diff --git a/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/README.md b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..945de9c857b4bded16989dc20ba8f3aa275888c9
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/README.md
@@ -0,0 +1,4 @@
+# qwenoft — humanoidbench_balance_simple
+
+RGB + continuous state, action horizon 1, VLA 50 Hz.
+See task_contract.json for normalization, eval_l0.json for zero-latency results, and provenance.json for source references and dataset publication revisions.
diff --git a/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/checkpoints/model.pt b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/checkpoints/model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..ac4812d8adb2655b7a0b0cee09391f128a4b1745
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/checkpoints/model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e93de99ad839ba0099990241190b9b2385ca54aebac123737212a47c7ed7bcd1
+size 9786449091
diff --git a/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/config.yaml b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..94559eecb61ef4d19b91fc678ccf27ab17eb0b18
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/config.yaml
@@ -0,0 +1,39 @@
+framework:
+  name: QwenOFT
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+  action_model:
+    action_model_type: MLP
+    action_dim: 43
+    state_dim: 198
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: l1
+    state_encoding: continuous_projector
+    task_objective: null
+    action_env_dim: 43
+    action_horizon: 1
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size:
+    - 224
+    - 224
+    image_mode: single
+    stitch_grid:
+    - 1
+    - 2
+    num_obs_frames: 1
+trainer:
+  pretrained_checkpoint: null
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  allow_patterns:
+  - '*.json'
+  - '*.safetensors'
+  - '*.txt'
+  - '*.jinja'
+  - '*.model'
diff --git a/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/dataset_statistics.json b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/dataset_statistics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fe4123561952eca751b14094f557dba4fa0e668
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/dataset_statistics.json
@@ -0,0 +1,1525 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        -0.45964255928993225,
+        -0.48039761185646057,
+        0.2616966664791107,
+        -0.1290876716375351,
+        0.24892406165599823,
+        0.09783916175365448,
+        -0.12981285154819489,
+        0.19588524103164673,
+        -0.0009276110795326531,
+        0.6768580079078674,
+        0.7770729064941406,
+        -0.7275438904762268,
+        0.8147416710853577,
+        -0.4840342104434967,
+        -0.3856963813304901,
+        1.149482011795044,
+        -0.5545704960823059,
+        0.02393944561481476,
+        -0.1590968668460846,
+        -2.510282516479492,
+        0.16779915988445282,
+        0.8949747085571289,
+        -0.705259382724762,
+        -0.24102875590324402,
+        -0.1307821273803711,
+        -0.7348272800445557,
+        1.5058012008666992,
+        -1.4951870441436768,
+        -0.705223560333252,
+        -0.042068012058734894,
+        -0.018269959837198257,
+        0.0030612628906965256,
+        -0.006413895171135664,
+        -0.0029572658240795135,
+        -0.00603734003379941,
+        -0.0003057567519135773,
+        -0.02949230559170246,
+        0.6545591354370117,
+        -0.0030437365639954805,
+        0.0010720733553171158,
+        0.006706140469759703,
+        0.005723948124796152,
+        0.0046816375106573105
+      ],
+      "std": [
+        0.1377013474702835,
+        0.14804577827453613,
+        0.21081070601940155,
+        0.18472066521644592,
+        0.14485055208206177,
+        0.1636223942041397,
+        0.25262174010276794,
+        0.2785133421421051,
+        0.16264498233795166,
+        0.16472971439361572,
+        0.1991853564977646,
+        0.4575541913509369,
+        0.47493916749954224,
+        0.24359063804149628,
+        0.25940802693367004,
+        0.45261821150779724,
+        0.5648841261863708,
+        0.13292525708675385,
+        0.16243669390678406,
+        0.3584200441837311,
+        0.5218746662139893,
+        0.5420299768447876,
+        0.2960449457168579,
