Archive original walker2d gr00t profile bundle

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/F-summary.json

@@ -0,0 +1,163 @@
+{
+  "verified_at": "2026-09-17T21:54:00.894032+00:00",
+  "task": "walker2d",
+  "B": {
+    "episodes": 20,
+    "mean_return": 63.24147456221736,
+    "population_std": 6.584119944585635,
+    "mean_length": 61.15,
+    "mean_episode_latency_ms": 107.04820905731547,
+    "observation_drops": 0,
+    "submitted_observations": 1223,
+    "action_drops": 0,
+    "invalid_actions": 0,
+    "metrics_sha256": "0c585c07d028987d60f03f5cad990f7b424e97917d139fa66f44e6573f75ee34"
+  },
+  "F": {
+    "episodes": 20,
+    "mean_return": 852.8724033441786,
+    "population_std": 357.102322157348,
+    "mean_length": 250.6,
+    "mean_episode_latency_ms": 107.06145728669419,
+    "observation_drops": 0,
+    "submitted_observations": 5012,
+    "action_drops": 0,
+    "invalid_actions": 0,
+    "metrics_sha256": "456db545a2fb07edfe7a339761b34782dd5a2987f3f28eb0e241e550c7aa6ced"
+  },
+  "paired": [
+    {
+      "seed": 42,
+      "B": 66.16242032595262,
+      "F": 991.3639332213364,
+      "delta": 925.2015128953838
+    },
+    {
+      "seed": 43,
+      "B": 60.03168286501273,
+      "F": 369.8818098433932,
+      "delta": 309.8501269783805
+    },
+    {
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+      "B": 64.47357571737881,
+      "F": 720.6103530557076,
+      "delta": 656.1367773383288
+    },
+    {
+      "seed": 45,
+      "B": 59.60303463811989,
+      "F": 1150.3193138698,
+      "delta": 1090.7162792316801
+    },
+    {
+      "seed": 46,
+      "B": 61.890443606636744,
+      "F": 310.6481592092358,
+      "delta": 248.75771560259906
+    },
+    {
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+      "B": 61.404429063445264,
+      "F": 1068.212039574912,
+      "delta": 1006.8076105114668
+    },
+    {
+      "seed": 48,
+      "B": 71.25021337481104,
+      "F": 509.5536777031986,
+      "delta": 438.3034643283876
+    },
+    {
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+      "B": 64.32829050611694,
+      "F": 1316.4247834069251,
+      "delta": 1252.0964929008082
+    },
+    {
+      "seed": 50,
+      "B": 59.65748458065071,
+      "F": 718.9444266379952,
+      "delta": 659.2869420573445
+    },
+    {
+      "seed": 51,
+      "B": 78.19331421262474,
+      "F": 1182.669513035368,
+      "delta": 1104.4761988227433
+    },
+    {
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+      "B": 69.53756289500063,
+      "F": 1241.9130556220862,
+      "delta": 1172.3754927270857
+    },
+    {
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+      "B": 52.28806362435964,
+      "F": 711.9996561729512,
+      "delta": 659.7115925485915
+    },
+    {
+      "seed": 54,
+      "B": 61.4441390040874,
+      "F": 306.83449127304596,
+      "delta": 245.39035226895857
+    },
+    {
+      "seed": 55,
+      "B": 78.21931462223985,
+      "F": 1222.080977245407,
+      "delta": 1143.8616626231671
+    },
+    {
+      "seed": 56,
+      "B": 61.4247094298816,
+      "F": 800.6216178219371,
+      "delta": 739.1969083920555
+    },
+    {
+      "seed": 57,
+      "B": 63.617009505124926,
+      "F": 373.15968866798323,
+      "delta": 309.5426791628583
+    },
+    {
+      "seed": 58,
+      "B": 58.18109265657494,
+      "F": 954.8027340055005,
+      "delta": 896.6216413489256
+    },
+    {
+      "seed": 59,
+      "B": 54.21753227541805,
+      "F": 787.7657032501974,
+      "delta": 733.5481709747793
+    },
+    {
+      "seed": 60,
+      "B": 59.20549653493986,
+      "F": 741.1351754045119,
+      "delta": 681.9296788695721
+    },
+    {
+      "seed": 61,
+      "B": 59.69968180597084,
+      "F": 1578.506957862078,
+      "delta": 1518.8072760561072
+    }
+  ],
+  "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."
+}

archive/issued-action-fix-20261010/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"
+}

archive/issued-action-fix-20261010/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.

