "env_fps": 10.0,
+    "obs_fps": 10.0,
+    "frame_stack": 1,
+    "export_env_raw_rgb_frames": false,
+    "mode": "train",
+    "latency_type": "iid",
+    "fixed_latency_ms": null,
+    "mean_latency_ms": null,
+    "std_latency_ms": null,
+    "min_latency_ms": null,
+    "max_latency_ms": null,
+    "latency_seed": 0,
+    "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/profile/profile.json",
+    "latency_profile_worker_slot": 0,
+    "simulated_worker_capacity": null,
+    "add_latency_info": false,
+    "max_pending_actions": null,
+    "hold_policy": "hold",
+    "ordering_policy": "issue_order_fifo",
+    "eval_episodes": 5,
+    "eval_parallel_envs": 1,
+    "eval_latency_raw_frame_values": null,
+    "eval_max_steps": 1000,
+    "eval_deterministic": true,
+    "eval_raw_reward": false,
+    "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/episode_metrics.jsonl",
+    "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment walker2d_profile_20260912T092949Z --train_dir /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models --restart_behavior overwrite --device gpu --seed 0 --episode_metrics_path /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/episode_metrics.jsonl --train_for_env_steps 10000000 --num_workers 8 --num_envs_per_worker 8 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 1 --num_epochs 2 --num_batches_per_epoch 4 --worker_num_splits 2 --max_policy_lag 300 --num_batches_to_accumulate 2 --policy_workers_per_policy 1 --learning_rate 0.00295 --kl_loss_coeff 0.1 --lr_schedule_kl_threshold 0.008 --nonlinearity tanh --policy_initialization torch_default --continuous_tanh_scale 0.0 --initial_stddev 1.0 --env_framestack 1 --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.2 --ppo_clip_value 0.2 --exploration_loss entropy --exploration_loss_coeff 0.0 --reward_scale 1.0 --reward_clip 1000.0 --value_loss_coeff 1.3 --max_grad_norm 3.5 --optimizer adam --adam_eps 1e-06 --adam_beta1 0.9 --adam_beta2 0.999 --obs_subtract_mean 0.0 --obs_scale 1.0 --decorrelate_experience_max_seconds 0 --default_niceness 0 --rnn_type gru --rnn_size 512 --save_every_sec 600 --keep_checkpoints 5 --save_milestones_sec -1 --save_best_every_sec 5 --save_best_after 100000 --stats_avg 100 --experiment_summaries_interval 10 --async_rl False --batched_sampling False --serial_mode False --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --shuffle_minibatches False --value_bootstrap True --with_vtrace False --decorrelate_envs_on_one_worker True --set_workers_cpu_affinity True --force_envs_single_thread False --actor_critic_share_weights True --with_wandb False --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/profile/profile.json --latency-profile-worker-slot 0 --add-latency-info False --eval-episodes 5 --eval-parallel-envs 1 --eval-max-steps 1000 --eval-deterministic True --gym-task-name walker2d_rgb_state --gym-env-id LatencyBench/Walker2dContinuous-v0 --gym-make-kwargs-json {\"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\"} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_walker2d\"] --gym-action-space-json {\"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\"} --gym-noop-action-json [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] --gym-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. --gym-state-labels-json [\"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\"] --env-fps 10.0 --obs-fps 10.0 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+    "cli_args": {
+      "algo": "APPO",
+      "env": "latency_gymnasium",
+      "experiment": "walker2d_profile_20260912T092949Z",
+      "train_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models",
+      "restart_behavior": "overwrite",
+      "device": "gpu",
+      "seed": 0,
+      "num_policies": 1,
+      "async_rl": false,
+      "serial_mode": false,
+      "batched_sampling": false,
+      "num_batches_to_accumulate": 2,
+      "worker_num_splits": 2,
+      "policy_workers_per_policy": 1,
+      "max_policy_lag": 300,
+      "num_workers": 8,
+      "num_envs_per_worker": 8,
+      "batch_size": 1024,
+      "num_batches_per_epoch": 4,
+      "num_epochs": 2,
+      "rollout": 64,
+      "recurrence": 1,
+      "shuffle_minibatches": false,
+      "gamma": 0.99,
+      "reward_scale": 1.0,
+      "reward_clip": 1000.0,
+      "value_bootstrap": true,
+      "normalize_returns": true,
+      "exploration_loss_coeff": 0.0,
+      "value_loss_coeff": 1.3,
+      "kl_loss_coeff": 0.1,
+      "exploration_loss": "entropy",
+      "gae_lambda": 0.95,
+      "ppo_clip_ratio": 0.2,
+      "ppo_clip_value": 0.2,
+      "with_vtrace": false,
+      "optimizer": "adam",
+      "adam_eps": 1e-06,
+      "adam_beta1": 0.9,
+      "adam_beta2": 0.999,
+      "max_grad_norm": 3.5,
+      "learning_rate": 0.00295,
+      "lr_schedule_kl_threshold": 0.008,
+      "obs_subtract_mean": 0.0,
+      "obs_scale": 1.0,
+      "normalize_input": true,
+      "decorrelate_experience_max_seconds": 0,
+      "decorrelate_envs_on_one_worker": true,
+      "set_workers_cpu_affinity": true,
+      "force_envs_single_thread": false,
+      "default_niceness": 0,
+      "experiment_summaries_interval": 10,
+      "stats_avg": 100,
+      "train_for_env_steps": 10000000,
+      "save_every_sec": 600,
+      "keep_checkpoints": 5,
+      "save_milestones_sec": -1,
+      "save_best_every_sec": 5,
+      "save_best_after": 100000,
+      "encoder_mlp_layers": [
+        64,
+        64
+      ],
+      "use_rnn": false,
+      "rnn_size": 512,
+      "rnn_type": "gru",
+      "nonlinearity": "tanh",
+      "policy_initialization": "torch_default",
+      "actor_critic_share_weights": true,
+      "adaptive_stddev": false,
+      "continuous_tanh_scale": 0.0,
+      "initial_stddev": 1.0,
+      "use_env_info_cache": false,
+      "env_framestack": 1,
+      "with_wandb": false,
+      "gym_task_name": "walker2d_rgb_state",
+      "gym_env_id": "LatencyBench/Walker2dContinuous-v0",
+      "gym_make_kwargs_json": "{\"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\"}",
+      "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_walker2d\"]",
+      "gym_action_space_json": "{\"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\"}",
+      "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
+      "gym_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.",
+      "gym_state_labels_json": "[\"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\"]",
+      "env_fps": 10.0,
+      "obs_fps": 10.0,
+      "frame_stack": 1,
+      "mode": "train",
+      "latency_type": "iid",
+      "latency_seed": 0,
+      "latency_profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/profile/profile.json",
+      "latency_profile_worker_slot": 0,
+      "add_latency_info": false,
+      "hold_policy": "hold",
+      "ordering_policy": "issue_order_fifo",
+      "eval_episodes": 5,
+      "eval_parallel_envs": 1,
+      "eval_max_steps": 1000,
+      "eval_deterministic": true,
+      "episode_metrics_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/episode_metrics.jsonl",
+      "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_train"
+    },
+    "git_hash": "unknown",
+    "git_repo_name": "not a git repository",
+    "eval_env_frameskip": 1,
+    "output_dir": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_train"
+  },
+  "latency_override": {
+    "method": "iid",
+    "fixed_latency_ms": null,
+    "profile_path": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/profile/profile.json",
+    "profile_worker_slot": 0,
+    "seed": 0,
+    "add_latency_info": false
+  },
+  "gymnasium_task": {
+    "task_name": "walker2d_rgb_state",
+    "env_id": "LatencyBench/Walker2dContinuous-v0",
+    "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"
+    },
+    "registration_imports": [
+      "latency_bench.envs.gymnasium_walker2d"
+    ],
+    "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": 10.0,
+    "obs_fps": 10.0,
+    "frame_stack": 1,
+    "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"
+      ]
+    },
+    "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
+    ]
+  }
+}