+        0.5498634576797485,
+        0.6036768555641174,
+        0.40556368231773376,
+        0.2952503561973572,
+        0.36344438791275024,
+        0.4280705153942108,
+        0.1723008155822754,
+        0.17968814074993134,
+        0.06037283316254616,
+        0.08812420815229416,
+        0.05931994318962097,
+        0.0854732021689415,
+        0.012408490292727947,
+        0.2097538262605667,
+        0.162458136677742,
+        0.058414969593286514,
+        0.0327126644551754,
+        0.09333600848913193,
+        0.07759889960289001,
+        0.07858075201511383
+      ],
+      "max": [
+        2.325857162475586,
+        1.7717031240463257,
+        2.618000030517578,
+        1.2749215364456177,
+        0.5235999822616577,
+        0.5199999809265137,
+        2.7576000690460205,
+        2.7576000690460205,
+        0.5199999809265137,
+        1.8921765089035034,
+        1.9271240234375,
+        2.6619873046875,
+        2.6703999042510986,
+        0.5235999822616577,
+        0.5235999822616577,
+        2.251499891281128,
+        1.5881999731063843,
+        0.26179999113082886,
+        0.26179999113082886,
+        2.618000030517578,
+        2.6176750659942627,
+        2.094399929046631,
+        2.094399929046631,
+        1.9722199440002441,
+        1.9722199440002441,
+        1.6144299507141113,
+        1.6144299507141113,
+        1.6144299507141113,
+        1.6144299507141113,
+        1.0471999645233154,
+        1.047141194343567,
+        1.7453298568725586,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        1.0471999645233154,
+        0.7243120074272156,
+        0.0,
+        1.5707999467849731,
+        1.7453299760818481,
+        1.5707999467849731,
+        1.7453299760818481
+      ],
+      "min": [
+        -2.4454963207244873,
+        -1.2967557907104492,
+        -0.698348879814148,
+        -0.5235999822616577,
+        -2.4272077083587646,
+        -0.5199999809265137,
+        -2.7576000690460205,
+        -2.7575998306274414,
+        -0.5199999809265137,
+        -0.08726699650287628,
+        -0.08726699650287628,
+        -3.089200019836426,
+        -3.089200019836426,
+        -0.8726699948310852,
+        -0.8726699948310852,
+        -1.5881999731063843,
+        -2.070802688598633,
+        -0.26179999113082886,
+        -0.26179999113082886,
+        -2.618000030517578,
+        -2.618000030517578,
+        -1.0395288467407227,
+        -1.0471999645233154,
+        -1.9722198247909546,
+        -1.8798036575317383,
+        -1.6144299507141113,
+        -1.6144299507141113,
+        -1.6144299507141113,
+        -1.6144299507141113,
+        -1.0471999645233154,
+        -0.7243120074272156,
+        0.0,
+        -1.5707999467849731,
+        -1.7453299760818481,
+        -1.5707999467849731,
+        -1.180031418800354,
+        -1.0471999645233154,
+        -1.0464928150177002,
+        -1.7453299760818481,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.7218995213508606,
+        -0.8355625712871552,
+        -0.16388508051633835,
+        -0.5155103874206542,
+        -0.18025376707315444,
+        -0.2820369732379913,
+        -0.64405677318573,
+        -0.46714526295661923,
+        -0.5004579120874405,
+        -0.0821636740118265,
+        -0.057858819551765917,
+        -1.803157511949539,
+        -0.7178884017467498,
+        -0.8574551236629486,
+        -0.8726492559909821,
+        -0.4491018888354301,
+        -1.229117646217346,
+        -0.261771431863308,
+        -0.2617685356736183,
+        -2.6179988384246826,
+        -2.2298606967926027,
+        -0.0384662589803338,
+        -1.0470837426185609,
+        -1.6381892597675323,
+        -1.010104923248291,
+        -1.6055433475971221,
+        0.24141404196619995,
+        -1.6144055128097534,
+        -1.562244281768799,
+        -0.5858428072929383,
+        -0.6295019388198853,
+        0.0,
+        -0.0010019926307722924,
+        -0.0016752164775971324,
+        -0.0028993161139078435,
+        -0.00024205596404499374,
+        -0.7443849730491638,
+        -0.1446154700219631,
+        -0.0034324769722297787,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        -0.06737016074359424,
+        -0.08813329599797726,
+        0.7616705262660977,
+        0.4879354205727576,
+        0.4827850446105003,