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b
+size 9976860963

archive/issued-action-fix-20261010/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

archive/issued-action-fix-20261010/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

archive/issued-action-fix-20261010/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,
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+}

archive/issued-action-fix-20261010/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
+  }
+}

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/manifest.json

@@ -0,0 +1,184 @@
+{
+  "dataset_name": "walker2d_h1_5fps_profile",
+  "env_name": "walker2d",
+  "episodes": 90,
+  "frames": 90000,
+  "task_prompts": [
+    "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 1 raw frames (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
+  ],
+  "format": "lerobot_v2_image_parquet",
+  "source": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/data/raw_profile",
+  "integration_name": "gymnasium",
+  "task_name": "walker2d",
+  "action_layout": "gymnasium_continuous_v1",
+  "action_labels": [
+    "right_thigh_torque",
+    "right_leg_torque",
+    "right_foot_torque",
+    "left_thigh_torque",
+    "left_leg_torque",
+    "left_foot_torque"
+  ],
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+    "right_thigh_torque",
+    "right_leg_torque",
+    "right_foot_torque",
+    "left_thigh_torque",
+    "left_leg_torque",
+    "left_foot_torque"
+  ],
+  "action_dim": 6,
+  "active_action_dim": 6,
+  "action_carrier": "native",
+  "rows_unit": "decision_step",
+  "obs_fps": 5.0,
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+  "uses_state": true,
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+  "state_labels": [
+    "torso_height",
+    "torso_angle",
+    "right_thigh_angle",
+    "right_leg_angle",
+    "right_foot_angle",
+    "left_thigh_angle",
+    "left_leg_angle",
+    "left_foot_angle",
+    "torso_x_velocity",
+    "torso_z_velocity",
+    "torso_angular_velocity",
+    "right_thigh_angular_velocity",
+    "right_leg_angular_velocity",
+    "right_foot_angular_velocity",
+    "left_thigh_angular_velocity",
+    "left_leg_angular_velocity",
+    "left_foot_angular_velocity"
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+  "custom_mixtures_path": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/data/lerobot/_generated_mixtures/walker2d_h1_5fps_profile.json",
+  "gymnasium_task": {
+    "action_space": {
+      "dtype": "float32",
+      "high": [
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+        1.0,
+        1.0,
+        1.0,
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+        "right_thigh_torque",
+        "right_leg_torque",
+        "right_foot_torque",
+        "left_thigh_torque",
+        "left_leg_torque",
+        "left_foot_torque"
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+        -1.0,
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+        -1.0,
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+      "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"
+  },
+  "validation_dataset_name": "walker2d_h1_5fps_profile__val",
+  "validation_episodes": 10,
+  "validation_frames": 10000
+}

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/provenance.json

@@ -0,0 +1,34 @@
+{
+  "task": "walker2d",
+  "model": "qwengr00t",
+  "training_condition": "latency-aware",
+  "training_run_id": "walker2d_profile_gr00t_h1_5fps_2h200_20260917",
+  "source": {
+    "repo_id": "latency-sensitive-bench/Standard-Pipeline",
+    "revision": "2208875f92b21e3f8ec2363a30a6705dfe56cc04",
+    "path": "walker2d/profile_latency/GR00T",
+    "url": "https://huggingface.co/latency-sensitive-bench/Standard-Pipeline/tree/2208875f92b21e3f8ec2363a30a6705dfe56cc04/walker2d/profile_latency/GR00T"
+  },
+  "hf_repo_id": "latency-sensitive-bench/benchmark-models",
+  "hf_path": "latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917",
+  "checkpoint": {
+    "source_file": "walker2d/profile_latency/GR00T/checkpoints/model.pt",
+    "source_sha256": "1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b",
+    "source_bytes": 9976860963,
+    "file": "checkpoints/model.pt",
+    "selection_rule": "only published VLA checkpoint",
+    "method": "copy",
+    "sha256": "1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b",
+    "bytes": 9976860963
+  },
+  "config_source": "walker2d/profile_latency/GR00T/config.yaml",
+  "task_contract_file": "task_contract.json",
+  "missing_source_files": [],
+  "migration": {
+    "operation": "copy_selected_inference_bundle",
+    "source_modified": false,
+    "evaluation_performed": false,
+    "experiment_status": "preserved_in_source_evidence"
+  },
+  "action_horizon": 1
+}

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/reload-validation.json

@@ -0,0 +1,23 @@
+{
+  "verified_at": "2026-09-17T20:36:51.671176+00:00",
+  "state": "TRAINING_AND_SAVED_BUNDLE_FORWARD_VERIFIED",
+  "training_updates": 5000,
+  "checkpoint_sha256": "1859cec5319db37b97a62d8190f081771f38978fa2ade39cfb82b155ac56b83b",
+  "action_horizon": 1,
+  "state_dim": 17,
+  "action_dim": 6,
+  "env_fps": 5,
+  "obs_fps": 5,
+  "global_batch": 64,
+  "seed": 42,
+  "sample_source": "actual held-out profile raw episode; manifest train-only minmax applied once",
+  "reload_contract": "existing saved-model loader checks missing/unexpected keys, allowing its documented tied-Qwen lm_head equivalence",
+  "forward_shape": [
+    1,
+    1,
+    6
+  ],
+  "forward_finite": true,
+  "F20_status": "not yet run",
+  "acceptance": "not established by this engineering check"
+}