latency-aware/walker2d/small-policy/sample-factory-qwenoft-rtx3090-v1/selection.json

@@ -0,0 +1,14 @@
+{
+  "run_id": "20260912T092949Z-walker2d",
+  "source_profile_run_id": "20260912T093545326611Z",
+  "selection_rule": "best_reward_after_full_training_budget",
+  "best_checkpoint": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/checkpoint_p0/best_000013520_6922240_reward_4348.151.pth",
+  "best_bundle_path": "checkpoint_p0/best_000013520_6922240_reward_4348.151.pth",
+  "final_checkpoint": "/mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models/walker2d_profile_20260912T092949Z/checkpoint_p0/checkpoint_000019544_10006528.pth",
+  "final_env_steps": 10006528,
+  "final_train_step": 19544,
+  "training_exit_code": 0,
+  "profile_sha256": "60fc378a94af03b24f71a879e2374647b90f3bf0e74be83e9a27544cdde2c12f",
+  "code_root_sha": "86df5ecef6735d5d824944e7acdee5bf204e1545",
+  "note": "config and rollout descriptor preserve exact H100 training paths; rebind latency profile to bundled profile/profile.json when moving hosts"
+}

latency-aware/walker2d/small-policy/sample-factory-qwenoft-rtx3090-v1/small_train.yaml

@@ -0,0 +1,178 @@
+experiment:
+  name: walker2d_profile_20260912T092949Z
+  seed: 0
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_models
+  restart_behavior: overwrite
+  run_mode: train
+executor:
+  mode: simulated
+env:
+  name: gymnasium
+  action_space:
+    dtype: float32
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    - 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: 10.0
+  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: 10.0
+  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
+latency:
+  method: iid
+  fixed_latency_ms: null
+  profile_path: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/profile/profile.json
+  profile_worker_slot: 0
+  seed: 0
+  add_latency_info: false
+scheduler:
+  hold_policy: hold
+  ordering_policy: issue_order_fifo
+policy:
+  type: random
+training:
+  train_for_env_steps: 10000000
+  num_workers: 8
+  num_envs_per_worker: 8
+  worker_num_splits: 2
+  num_policies: 1
+  batch_size: 1024
+  rollout: 64
+  recurrence: 1
+  num_epochs: 2
+  num_batches_per_epoch: 4
+  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
+  num_batches_to_accumulate: 2
+  policy_workers_per_policy: 1
+  kl_loss_coeff: 0.1
+  lr_schedule_kl_threshold: 0.008
+  nonlinearity: tanh
+  policy_initialization: torch_default
+  continuous_tanh_scale: 0.0
+  initial_stddev: 1.0
+  env_framestack: 1
+  exploration_loss: entropy
+  reward_scale: 1.0
+  reward_clip: 1000.0
+  optimizer: adam
+  adam_eps: 1.0e-06
+  adam_beta1: 0.9
+  adam_beta2: 0.999
+  obs_subtract_mean: 0.0
+  obs_scale: 1.0
+  decorrelate_experience_max_seconds: 0
+  default_niceness: 0
+  rnn_type: gru
+  rnn_size: 512
+  save_milestones_sec: -1
+  save_best_every_sec: 5
+  save_best_after: 100000
+  stats_avg: 100
+  experiment_summaries_interval: 10
+  serial_mode: false
+  adaptive_stddev: false
+  shuffle_minibatches: false
+  value_bootstrap: true
+  with_vtrace: false
+  decorrelate_envs_on_one_worker: true
+  set_workers_cpu_affinity: true
+  force_envs_single_thread: false
+  actor_critic_share_weights: true
+  with_wandb: false
+  lr_schedule: linear_decay
+evaluation:
+  eval_interval_steps: null
+  eval_episodes: 5
+  eval_parallel_envs: 1
+  eval_max_steps: 1000
+  eval_deterministic: true
+logging:
+  output_dir: /mnt/results/latency-sensitive-bench/profile-latency-new/walker2d/20260912T092949Z-walker2d/small_train
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: false
+  save_action_records: false
+  save_latency_records: false

latency-aware/walker2d/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/README.md

@@ -0,0 +1,30 @@
+# walker2d / sample-factory-appo
+
+Training condition: `latency-aware`. Run: `pi05_walker2d_profile_appo_h1_5fps_g128_20260921`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/small_model/Pi05) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoint.pth`
+- Selection: training_best
+- Checkpoint SHA256: `c9164f8e440bd6ac8b41e47f493dc2eea6945bb7520bbc08e851870fda2ac21f`
+- Configuration, FPS, actions, normalization and latency semantics retain their source values.
+- This import does not run evaluations or change training/evaluation/acceptance status.
+
+Sample Factory APPO inference bundle: `config.json` and the explicit `checkpoint.pth`.
+The checkpoint contains `model`, `train_step`, and `env_steps`; every exported model
+tensor was reloaded and compared bit-for-bit with the selected source checkpoint.
+
+See [the original model notes](source/README.md) for experiment results and limitations.
+
+[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/walker2d/small-policy/sample-factory-qwenpi_v3-rtx3090-v1"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

latency-aware/walker2d/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/checkpoint.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9164f8e440bd6ac8b41e47f493dc2eea6945bb7520bbc08e851870fda2ac21f
+size 29835

latency-aware/walker2d/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/config.json