+        0.5197483658790588,
+        0.403053365051746,
+        0.6805381709337232,
+        0.37280641853809343,
+        1.0412763738632203,
+        1.3300913882255552,
+        0.6243739086389541,
+        1.5313713669776912,
+        0.34954814136028284,
+        0.3644912460446357,
+        2.2005577397346494,
+        1.5881998538970947,
+        0.2595901024341583,
+        0.2617940902709961,
+        -0.8908778023719797,
+        1.8362499082088457,
+        2.094101836681366,
+        0.3107239735126472,
+        1.05549915075302,
+        1.9722199440002441,
+        0.9733873873949038,
+        1.614428997039795,
+        0.36464152365922925,
+        0.8394826811552041,
+        0.4535677134990692,
+        0.5388337063789367,
+        0.0010296419891528761,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.3549798569083214,
+        0.724308967590332,
+        0.0,
+        0.0003390068962471557,
+        0.005142203788273025,
+        0.015288262981921076,
+        0.0005331666435813495
+      ],
+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true
+      ]
+    },
+    "state": {
+      "mean": [
+        -0.028602425009012222,
+        0.011210105381906033,
+        1.1085069179534912,
+        0.9959309697151184,
+        -0.011775643564760685,
+        -0.02804010733962059,
+        0.014384770765900612,
+        -0.4412290155887604,
+        -0.08114857226610184,
+        -0.20169055461883545,
+        0.8834572434425354,
+        -0.34989801049232483,
+        -0.07307411730289459,
+        -0.4853156507015228,
+        0.2371111661195755,
+        0.20334705710411072,
+        1.032150387763977,
+        -0.37859615683555603,
+        -0.10763077437877655,
+        0.2566596269607544,
+        0.10063953697681427,
+        0.01801823265850544,
+        -0.5808030366897583,
+        0.8628511428833008,
+        -2.4450204372406006,
+        0.8529497385025024,
+        -0.2585517466068268,
+        -0.7246996760368347,
+        -1.4576455354690552,
+        -0.04861937090754509,
+        -0.022380858659744263,
+        0.0029191081412136555,
+        -0.0020707666408270597,
+        -0.0013189931632950902,
+        -0.00379357417114079,
+        -0.0010906531242653728,
+        0.7195061445236206,
+        -0.5346284508705139,
+        0.19430916011333466,
+        -0.5666400194168091,
+        -0.10551681369543076,
+        1.4728354215621948,
+        -0.6867821216583252,
+        -0.027375927194952965,
+        0.5881136655807495,
+        -0.010727722197771072,
+        0.022796686738729477,
+        0.007920119911432266,
+        0.01751074567437172,
+        0.005925323814153671,
+        0.019007092341780663,
+        0.029419489204883575,
+        0.36648035049438477,
+        0.9855276942253113,
+        -0.05059549957513809,
+        0.04954992234706879,
+        0.06553544104099274,
+        -0.000191218001418747,
+        0.006305274087935686,
+        -0.010322765447199345,
+        -0.008112922310829163,
+        -0.0018212671857327223,
+        -0.013134466484189034,
+        0.006569786928594112,
+        -0.006966143846511841,
+        -0.018010884523391724,
+        -0.01869499497115612,
+        0.00282880337908864,
+        0.007796550169587135,
+        0.011220492422580719,
+        0.005451401229947805,
+        0.020252352580428123,
+        -0.016919083893299103,
+        0.013449860736727715,
+        0.003931984305381775,
+        0.060562629252672195,
+        0.007490259595215321,
+        -0.004585026763379574,
+        -0.05728745833039284,
+        0.045183807611465454,
+        -0.07471512258052826,
+        0.04875332489609718,
+        0.032789185643196106,
+        -0.014926602132618427,
+        -0.02488536573946476,
+        0.0012409135233610868,
+        -0.007099764421582222,
+        0.0070608798414468765,
+        -0.016884805634617805,
+        -0.006579508073627949,
+        -0.014454777352511883,
+        -0.000736794201657176,
+        0.01841406524181366,
+        -0.015390408225357533,
+        -0.04492317885160446,
+        0.03313269466161728,
+        0.034004323184490204,
+        0.04260051250457764,
+        -0.020651858299970627,
+        -0.017756829038262367,
+        0.02696680836379528,
+        -0.007900165393948555,
+        0.014337698929011822,
+        0.012094870209693909,