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source/README.md

@@ -0,0 +1,5 @@
+# Walker2D GR00T profile H1 /5FPS
+
+Fresh5000update training, savedbundle verification and matchedRTX3090 measuredF20 are complete. B=63.241475 ± 6.584120; F=852.872403 ± 357.102322; populationSD,20matchedseeds42–61,20pairedgains. This improvement is not a high-performance robotic acceptance claim. The >3000 gate applies to teacher demonstrations only.
+
+B/F observedlatencies differ; no equal-latency causal claim. See F-summary.json and F-verification.json. Fullrawstep/action/latencytraces remain on3090; compactevidencepublished in dataset revision b59922566cb475e61455342b1111b9e9771c09de. Original reload-validation remains a historical snapshot. Evaluatedweights unchanged at af4f38060b0374c5684c43f22cd504257cf2bffd.

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/source/provenance.json

@@ -0,0 +1,172 @@
+{
+  "task": "walker2d",
+  "backbone": {
+    "repo_id": "Qwen/Qwen3-VL-4B-Instruct",
+    "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17"
+  },
+  "checkpoint": "steps_5000_pytorch_model.pt",
+  "training_steps": 5000,
+  "seed": 42,
+  "global_batch": 64,
+  "training_run_id": "walker2d_profile_gr00t_h1_5fps_2h200_20260917",
+  "condition": "profile_latency",
+  "source": {
+    "code_source": {
+      "repo": "latency-sensitive-bench/Standard-Pipeline",
+      "revision": "571cb5801720488ed6458b9cfe3f4c595b069cea",
+      "prefix": "walker2d/zero_latency/shared/source_100ep_v1/demonstrations/raw",
+      "sha256": {
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+        "train.parquet": "6a105846e7def09f10fd2a985413cc9a04b9433f57519d330ce33a1033ba7e65",
+        "val.parquet": "687c1a5d08b3641b5ae76d218dd6afe483f8873b057aa3ab7a81108a6772f424"
+      },
+      "source_tar_sha256": "9847e8924ba7a6446aaa3ce735f4dc2849046c37e21aeb8867f3154ab163ede0"
+    },
+    "teacher_selection": {
+      "selected": "training_best",
+      "candidates": {
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+          "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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+          "sha256": "a9f0e63f8094fe10f82d2395fc7b59958dc22ac1abc59a6da52772eb1fd944ab",
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+          "mean": 4223.315330954163,
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+          "strict_gt3000": 20
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+      "completed_at": "2026-09-17T17:24:56.075104+00:00"
+    },
+    "profile": {
+      "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."
+    },
+    "data": {
+      "train": {
+        "episodes": 90,
+        "frames": 90000,
+        "min_replay_return": 4128.808384731412,
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+        "sha256": "a161eb4de7d2539c456f5c21ae109c1561ee7c60a8cc273e3a32a9abae862fd1"
+      },
+      "val": {
+        "episodes": 10,
+        "frames": 10000,
+        "min_replay_return": 4201.307677522302,
+        "max_replay_return": 4247.824013382196,
+        "sha256": "5f17b3e18e7c79e94eefb773f52b7abd82873c8629e7a950eb763c849ca5bb4c"
+      }
+    },
+    "dataset": "/mnt/local/lzj/latency-sensitive-bench/serial_h1_5fps_20260917/walker2d/profile_latency/data/lerobot/walker2d_h1_5fps_profile",
+    "condition": "profile_latency",
+    "action_horizon": 1,
+    "state_normalization": {
+      "type": "min_max",
+      "min": [
+        0.9851876497268677,
+        -0.1729077845811844,
+        -0.5815715193748474,
+        -0.41291648149490356,
+        -1.1557613611221313,
+        -1.565748929977417,
+        -1.5937821865081787,
+        -1.4450324773788452,
+        -1.448801040649414,
+        -2.645611524581909,
+        -8.647480010986328,
+        -10.0,
+        -10.0,
+        -10.0,
+        -10.0,
+        -10.0,
+        -10.0
+      ],
+      "max": [
+        1.5055257081985474,
+        0.6807975769042969,
+        0.14722545444965363,
+        0.17162981629371643,
+        1.3325903415679932,
+        0.18669182062149048,
+        0.3009708821773529,
+        1.3312314748764038,
+        6.26270866394043,
+        3.290994644165039,
+        10.0,
+        10.0,
+        10.0,
+        10.0,
+        10.0,
+        10.0,
+        10.0
+      ]
+    },
+    "prompt_key": 1,
+    "fresh_vla_initialization": true
+  },
+  "training_config_sha256": "54eef4fa88502b723bdc47150eb134cd4adf7b81296c4a57e0936ffad3016f86",
+  "dataset_manifest_sha256": "44e468feb3bd491709b90a800bba465aacd566b83092c44aac557e9acbd479ee"
+}

archive/issued-action-fix-20261010/latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/task_contract.json

@@ -0,0 +1,80 @@
+{
+  "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"
+}