@@ -0,0 +1,272 @@
+{
+  "help": false,
+  "algo": "APPO",
+  "env": "latency_gymnasium",
+  "experiment": "pi05_walker2d_profile_appo_h1_5fps_g128_20260921",
+  "train_dir": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints",
+  "restart_behavior": "overwrite",
+  "device": "gpu",
+  "seed": 0,
+  "initial_model_path": null,
+  "num_policies": 1,
+  "async_rl": false,
+  "serial_mode": false,
+  "batched_sampling": false,
+  "num_batches_to_accumulate": 2,
+  "worker_num_splits": 2,
+  "policy_workers_per_policy": 1,
+  "max_policy_lag": 300,
+  "num_workers": 8,
+  "num_envs_per_worker": 8,
+  "batch_size": 1024,
+  "num_batches_per_epoch": 4,
+  "num_epochs": 2,
+  "rollout": 64,
+  "fasttd3_replay_capacity": 6553600,
+  "fasttd3_replay_batch_size": 32768,
+  "fasttd3_action_chunk_horizon": 1,
+  "fasttd3_transitions_per_update": 64,
+  "fasttd3_train_for_optimizer_steps": 10000000000,
+  "fasttd3_v_min": -250.0,
+  "fasttd3_v_max": 250.0,
+  "fasttd3_actor_action_l2": 0.0,
+  "fasttd3_compile": true,
+  "recurrence": 1,
+  "shuffle_minibatches": false,
+  "gamma": 0.99,
+  "reward_scale": 1.0,
+  "reward_clip": 1000.0,
+  "value_bootstrap": true,
+  "normalize_returns": true,
+  "exploration_loss_coeff": 0.0,
+  "value_loss_coeff": 1.3,
+  "kl_loss_coeff": 0.1,
+  "exploration_loss": "entropy",
+  "gae_lambda": 0.95,
+  "ppo_clip_ratio": 0.2,
+  "ppo_clip_value": 0.2,
+  "with_vtrace": false,
+  "vtrace_rho": 1.0,
+  "vtrace_c": 1.0,
+  "optimizer": "adam",
+  "adam_eps": 1e-06,
+  "adam_beta1": 0.9,
+  "adam_beta2": 0.999,
+  "max_grad_norm": 3.5,
+  "learning_rate": 0.00295,
+  "lr_schedule": "linear_decay",
+  "lr_schedule_kl_threshold": 0.008,
+  "lr_adaptive_min": 1e-06,
+  "lr_adaptive_max": 0.01,
+  "obs_subtract_mean": 0.0,
+  "obs_scale": 1.0,
+  "normalize_input": true,
+  "normalize_input_keys": null,
+  "decorrelate_experience_max_seconds": 0,
+  "decorrelate_envs_on_one_worker": true,
+  "actor_worker_gpus": [],
+  "set_workers_cpu_affinity": true,
+  "force_envs_single_thread": false,
+  "default_niceness": 0,
+  "log_to_file": true,
+  "experiment_summaries_interval": 10,
+  "flush_summaries_interval": 30,
+  "stats_avg": 100,
+  "summaries_use_frameskip": true,
+  "heartbeat_interval": 20,
+  "heartbeat_reporting_interval": 180,
+  "train_for_env_steps": 10000000,
+  "train_for_seconds": 10000000000,
+  "save_every_sec": 600,
+  "keep_checkpoints": 5,
+  "load_checkpoint_kind": "latest",
+  "save_milestones_sec": -1,
+  "save_best_every_sec": 5,
+  "save_best_metric": "reward",
+  "save_best_after": 100000,
+  "benchmark": false,
+  "encoder_mlp_layers": [
+    64,
+    64
+  ],
+  "encoder_conv_architecture": "convnet_simple",
+  "encoder_conv_mlp_layers": [
+    512
+  ],
+  "use_rnn": false,
+  "rnn_size": 512,
+  "rnn_type": "gru",
+  "rnn_num_layers": 1,
+  "decoder_mlp_layers": [],
+  "nonlinearity": "tanh",
+  "policy_initialization": "torch_default",
+  "policy_init_gain": 1.0,
+  "actor_critic_share_weights": true,
+  "adaptive_stddev": false,
+  "continuous_tanh_scale": 0.0,
+  "initial_stddev": 1.0,
+  "use_env_info_cache": false,
+  "env_gpu_actions": false,
+  "env_gpu_observations": true,
+  "env_frameskip": 1,
+  "env_framestack": 1,
+  "pixel_format": "CHW",
+  "use_record_episode_statistics": false,
+  "with_wandb": true,
+  "wandb_user": "dongqianyu99-zhejiang-university",
+  "wandb_project": "latency-sensitive-bench",
+  "wandb_group": "pi05-profile-teachers-h1-5fps-20260921",
+  "wandb_job_type": "profile_teacher",
+  "wandb_tags": [
+    "walker2d",
+    "APPO",
+    "Pi05",
+    "measured-IID-profile",
+    "H1",
+    "5FPS"
+  ],
+  "with_pbt": false,
+  "pbt_mix_policies_in_one_env": true,
+  "pbt_period_env_steps": 5000000,
+  "pbt_start_mutation": 20000000,
+  "pbt_replace_fraction": 0.3,
+  "pbt_mutation_rate": 0.15,
+  "pbt_replace_reward_gap": 0.1,
+  "pbt_replace_reward_gap_absolute": 1e-06,
+  "pbt_optimize_gamma": false,
+  "pbt_target_objective": "true_objective",
+  "pbt_perturb_min": 1.1,
+  "pbt_perturb_max": 1.5,
+  "gym_task_name": "walker2d",
+  "gym_env_id": "LatencyBench/Walker2dContinuous-v0",
+  "gym_make_kwargs_json": "{\"base_env_id\": \"Walker2d-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {\"forward_reward_weight\": 1.0, \"ctrl_cost_weight\": 0.001, \"healthy_reward\": 1.0, \"terminate_when_unhealthy\": true, \"reset_noise_scale\": 0.005, \"exclude_current_positions_from_observation\": true}}",
+  "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_walker2d\"]",
+  "gym_action_space_json": "{\"type\": \"box\", \"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], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
+  "gym_action_labels_json": null,
+  "gym_action_values_json": null,
+  "gym_noop_action_id": null,
+  "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
+  "gym_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.",
+  "gym_state_labels_json": "[\"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\"]",
+  "env_fps": 5.0,
+  "obs_fps": 5.0,
+  "frame_stack": 1,
+  "export_env_raw_rgb_frames": false,
+  "mode": "train",
+  "latency_type": "iid",
+  "fixed_latency_ms": null,
+  "mean_latency_ms": null,
+  "std_latency_ms": null,
+  "min_latency_ms": null,
+  "max_latency_ms": null,
+  "latency_seed": 0,
+  "latency_profile_path": "${PI05_RUN_DIR}/profile_latency/profile/profile.json",
+  "latency_profile_worker_slot": 0,
+  "simulated_worker_capacity": null,
+  "add_latency_info": false,
+  "max_pending_actions": null,
+  "hold_last_chunk_action": false,
+  "hold_policy": "hold",
+  "ordering_policy": "issue_order_fifo",
+  "eval_episodes": 5,
+  "eval_parallel_envs": 1,
+  "eval_latency_raw_frame_values": null,
+  "eval_max_steps": 1000,
+  "eval_deterministic": true,
+  "eval_raw_reward": false,
+  "episode_metrics_path": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_walker2d_profile_appo_h1_5fps_g128_20260921/episode_metrics.jsonl",
+  "ppo": null,