+        0.004789072088897228,
+        0.01682163029909134,
+        0.0028059117030352354,
+        0.004037707578390837,
+        -0.000873103563208133,
+        -0.007424165494740009,
+        0.022097086533904076,
+        0.024115443229675293,
+        -0.2344273030757904,
+        -0.7737956047058105,
+        -0.046938538551330566,
+        -0.4846355617046356,
+        -0.44329309463500977,
+        0.09098762273788452,
+        -0.24220746755599976,
+        0.8425998687744141,
+        0.07085103541612625,
+        -0.4170801341533661,
+        -0.302837073802948,
+        -0.6077567338943481,
+        0.09941127896308899,
+        0.18760836124420166,
+        -0.0013511995784938335,
+        -0.1792546808719635,
+        0.4255783259868622,
+        -0.9584691524505615,
+        0.2357017695903778,
+        -0.12267287820577621,
+        -0.4550532400608063,
+        -0.9259516000747681,
+        0.35576650500297546,
+        -0.11656756699085236,
+        0.06444451212882996,
+        -0.782818078994751,
+        -0.06672676652669907,
+        0.9320697784423828,
+        -0.4365447759628296,
+        -0.04027169197797775,
+        -0.202534481883049,
+        -0.9967522621154785,
+        0.9928654432296753,
+        0.9971051812171936,
+        0.9930632710456848,
+        0.9997642040252686,
+        -0.027836671099066734,
+        0.9205313920974731,
+        0.9971214532852173,
+        -0.9988372921943665,
+        -0.9932730197906494,
+        -0.9938066005706787,
+        -0.9952998757362366,
+        5.689021782018244e-05,
+        -0.0004896067548543215,
+        -0.0005725595401600003,
+        -0.0011024301638826728,
+        1.066198183252709e-05,
+        0.0001847397070378065,
+        0.0004191467887721956,
+        0.00013592098548542708,
+        0.0007633726927451789,
+        -0.0010872379643842578,
+        0.00043851963710039854,
+        2.739125193329528e-05,
+        0.0022172497119754553,
+        0.0004673148796427995,
+        -0.00039172216202132404,
+        -0.0024688735138624907,
+        0.0011154315434396267,
+        -0.0016445276560261846,
+        0.0015458223642781377,
+        0.001155533012934029,
+        -0.0004969961591996253,
+        -0.0011123537551611662,
+        -0.00034417829010635614,
+        0.001162978122010827,
+        -0.0012147389352321625,
+        0.0010385235073044896,
+        0.0011080808471888304,
+        0.0023768460378050804,
+        -0.0010146666318178177,
+        0.0017074396600946784,
+        -0.0013334548566490412,
+        0.0008456954383291304,
+        -0.0030911066569387913,
+        -0.0012068337528035045,
+        -0.0020151492208242416,
+        -0.0002479793329257518,
+        -0.005456255748867989,
+        0.00275916769169271,
+        -0.0016578156501054764,
+        0.0005222856416366994,
+        0.002851760247722268,
+        0.0026648666244000196,
+        0.0021478154230862856
+      ],
+      "std": [
+        0.03918137773871422,
+        0.031741611659526825,
+        0.01604206301271645,
+        0.009608582593499124,
+        0.03153660520911217,
+        0.03055555745959282,
+        0.0747390016913414,
+        0.0895991399884224,
+        0.11665503680706024,
+        0.1606401801109314,
+        0.14428426325321198,
+        0.16362181305885315,
+        0.09917627274990082,
+        0.10180758684873581,
+        0.10749836266040802,
+        0.23723061382770538,
+        0.1519324630498886,
+        0.16321614384651184,
+        0.09142400324344635,
+        0.158849835395813,
+        0.08241847157478333,
+        0.08541189134120941,
+        0.33678269386291504,
+        0.32484737038612366,
+        0.33300966024398804,
+        0.46847003698349,
+        0.5227484107017517,
+        0.3698599934577942,
+        0.33582451939582825,
+        0.12862703204154968,
+        0.13104386627674103,
+        0.03160897269845009,
+        0.03336478769779205,
+        0.027505723759531975,
+        0.04575680196285248,
+        0.007449387107044458,
+        0.33436790108680725,
+        0.24484366178512573,
+        0.3866509199142456,
+        0.2250736653804779,
+        0.5200925469398499,
+        0.27921730279922485,
+        0.37124374508857727,
+        0.19634906947612762,
+        0.1510355919599533,
+        0.03797613084316254,
+        0.04274161905050278,