+  "command_line": "--mode train --algo APPO --env latency_gymnasium --experiment pi05_walker2d_profile_appo_h1_5fps_g128_20260921 --train_dir ${PI05_RUN_DIR}/profile_latency/teacher/checkpoints --restart_behavior overwrite --device gpu --seed 0 --episode_metrics_path ${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_walker2d_profile_appo_h1_5fps_g128_20260921/episode_metrics.jsonl --train_for_env_steps 10000000 --num_workers 8 --num_envs_per_worker 8 --num_policies 1 --batch_size 1024 --rollout 64 --recurrence 1 --num_epochs 2 --num_batches_per_epoch 4 --worker_num_splits 2 --max_policy_lag 300 --learning_rate 0.00295 --kl_loss_coeff 0.1 --nonlinearity tanh --policy_initialization torch_default --initial_stddev 1.0 --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.2 --ppo_clip_value 0.2 --exploration_loss_coeff 0.0 --value_loss_coeff 1.3 --max_grad_norm 3.5 --save_every_sec 600 --keep_checkpoints 5 --async_rl False --batched_sampling False --serial_mode False --use_rnn False --normalize_returns True --normalize_input True --adaptive_stddev False --shuffle_minibatches False --value_bootstrap True --encoder_mlp_layers 64 64 --latency-type iid --latency-seed 0 --latency-profile-path ${PI05_RUN_DIR}/profile_latency/profile/profile.json --latency-profile-worker-slot 0 --add-latency-info False --eval-episodes 5 --eval-parallel-envs 1 --eval-max-steps 1000 --eval-deterministic True --with_wandb True --wandb_project latency-sensitive-bench --wandb_group pi05-profile-teachers-h1-5fps-20260921 --wandb_job_type profile_teacher --wandb_tags walker2d APPO Pi05 measured-IID-profile H1 5FPS --wandb_user dongqianyu99-zhejiang-university --gym-task-name walker2d --gym-env-id LatencyBench/Walker2dContinuous-v0 --gym-make-kwargs-json {\"base_env_id\": \"Walker2d-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {\"forward_reward_weight\": 1.0, \"ctrl_cost_weight\": 0.001, \"healthy_reward\": 1.0, \"terminate_when_unhealthy\": true, \"reset_noise_scale\": 0.005, \"exclude_current_positions_from_observation\": true}} --gym-registration-imports-json [\"latency_bench.envs.gymnasium_walker2d\"] --gym-action-space-json {\"type\": \"box\", \"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], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"} --gym-noop-action-json [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] --gym-base-prompt 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. --gym-state-labels-json [\"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\"] --env-fps 5 --obs-fps 5 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
+  "cli_args": {
+    "algo": "APPO",
+    "env": "latency_gymnasium",
+    "experiment": "pi05_walker2d_profile_appo_h1_5fps_g128_20260921",
+    "train_dir": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints",
+    "restart_behavior": "overwrite",
+    "device": "gpu",
+    "seed": 0,
+    "num_policies": 1,
+    "async_rl": false,
+    "serial_mode": false,
+    "batched_sampling": false,
+    "worker_num_splits": 2,
+    "max_policy_lag": 300,
+    "num_workers": 8,
+    "num_envs_per_worker": 8,
+    "batch_size": 1024,
+    "num_batches_per_epoch": 4,
+    "num_epochs": 2,
+    "rollout": 64,
+    "recurrence": 1,
+    "shuffle_minibatches": false,
+    "gamma": 0.99,
+    "value_bootstrap": true,
+    "normalize_returns": true,
+    "exploration_loss_coeff": 0.0,
+    "value_loss_coeff": 1.3,
+    "kl_loss_coeff": 0.1,
+    "gae_lambda": 0.95,
+    "ppo_clip_ratio": 0.2,
+    "ppo_clip_value": 0.2,
+    "max_grad_norm": 3.5,
+    "learning_rate": 0.00295,
+    "normalize_input": true,
+    "train_for_env_steps": 10000000,
+    "save_every_sec": 600,
+    "keep_checkpoints": 5,
+    "encoder_mlp_layers": [
+      64,
+      64
+    ],
+    "use_rnn": false,
+    "nonlinearity": "tanh",
+    "policy_initialization": "torch_default",
+    "adaptive_stddev": false,
+    "initial_stddev": 1.0,
+    "use_env_info_cache": false,
+    "with_wandb": true,
+    "wandb_user": "dongqianyu99-zhejiang-university",
+    "wandb_project": "latency-sensitive-bench",
+    "wandb_group": "pi05-profile-teachers-h1-5fps-20260921",
+    "wandb_job_type": "profile_teacher",
+    "wandb_tags": [
+      "walker2d",
+      "APPO",
+      "Pi05",
+      "measured-IID-profile",
+      "H1",
+      "5FPS"
+    ],
+    "gym_task_name": "walker2d",
+    "gym_env_id": "LatencyBench/Walker2dContinuous-v0",
+    "gym_make_kwargs_json": "{\"base_env_id\": \"Walker2d-v4\", \"render_mode\": \"rgb_array\", \"base_make_kwargs\": {\"forward_reward_weight\": 1.0, \"ctrl_cost_weight\": 0.001, \"healthy_reward\": 1.0, \"terminate_when_unhealthy\": true, \"reset_noise_scale\": 0.005, \"exclude_current_positions_from_observation\": true}}",
+    "gym_registration_imports_json": "[\"latency_bench.envs.gymnasium_walker2d\"]",
+    "gym_action_space_json": "{\"type\": \"box\", \"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], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
+    "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
+    "gym_base_prompt": "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.",
+    "gym_state_labels_json": "[\"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\"]",
+    "env_fps": 5.0,
+    "obs_fps": 5.0,
+    "frame_stack": 1,
+    "mode": "train",
+    "latency_type": "iid",
+    "latency_seed": 0,
+    "latency_profile_path": "${PI05_RUN_DIR}/profile_latency/profile/profile.json",
+    "latency_profile_worker_slot": 0,
+    "add_latency_info": false,
+    "hold_policy": "hold",
+    "ordering_policy": "issue_order_fifo",
+    "eval_episodes": 5,
+    "eval_parallel_envs": 1,
+    "eval_max_steps": 1000,
+    "eval_deterministic": true,
+    "episode_metrics_path": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_walker2d_profile_appo_h1_5fps_g128_20260921/episode_metrics.jsonl",
+    "output_dir": "${PI05_RUN_DIR}/profile_latency/teacher/training",
+    "wandb_unique_id": "pi05_walker2d_profile_appo_h1_5fps_g128_20260921"
+  },
+  "git_hash": "unknown",
+  "git_repo_name": "not a git repository",
+  "eval_env_frameskip": 1,
+  "output_dir": "${PI05_RUN_DIR}/profile_latency/teacher/training",
+  "wandb_unique_id": "pi05_walker2d_profile_appo_h1_5fps_g128_20260921"
+}