+        0.037266992032527924,
+        0.03062029555439949,
+        0.03985287621617317,
+        0.017869142815470695,
+        0.024519924074411392,
+        0.005956176668404368,
+        0.02081540040671817,
+        0.052176158875226974,
+        0.05793736129999161,
+        0.11451561003923416,
+        0.11827288568019867,
+        0.10463850945234299,
+        0.14725491404533386,
+        0.5814369320869446,
+        0.6115269064903259,
+        0.8287802934646606,
+        0.7806344628334045,
+        1.133933186531067,
+        1.169194221496582,
+        0.7897614240646362,
+        1.1164964437484741,
+        0.8752659559249878,
+        0.7663220763206482,
+        0.8405881524085999,
+        1.0916681289672852,
+        0.8549209237098694,
+        1.1243551969528198,
+        0.7207143902778625,
+        1.070910930633545,
+        0.7852795124053955,
+        0.9204129576683044,
+        1.7633163928985596,
+        1.6882017850875854,
+        1.5320903062820435,
+        1.6664018630981445,
+        2.441115379333496,
+        1.8440839052200317,
+        1.6112279891967773,
+        0.3324856162071228,
+        0.4653097689151764,
+        0.17928282916545868,
+        0.2653930187225342,
+        0.169254332780838,
+        0.27003541588783264,
+        0.04637885093688965,
+        1.2588098049163818,
+        1.2630091905593872,
+        1.6312470436096191,
+        1.595764398574829,
+        2.1584110260009766,
+        1.4105252027511597,
+        2.035829544067383,
+        0.6038760542869568,
+        0.5594924092292786,
+        0.2103649228811264,
+        0.32211580872535706,
+        0.23625178635120392,
+        0.1936260312795639,
+        0.2786567807197571,
+        0.02552131935954094,
+        0.018150694668293,
+        0.028709325939416885,
+        0.41942098736763,
+        0.8458216190338135,
+        0.1905694156885147,
+        0.050079114735126495,
+        0.10568305104970906,
+        0.08916224539279938,
+        0.11030066758394241,
+        0.348344624042511,
+        0.5070257782936096,
+        0.05404030531644821,
+        0.08206790685653687,
+        0.09916862100362778,
+        0.1334863007068634,
+        0.3706263601779938,
+        0.619789719581604,
+        0.0782003402709961,
+        0.31398096680641174,
+        0.3119264841079712,
+        0.1581353098154068,
+        0.23507776856422424,
+        0.13670411705970764,
+        0.34449484944343567,
+        0.27750709652900696,
+        0.25001129508018494,
+        0.22440612316131592,
+        0.1633608043193817,
+        0.2928782105445862,
+        0.19763927161693573,
+        0.18425147235393524,
+        0.3049336373806,
+        0.18389318883419037,
+        0.26437240839004517,
+        0.16341252624988556,
+        0.20191508531570435,
+        0.06625427305698395,
+        0.10391812771558735,
+        0.06355498731136322,
+        0.1033747568726537,
+        0.011009562760590877,
+        0.19919107854366302,
+        0.18475505709648132,
+        0.06040927767753601,
+        0.038562189787626086,
+        0.09985460340976715,
+        0.09065743535757034,
+        0.08364185690879822,
+        0.13696537911891937,
+        0.15331725776195526,
+        0.14244486391544342,
+        0.14934313297271729,
+        0.14721718430519104,
+        0.12055136263370514,
+        0.1361958384513855,
+        0.12418317049741745,
+        0.14095747470855713,
+        0.16658081114292145,
+        0.15433606505393982,
+        0.07860767841339111,
+        0.13753996789455414,
+        0.14226274192333221,
+        0.15537889301776886,
+        0.15272299945354462,
+        0.1553136706352234,
+        0.07561425864696503,
+        0.14370320737361908,
+        0.15684090554714203,
+        0.17629890143871307,
+        0.11860993504524231,
+        0.15700335800647736,
+        0.1568058431148529,
+        0.14278644323349,
+        0.13682910799980164,
+        0.15531432628631592,
+        0.11522653698921204,
+        0.191243976354599,
+        0.27852168679237366,
+        0.1884843111038208,
+        0.03203072026371956,
+        0.046926166862249374,
+        0.03094625100493431,
+        0.04020872339606285,
+        0.013060592114925385,
+        0.2619837522506714,
+        0.13783374428749084,
+        0.03651143237948418,
+        0.02051202766597271,
+        0.04729859158396721,
+        0.045352526009082794,
+        0.03992603346705437
+      ],
+      "max": [
+        0.7599605917930603,
+        0.7984061241149902,
+        1.1988013982772827,
+        1.0098607540130615,
+        0.3601436913013458,
+        0.4068429172039032,
+        0.5341254472732544,
+        1.1669517755508423,
+        0.7694416046142578,
+        2.782636880874634,
+        1.6379969120025635,
+        0.5947601199150085,
+        0.3083627223968506,
+        0.944282591342926,
+        0.5696494579315186,
+        2.7011971473693848,
+        1.8813841342926025,
+        0.5713737607002258,
+        0.303571879863739,
+        2.6936838626861572,
+        0.5647034049034119,
+        0.5940527319908142,
+        2.6244096755981445,
+        2.3371951580047607,
+        2.5656349658966064,
+        2.15295147895813,
+        2.0218281745910645,
+        1.6072564125061035,
+        1.614941954612732,
+        1.0280264616012573,
+        1.0753710269927979,
+        1.589059591293335,
+        0.021420201286673546,
+        0.02219754084944725,
+        0.024384818971157074,
+        0.011256116442382336,
+        1.9089372158050537,
+        0.2539112865924835,
+        2.6271870136260986,
+        2.146968126296997,
+        2.0334393978118896,
+        1.6699708700180054,
+        1.6172478199005127,
+        1.0908187627792358,
+        0.8054711818695068,
+        0.04508945718407631,
+        1.3217328786849976,
+        1.5713354349136353,
+        1.1631770133972168,
+        1.5838088989257812,
+        0.20901276171207428,
+        0.12893250584602356,
+        0.4168711304664612,
+        1.0095936059951782,
+        0.3301088213920593,
+        0.750914990901947,
+        0.6147305369377136,
+        2.2886695861816406,
+        1.887458324432373,
+        1.0892002582550049,
+        6.10505485534668,
+        5.7457685470581055,
+        9.985755920410156,
+        14.891435623168945,
+        9.397353172302246,
+        23.75527000427246,
+        8.166568756103516,
+        12.676641464233398,
+        7.233610153198242,
+        8.83322525024414,
+        7.8055500984191895,
+        16.762535095214844,
+        6.461264610290527,
+        13.020792961120605,
+        6.773934841156006,
+        18.246091842651367,
+        9.232620239257812,
+        11.878945350646973,
+        21.752790451049805,
+        15.42947769165039,
+        32.493106842041016,
+        21.292572021484375,
+        26.464021682739258,
+        26.715869903564453,
+        21.66487693786621,
+        9.117076873779297,
+        7.544443130493164,
+        6.415763854980469,
+        2.3188350200653076,
+        2.8078205585479736,
+        3.650911331176758,
+        1.5436595678329468,
+        19.05170440673828,
+        19.52846908569336,
+        12.386187553405762,
+        23.035953521728516,
+        19.374109268188477,
+        24.661035537719727,
+        24.54315185546875,
+        10.775065422058105,
+        10.954834938049316,
+        5.841822147369385,
+        7.362697124481201,
+        6.361740589141846,
+        9.276972770690918,
+        6.460104942321777,
+        0.5556983351707458,
+        0.7932174205780029,
+        0.5048443675041199,
+        2.9950690269470215,
+        9.394247055053711,
+        1.9100544452667236,
+        0.7122330665588379,
+        0.03046470321714878,
+        1.0,
+        0.3342762589454651,
+        1.0,
+        1.0,
+        0.5759937167167664,
+        1.0,
+        1.0,
+        0.3578331470489502,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9999999403953552,
+        0.9970787167549133,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9998758435249329,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9999336004257202,
+        0.9999998211860657,
+        1.0119907855987549,
+        1.011216163635254,
+        1.0120702981948853,
+        1.011449933052063,
+        1.0,
+        1.0,
+        1.0109573602676392,
+        0.9999998807907104,
+        1.0,
+        1.0,
+        1.0,
+        0.9508418440818787,
+        0.7408133149147034,
+        0.9582346081733704,
+        0.8986108899116516,
+        0.6662322878837585,
+        0.4131700098514557,
+        0.7060761451721191,
+        0.6289181709289551,
+        0.8582524657249451,