latency-aware/walker2d/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/provenance.json

@@ -0,0 +1,40 @@
+{
+  "task": "walker2d",
+  "model": "sample-factory-appo",
+  "training_condition": "latency-aware",
+  "training_run_id": "pi05_walker2d_profile_appo_h1_5fps_g128_20260921",
+  "source": {
+    "repo_id": "latency-sensitive-bench/Standard-Pipeline",
+    "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
+    "path": "walker2d/profile_latency/small_model/Pi05",
+    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/small_model/Pi05"
+  },
+  "hf_repo_id": "latency-sensitive-bench/benchmark-models",
+  "hf_path": "latency-aware/walker2d/small-policy/sample-factory-qwenpi_v3-rtx3090-v1",
+  "checkpoint": {
+    "source_file": "walker2d/profile_latency/small_model/Pi05/checkpoint_p0/selected.pth",
+    "source_sha256": "c9164f8e440bd6ac8b41e47f493dc2eea6945bb7520bbc08e851870fda2ac21f",
+    "source_bytes": 29835,
+    "file": "checkpoint.pth",
+    "selection_rule": "training_best",
+    "method": "copy",
+    "sha256": "c9164f8e440bd6ac8b41e47f493dc2eea6945bb7520bbc08e851870fda2ac21f",
+    "bytes": 29835,
+    "train_step": 18928,
+    "env_steps": 9691136,
+    "tensor_count": 15,
+    "tensor_equality_verified": true,
+    "removed_fields": []
+  },
+  "config_source": "walker2d/profile_latency/small_model/Pi05/config.json",
+  "task_contract_file": null,
+  "missing_source_files": [],
+  "migration": {
+    "operation": "copy_selected_inference_bundle",
+    "source_modified": false,
+    "evaluation_performed": false,
+    "experiment_status": "preserved_in_source_evidence"
+  },
+  "algorithm": "APPO",
+  "latency_model": "qwenpi_v3"
+}

latency-aware/walker2d/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/selection.json

@@ -0,0 +1,116 @@
+{
+  "selected": "training_best",
+  "selection_policy": "higher_mean_over_paired_20; ties_select_final",
+  "candidates": {
+    "final": {
+      "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_walker2d_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/checkpoint_000019536_10002432.pth",
+      "sha256": "e157a7be891b0b498028293fc7be14eda97cd41b485220f558ea3d5a88c77171",
+      "train_step": 19536,
+      "env_steps": 10002432,
+      "episodes": 20,
+      "seeds": [
+        104771,
+        104772,
+        104773,
+        104774,
+        104775,
+        104776,
+        104777,
+        104778,
+        104779,
+        104780,
+        104781,
+        104782,
+        104783,
+        104784,
+        104785,
+        104786,
+        104787,
+        104788,
+        104789,
+        104790
+      ],
+      "returns": [
+        4337.574338552904,
+        2124.168087172507,
+        3803.271661035685,
+        4247.230688017356,
+        1180.6139208871832,
+        1196.3837779316377,
+        3778.6057355245894,
+        3562.7070253642705,
+        1156.377364775773,
+        4000.2209267455473,
+        1196.9960923429844,
+        4196.1107606718415,
+        1161.7798657840565,
+        1163.344082665548,
+        4193.403531977741,
+        2077.0328874033744,
+        2716.3877118621144,
+        1142.383303495549,
+        1197.1537112200667,
+        2535.48704209563
+      ],
+      "mean": 2548.361625776318,
+      "population_std": 1289.7687169980788,
+      "strict_gt3000": 8
+    },
+    "training_best": {
+      "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_walker2d_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/best_000018928_9691136_reward_4148.139.pth",
+      "sha256": "3d51959c7d65d8e9d1ec34cfc4a8dc7741abf9726439512bc7a0442fd265044e",
+      "train_step": 18928,
+      "env_steps": 9691136,
+      "episodes": 20,
+      "seeds": [
+        104771,
+        104772,
+        104773,
+        104774,
+        104775,
+        104776,
+        104777,
+        104778,
+        104779,
+        104780,
+        104781,
+        104782,
+        104783,
+        104784,
+        104785,
+        104786,
+        104787,
+        104788,
+        104789,
+        104790
+      ],
+      "returns": [
+        2454.017948041446,
+        3517.5093910555765,
+        4443.205483476128,
+        4155.968346173417,
+        3904.8882905894393,
+        1210.1385452181764,
+        3550.0328741089725,
+        1841.8260301793923,
+        4000.010779902804,
+        3974.0655123428087,
+        2544.925200849052,
+        3898.4951632085545,
+        3853.089408732446,
+        4233.270564039822,
+        3649.040265741407,
+        3954.793190236864,
+        3944.9064060851774,
+        3956.211685978782,
+        3755.029851073333,
+        3969.2680678441934
+      ],
+      "mean": 3540.5346502438897,
+      "population_std": 826.7207979036164,
+      "strict_gt3000": 16
+    }
+  },
+  "selected_checkpoint_sha256": "3d51959c7d65d8e9d1ec34cfc4a8dc7741abf9726439512bc7a0442fd265044e",
+  "completed_at_utc": "2026-09-21T14:08:56.270953+00:00"
+}

latency-aware/walker2d/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/source/README.md

@@ -0,0 +1,7 @@
+# Walker2D Pi0.5 profile-latency APPO checkpoint
+
+Selected `training_best` at train step 18928 / 9691136 Sample Factory environment steps, seed 0, native state/action 17/6, and 5/5 FPS. The selected paired evaluation mean was 3540.534650 (population SD 826.720798); 16 of 20 returns were strictly above 3000. P profile SHA256 `b5409f8578bec62e2c5232c3916b3ddd2e0e9494031259265540ba6aef882e5e` (publication revision `e1a9bdd566b96d5da4703f769d40eab656af491e`).
+
+Selected training-best scored 3540.535 with 16/20 returns >3000. Final reached 10002432 environment steps and satisfies the 10M budget; the selected training-best is below that budget.
+
+Only the selected inference model, `train_step`, and `env_steps` are retained; CPU reload confirmed every model tensor bit-identical. Optimizer, RNG, W&B cache, credentials, VLA artifacts, and demonstration data are excluded. See `verification.json` for the original audit and `provenance.json` for source/export hashes and any separate data publication.