+        0.8933549523353577,
+        0.666519820690155,
+        0.4142039120197296,
+        0.9343754053115845,
+        0.5762034058570862,
+        0.5775034427642822,
+        1.0,
+        0.9724196791648865,
+        1.0,
+        0.8131569623947144,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.800000011920929,
+        0.7340266704559326,
+        0.9151788949966431,
+        0.9066815972328186,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.5308939218521118,
+        0.7569483518600464,
+        0.7922459244728088,
+        0.3067988455295563,
+        1.0,
+        1.0,
+        0.8318873047828674,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -0.7213805317878723,
+        -0.5479562282562256,
+        0.8000727295875549,
+        0.5198266506195068,
+        -0.35267123579978943,
+        -0.44554948806762695,
+        -0.7888574600219727,
+        -1.2468421459197998,
+        -0.5581842660903931,
+        -2.6197967529296875,
+        -0.12189347296953201,
+        -0.9411125183105469,
+        -0.3119841516017914,
+        -0.8834165334701538,
+        -1.3299897909164429,
+        -2.3375213146209717,
+        -0.12783043086528778,
+        -0.9378536939620972,
+        -0.30498602986335754,
+        -0.4499369263648987,
+        -0.5380851030349731,
+        -0.5747485160827637,
+        -3.168861150741577,
+        -0.27519869804382324,
+        -2.7014734745025635,
+        -0.7477371692657471,
+        -2.0058979988098145,
+        -1.6296168565750122,
+        -1.6845757961273193,
+        -0.9389839768409729,
+        -0.6910831928253174,
+        -0.010025137104094028,
+        -1.3476489782333374,
+        -1.567052960395813,
+        -1.4559965133666992,
+        -0.29278871417045593,
+        -2.1247715950012207,
+        -1.5141545534133911,
+        -2.7097291946411133,
+        -1.0692622661590576,
+        -1.6334675550460815,
+        -1.6040414571762085,
+        -1.6606814861297607,
+        -1.1913909912109375,
+        -1.0770212411880493,
+        -1.5063859224319458,
+        -0.06663643568754196,
+        -0.0300943274050951,
+        -0.03823625668883324,
+        -0.0173481497913599,
+        -0.033166300505399704,
+        -0.03182905167341232,
+        0.21958652138710022,
+        0.658620297908783,
+        -0.36821869015693665,
+        -0.19437049329280853,
+        -0.6277045011520386,
+        -1.9335763454437256,
+        -1.5697778463363647,
+        -2.763810396194458,
+        -5.7058258056640625,
+        -5.727808475494385,
+        -14.637327194213867,
+        -8.060015678405762,
+        -8.497668266296387,
+        -16.938838958740234,
+        -9.099246978759766,
+        -14.422565460205078,
+        -7.058075904846191,
+        -5.785505294799805,
+        -11.949816703796387,
+        -17.538625717163086,
+        -10.428555488586426,
+        -13.160971641540527,
+        -7.697381019592285,
+        -11.6815767288208,
+        -9.980195999145508,
+        -9.37336254119873,
+        -23.010221481323242,
+        -21.589120864868164,
+        -25.631223678588867,
+        -16.540298461914062,
+        -17.63788604736328,
+        -18.011945724487305,
+        -21.53767204284668,
+        -4.760582447052002,
+        -12.286470413208008,
+        -3.080672264099121,
+        -7.945549488067627,
+        -6.2860589027404785,
+        -9.138263702392578,
+        -3.252242088317871,
+        -24.053264617919922,
+        -13.540660858154297,
+        -31.91184425354004,
+        -15.762149810791016,
+        -18.202360153198242,
+        -24.793140411376953,
+        -18.375213623046875,
+        -19.541898727416992,
+        -8.60667610168457,
+        -6.232077121734619,
+        -9.489171028137207,
+        -4.158493518829346,
+        -5.0675177574157715,
+        -3.352649211883545,
+        -0.2297496348619461,
+        -0.2860429883003235,
+        -0.9197208881378174,
+        -3.8577685356140137,
+        -8.307486534118652,
+        -1.756037712097168,
+        -0.9166802167892456,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.5438705682754517,
+        -0.5545967221260071,
+        -0.9999997615814209,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.26674899458885193,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.9951164126396179,