latency-aware/walker2d/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/source/provenance.json

@@ -0,0 +1,50 @@
+{
+  "state": "SELECTED_TEACHER_INFERENCE_EXPORT_CPU_RELOAD_VERIFIED",
+  "task": "walker2d",
+  "selected": "training_best",
+  "source_checkpoint": "best_000018928_9691136_reward_4148.139.pth",
+  "source_checkpoint_sha256": "3d51959c7d65d8e9d1ec34cfc4a8dc7741abf9726439512bc7a0442fd265044e",
+  "export_checkpoint": "checkpoint_p0/selected.pth",
+  "export_checkpoint_sha256": "c9164f8e440bd6ac8b41e47f493dc2eea6945bb7520bbc08e851870fda2ac21f",
+  "retained_keys": [
+    "model",
+    "train_step",
+    "env_steps"
+  ],
+  "removed_keys": [
+    "best_performance",
+    "curr_lr",
+    "optimizer"
+  ],
+  "model_tensors_bit_identical": true,
+  "model_tensor_count": 15,
+  "selected_train_step": 18928,
+  "selected_env_steps": 9691136,
+  "actual_final_train_step": 19536,
+  "actual_final_env_steps": 10002432,
+  "budget_sample_factory_env_steps": 10000000,
+  "seed": 0,
+  "native_state_dim": 17,
+  "native_action_dim": 6,
+  "profile_sha256": "b5409f8578bec62e2c5232c3916b3ddd2e0e9494031259265540ba6aef882e5e",
+  "profile_publication_revision": "e1a9bdd566b96d5da4703f769d40eab656af491e",
+  "audit_state": "TEACHER_FULL_TRACE_AUDIT_PASSED",
+  "audit_gate": "PASSED",
+  "selected_mean": 3540.5346502438897,
+  "selected_population_std": 826.7207979036164,
+  "selected_strict_gt3000_episodes": 16,
+  "data": {
+    "state": "PUBLISHED_SEPARATELY",
+    "revision": "42d03372359f14ab830b1dcfebaf15986aa0e984",
+    "accepted": 100,
+    "attempts": 118,
+    "rows": 98708,
+    "gate": "episode_raw_return >3000"
+  },
+  "source_sha256": {
+    "config.json": "38016732c3acc95545e55085a9c27b9c9594c235efcec0785d385def301b9036",
+    "teacher.yaml": "ce72f655f96f9bf53bb26bc748f9646d71d5732fec76bd201bb2155f5c1a8be5",
+    "selection.json": "8c66d50b25b1a79d8dfe3841604a3ca9a5b57816fdfa7be0760a0de936f10f05",
+    "verification.json": "20a4dde06a7ab677d8cb59116b3cb69d75204aa0fc463e8c48511a69288920e2"
+  }
+}

latency-aware/walker2d/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/teacher.yaml

@@ -0,0 +1,162 @@
+experiment:
+  name: pi05_walker2d_profile_appo_h1_5fps_g128_20260921
+  seed: 0
+backend:
+  type: sample_factory
+  algo: APPO
+  device: cuda
+  train_dir: ${PI05_RUN_DIR}/profile_latency/teacher/checkpoints
+  restart_behavior: overwrite
+  run_mode: train
+  extra_args:
+  - --wandb_user
+  - dongqianyu99-zhejiang-university
+executor:
+  mode: simulated
+env:
+  name: gymnasium
+  task_name: walker2d
+  env_id: LatencyBench/Walker2dContinuous-v0
+  registration_imports:
+  - latency_bench.envs.gymnasium_walker2d
+  make_kwargs:
+    base_env_id: Walker2d-v4
+    render_mode: rgb_array
+    base_make_kwargs:
+      forward_reward_weight: 1.0
+      ctrl_cost_weight: 0.001
+      healthy_reward: 1.0
+      terminate_when_unhealthy: true
+      reset_noise_scale: 0.005
+      exclude_current_positions_from_observation: true
+  env_fps: 5
+  obs_fps: 5
+  frame_stack: 1
+  action_space:
+    type: box
+    labels:
+    - 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
+    high:
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    dtype: float32
+  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
+latency:
+  method: iid
+  profile_path: ${PI05_RUN_DIR}/profile_latency/profile/profile.json
+  profile_worker_slot: 0
+  seed: 0
+  add_latency_info: false
+scheduler:
+  hold_policy: hold
+  ordering_policy: issue_order_fifo
+policy:
+  type: random
+training:
+  train_for_env_steps: 10000000
+  num_workers: 8
+  num_envs_per_worker: 8
+  worker_num_splits: 2
+  num_policies: 1
+  batch_size: 1024
+  rollout: 64
+  recurrence: 1
+  num_epochs: 2
+  num_batches_per_epoch: 4
+  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_interval_steps: null
+  eval_episodes: 5
+  eval_parallel_envs: 1
+  eval_max_steps: 1000
+  eval_deterministic: true
+logging:
+  output_dir: ${PI05_RUN_DIR}/profile_latency/teacher/training
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: false
+  save_action_records: false
+  save_latency_records: false
+  wandb_project: latency-sensitive-bench
+  wandb_group: pi05-profile-teachers-h1-5fps-20260921
+  wandb_name: pi05_walker2d_profile_appo_h1_5fps_g128_20260921
+  wandb_job_type: profile_teacher
+  wandb_tags:
+  - walker2d
+  - APPO
+  - Pi05
+  - measured-IID-profile
+  - H1
+  - 5FPS

latency-aware/walker2d/small-policy/sample-factory-qwenpi_v3-rtx3090-v1/verification.json

@@ -0,0 +1,473 @@
+{
+  "state": "TEACHER_FULL_TRACE_AUDIT_PASSED",
+  "verified_at": "2026-09-21T14:35:27.633103+00:00",
+  "task": "walker2d",
+  "P_profile_sha256": "b5409f8578bec62e2c5232c3916b3ddd2e0e9494031259265540ba6aef882e5e",
+  "P_publication_revision": "e1a9bdd566b96d5da4703f769d40eab656af491e",
+  "actual_final_env_steps": 10002432,
+  "actual_final_train_step": 19536,
+  "audited_evaluation_episodes": 50,
+  "selection": {
+    "selected": "training_best",
+    "selection_policy": "higher_mean_over_paired_20; ties_select_final",
+    "candidates": {
+      "final": {
+        "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_walker2d_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/checkpoint_000019536_10002432.pth",
+        "sha256": "e157a7be891b0b498028293fc7be14eda97cd41b485220f558ea3d5a88c77171",
+        "train_step": 19536,
+        "env_steps": 10002432,
+        "episodes": 20,
+        "seeds": [
+          104771,
+          104772,
+          104773,
+          104774,
+          104775,
+          104776,
+          104777,
+          104778,
+          104779,
+          104780,
+          104781,
+          104782,
+          104783,
+          104784,
+          104785,
+          104786,
+          104787,
+          104788,
+          104789,
+          104790
+        ],
+        "returns": [
+          4337.574338552904,
+          2124.168087172507,
+          3803.271661035685,
+          4247.230688017356,
+          1180.6139208871832,
+          1196.3837779316377,
+          3778.6057355245894,
+          3562.7070253642705,
+          1156.377364775773,
+          4000.2209267455473,
+          1196.9960923429844,
+          4196.1107606718415,
+          1161.7798657840565,
+          1163.344082665548,
+          4193.403531977741,
+          2077.0328874033744,
+          2716.3877118621144,
+          1142.383303495549,
+          1197.1537112200667,
+          2535.48704209563
+        ],
+        "mean": 2548.361625776318,
+        "population_std": 1289.7687169980788,
+        "strict_gt3000": 8
+      },
+      "training_best": {
+        "checkpoint": "${PI05_RUN_DIR}/profile_latency/teacher/checkpoints/pi05_walker2d_profile_appo_h1_5fps_g128_20260921/checkpoint_p0/best_000018928_9691136_reward_4148.139.pth",
+        "sha256": "3d51959c7d65d8e9d1ec34cfc4a8dc7741abf9726439512bc7a0442fd265044e",
+        "train_step": 18928,
+        "env_steps": 9691136,
+        "episodes": 20,
+        "seeds": [
+          104771,
+          104772,
+          104773,
+          104774,
+          104775,
+          104776,
+          104777,
+          104778,
+          104779,
+          104780,
+          104781,
+          104782,
+          104783,
+          104784,
+          104785,
+          104786,
+          104787,
+          104788,
+          104789,
+          104790
+        ],
+        "returns": [
+          2454.017948041446,
+          3517.5093910555765,
+          4443.205483476128,
+          4155.968346173417,
+          3904.8882905894393,
+          1210.1385452181764,
+          3550.0328741089725,
+          1841.8260301793923,
+          4000.010779902804,
+          3974.0655123428087,
+          2544.925200849052,
+          3898.4951632085545,
+          3853.089408732446,
+          4233.270564039822,
+          3649.040265741407,
+          3954.793190236864,
+          3944.9064060851774,
+          3956.211685978782,
+          3755.029851073333,
+          3969.2680678441934
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+      {
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+        "split": "train"
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+      {
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+        "episode_idx": 11,
+        "episode_length": 1000,
+        "episode_raw_frames": 1000,
+        "episode_raw_return": 4679.474701523781,
+        "seed": 11,
+        "split": "train"
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+    ]
+  },
+  "strict_gate": "episode_raw_return > 3000",
+  "E10_caveat": "Repeats the first ten selection seeds; not an independent gate.",
+  "training_unit_exit_claim": false,
+  "gate": "PASSED"
+}

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-summary.json

@@ -0,0 +1,163 @@
+{
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+  "task": "walker2d",
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+    "metrics_sha256": "0c585c07d028987d60f03f5cad990f7b424e97917d139fa66f44e6573f75ee34"
+  },
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+    "metrics_sha256": "456db545a2fb07edfe7a339761b34782dd5a2987f3f28eb0e241e550c7aa6ced"
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+  ],
+  "wins": 20,
+  "ties": 0,
+  "losses": 0,
+  "mean_difference": 789.6309287819612,
+  "F_step_interval_ms": {
+    "mean": 200.00296332158868,
+    "min": 198.95315496250987,
+    "max": 201.21660106815398
+  },
+  "F_revision": "af4f38060b0374c5684c43f22cd504257cf2bffd",
+  "F_checkpoint_sha256": "1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b",
+  "protocol": "20 matched seeds42-61;5FPS;cap1000;measured-only;same B/F runtime with model and prompt0\u21921 changes",
+  "interpretation": "Compare measured outcomes and realized latencies; no equal-latency causal claim and no teacher gate applied to VLA."
+}

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-verification.json

@@ -0,0 +1,6 @@
+{
+  "state": "F20_AND_MATCHED_COMPARISON_VERIFIED",
+  "summary": "/workspace/lzj/latency-sensitive-bench/runs/walker2d/gr00t_h1_5fps_20260917/F-summary.json",
+  "steps": 5012,
+  "verified_at": "2026-09-17T21:54:00.894032+00:00"
+}

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/README.md

@@ -0,0 +1,31 @@
+# walker2d / qwengr00t
+
+Training condition: `latency-aware`. Run: `walker2d_profile_gr00t_h1_5fps_2h200_20260917`.
+
+Copied from [Standard-Pipeline](https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/GR00T) at `2208875f92b21e3f8ec2363a30a6705dfe56cc04`.
+
+- Checkpoint: `checkpoints/model.pt`
+- Selection: only published VLA checkpoint
+- Checkpoint SHA256: `1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b`
+- Configuration, FPS, actions, normalization and latency semantics retain their source values.
+- This import does not run evaluations or change training/evaluation/acceptance status.
+
+Action horizon is 1. Use `config.yaml` and `dataset_statistics.json` with the matching
+prepared backbone. `task_contract.json` is extracted from the original training configuration.
+Original machine paths in historical configurations are provenance: bind checkpoint,
+backbone, manifest and profile paths to downloaded local files when running inference.
+
+See [the original model notes](source/README.md) for experiment results and limitations.
+
+[Original provenance](source/provenance.json) retains dataset references and recorded experiment evidence.
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+prefix = "latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917"
+snapshot_download("latency-sensitive-bench/benchmark-models", revision="<commit>",
+                  allow_patterns=[prefix + "/**"])
+```
+
+Use the verified import commit listed in the repository's import report.

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b
+size 9976860963

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.full.yaml

@@ -0,0 +1,261 @@
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: ${oc.env:GR00T_BACKBONE_DIR}
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 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
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    include_state: true
+    data_root_dir: /
+    data_mix: train
+    eval_data_mix: validation
+    custom_mixtures_path: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/vla/mixture.json
+    action_type: continuous
+    sequential_step_sampling: true
+    eval_sequential_step_sampling: null
+    num_workers: 4
+    eval_num_workers: 0
+    prefetch_factor: 2
+    persistent_workers: true
+    pin_memory: true
+    shuffle: true
+    action_balance:
+      enabled: false
+      strategy: balanced_epoch
+      action_key: action_id
+      target_flap_fraction: 0.3
+      noop_id: 0
+      flap_id: 1
+    latency_curriculum:
+      enabled: false
+      strategy: exclusive
+      latencies: null
+      phase_steps: null
+      phase_distributions: null
+      new_latency_passes: 1.0
+      replay_passes: 0.25
+      target_total_passes: 2.0
+      final_equalization: true
+      step_budget_mode: auto
+      eval_at_phase_end: false
+      save_at_phase_end: false
+      computed_plan: null
+    per_device_batch_size: 32
+    load_all_data_for_training: true
+    num_obs_frames: 1
+    image_mode: single
+    prompt_mode: raw
+    stitch_grid:
+    - 2
+    - 2
+    obs_image_size:
+    - 224
+    - 224
+    video_backend: pyav
+    lerobot_version: v2.0
+    gymnasium_task_contract:
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        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: 5.0
+      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: 5.0
+      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
+    active_action_dim: 6
+dataset:
+  source_hf: ''
+  config_name: null
+  source_subdir: null
+  converted_name: flappy_train
+  single_source_hf: ''
+  mixed_source_hf: ''
+  single_converted_name: flappy_train
+  mixed_converted_name: flappy_mixed_latency_train
+  single_latency_filter: null
+  mixed_latency_filter: null
+  force_download: false
+  setup_force: false
+  skip_verification: false
+  target_latency_unit: observation_steps
+  verify_rows: 200
+  max_episodes: null
+  episodes_per_latency: null
+  latency_filter: null
+  debug_subset:
+    enabled: false
+    max_episodes: 5
+    suffix: debug
+base_model:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+initialization:
+  checkpoint_local_dir: null
+  checkpoint_hf_repo_id: null
+  checkpoint_filename: null
+trainer:
+  max_train_steps: 5000
+  num_warmup_steps: 100
+  save_interval: 500
+  eval_interval: 500
+  eval_num_batches: 200
+  per_latency_eval_num_batches: null
+  eval_action_classification: false
+  eval_action_classification_interval: null
+  cc_f1_tolerance: 1
+  learning_rate:
+    base: 2.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  freeze_modules: ''
+  freeze_vit: false
+  freeze_tied_embedding: false
+  freeze_llm_layers: []
+  loss_scale:
+    vla: 1.0
+    vlm: 0.1
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 1
+  profile_timing:
+    enabled: false
+    log_interval: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  distributed_backend: deepspeed
+  is_resume: false
+  pretrained_checkpoint: null
+  resume_step: 0
+  reload_modules: null
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+    fused: true
+  save_format: pt
+run_id: walker2d_profile_gr00t_h1_5fps_2h200_20260917
+run_root_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/vla/training
+seed: 42
+is_debug: false
+version_id: '0.21'
+wandb_project: latency-sensitive-bench
+wandb_entity: dongqianyu99-zhejiang-university
+wandb_name: walker2d_profile_gr00t_h1_5fps_2h200_20260917
+wandb_group: gr00t-six-env-h1-5fps
+wandb_tags:
+- walker2d
+- profile_latency
+- GR00T
+- h1
+training_latency_condition: profile_latency
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+checkpoint:
+  save_best_model: false
+  save_final_model: true
+  save_pt_file: true
+  save_training_state: true
+  local:
+    keep_last_n: 1
+config_yaml: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/train.yaml
+output_dir: /mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/vla/training/walker2d_profile_gr00t_h1_5fps_2h200_20260917

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.yaml

@@ -0,0 +1,138 @@
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: ${oc.env:GR00T_BACKBONE_DIR}
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 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: 5.0
+      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: 5.0
+      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
+trainer:
+  pretrained_checkpoint: null
+  profile_timing:
+    enabled: false
+    log_interval: 10
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+rl_games:
+  model_alias: gr00t
+  task: gymnasium
+  action_carrier: native
+  gymnasium:
+    task_contract: *id001
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/dataset_statistics.json

@@ -0,0 +1,180 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        0.9479884505271912,
+        0.8967278599739075,
+        0.22252006828784943,
+        0.42712029814720154,
+        0.6054255366325378,
+        0.39046671986579895
+      ],
+      "std": [
+        0.22479695081710815,
+        0.28594842553138733,
+        0.8105338215827942,
+        0.6386038661003113,
+        0.6382305026054382,
+        0.7736172080039978
+      ],
+      "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": [
+        -0.12693553328514098,
+        -0.4622062122821808,
+        -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": [
+        0.080454520881176,
+        0.3073728084564209,
+        0.5504761934280396,
+        0.4364703595638275,
+        0.17060819268226624,
+        0.4959196150302887,
+        0.60721755027771,
+        0.274997740983963,
+        0.21275795996189117,
+        -0.10817987471818924,
+        -0.06906983256340027,
+        -0.001813000999391079,
+        -0.0005867783329449594,
+        -0.051718927919864655,
+        -0.0353797972202301,
+        -0.017273033037781715,
+        -0.006954238750040531
+      ],
+      "std": [
+        0.3848876655101776,
+        0.386168897151947,
+        0.25338760018348694,
+        0.17777718603610992,
+        0.5525822639465332,
+        0.4858602285385132,
+        0.26794859766960144,
+        0.5490415692329407,
+        0.2725364565849304,
+        0.3741426467895508,
+        0.26948603987693787,
+        0.23391664028167725,
+        0.18887001276016235,
+        0.6265960931777954,
+        0.3519318103790283,
+        0.4073410630226135,
+        0.6110035181045532
+      ],
+      "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": [
+        -0.8464448672533035,
+        -0.6947578257322311,
+        -0.28605210840702056,
+        -0.46256462395191195,
+        -0.8968109232187271,
+        -0.7328857761621476,
+        -0.48083224475383757,
+        -0.9292185813188553,
+        -0.5419902771711349,
+        -0.7907932072877883,
+        -0.8048153072595596,
+        -0.686601927280426,
+        -1.0,
+        -1.0,
+        -0.6300148075819015,
+        -1.0,
+        -1.0
+      ],
+      "q99": [
+        0.9185441315174102,
+        0.9097266328334804,
+        0.7716626930236811,
+        0.5981208789348602,
+        0.8097793257236477,
+        0.9137463271617888,
+        0.9044068646430968,
+        0.9431438720226286,
+        0.7647204828262327,
+        0.7835678279399867,
+        0.5781928598880763,
+        0.7853474819660186,
+        0.6514471054077148,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ]
+    },
+    "num_transitions": 90000,
+    "num_trajectories": 90
+  }
+}

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "1": {
+    "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 1 raw frames (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "latency_raw_frames": 1,
+    "latency_ms": 200.0
+  }
+}