+        -0.9999999403953552,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.9058794379234314,
+        -1.0,
+        -1.0,
+        -0.9531409740447998,
+        -1.0,
+        -1.0,
+        -0.9999999403953552,
+        -1.0,
+        -1.0110548734664917,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.07719623297452927,
+        -1.0,
+        -0.9992016553878784,
+        -1.0,
+        -1.0127109289169312,
+        -1.011113166809082,
+        -1.0126135349273682,
+        -1.0112144947052002,
+        -0.7025753259658813,
+        -0.738789975643158,
+        -1.0,
+        -0.9013891220092773,
+        -0.6648460030555725,
+        -0.4118444621562958,
+        -0.7156120538711548,
+        -0.9710818529129028,
+        -1.0,
+        -0.9269059300422668,
+        -0.6451252698898315,
+        -0.41389867663383484,
+        -0.7844355702400208,
+        -0.579231858253479,
+        -0.572383463382721,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.80543053150177,
+        -0.8377922177314758,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.8587154150009155,
+        -1.0,
+        -0.7663687467575073,
+        -0.8259900212287903,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.7908406853675842,
+        -0.9236996173858643,
+        -0.7721707224845886,
+        -0.5980362296104431
+      ],
+      "q01": [
+        -0.08860856138169765,
+        -0.040002715848386286,
+        1.0690423715114594,
+        0.9688970482349396,
+        -0.11802998207509517,
+        -0.10257903702557086,
+        -0.16465846747159957,
+        -0.6399147224426269,
+        -0.3332405364513397,
+        -0.5356841695308685,
+        0.2075869616866112,
+        -0.6594177478551865,
+        -0.2747973760962486,
+        -0.6962711733579635,
+        -0.06831745564937591,
+        -0.4189327621459961,
+        0.2907466873526573,
+        -0.8034981518983841,
+        -0.2710865548253059,
+        -0.09460571102797985,
+        -0.16322636350989342,
+        -0.2172604040801525,
+        -1.2254106903076172,
+        -0.03413635905832052,
+        -2.624399018287659,
+        0.10511831104755402,
+        -1.564160794019699,
+        -1.542237216234207,
+        -1.6038083839416504,
+        -0.504413383603096,
+        -0.37547415792942046,
+        -2.616109000882716e-05,
+        -0.01621376158669591,
+        -0.007218891116790473,
+        -0.04891510065644979,
+        -0.025130778960883615,
+        -0.3290189442038536,
+        -0.9841915714740753,
+        -1.3298238694667817,
+        -0.8925684624910355,
+        -0.8840637642145157,
+        0.16317979201674462,
+        -1.4545844221115112,
+        -0.7799432051181793,
+        -0.11022581480443476,
+        -0.17471379667520523,
+        -0.002921562842093408,
+        -0.0013138529064599424,
+        -0.0019491668103728441,
+        -0.0008122625970281661,
+        -0.01222520007751882,
+        -0.010741320056840777,
+        0.3460958817601204,
+        0.8951539033651352,
+        -0.19547873243689537,
+        -0.0773394275456667,
+        -0.2505894619226456,
+        -0.2525445333123207,
+        -0.2070004227757454,
+        -0.43286277949810026,
+        -1.6912422156333924,
+        -1.445921837091446,
+        -2.1602809858322143,
+        -1.8180472552776337,
+        -3.168845558166504,
+        -3.0249853134155273,
+        -2.400472524166107,
+        -3.3445086884498596,
+        -2.4046105432510374,
+        -1.7345757985115051,
+        -2.2535874891281127,
+        -2.378214883804321,
+        -2.8039454436302185,
+        -3.344017653465271,
+        -2.44307822227478,
+        -2.2479359197616575,
+        -2.1621206855773925,
+        -2.3829350876808166,
+        -5.122804598808289,
+        -5.004576425552368,
+        -4.472459692955017,
+        -4.9454056787490845,
+        -6.684723563194275,
+        -5.089520564079285,
+        -6.132306714057922,
+        -1.1041386640071869,
+        -1.7356487953662871,
+        -0.0014355717715807258,
+        -0.07065005749464033,
+        -0.007705305088311434,
+        -0.10228730656206603,
+        -0.0029560851491987703,
+        -3.0837029099464415,
+        -3.917639260292053,
+        -4.7134020805358885,
+        -4.162553491592408,
+        -6.275325546264648,
+        -3.9426125407218935,
+        -6.127818999290466,
+        -2.1297602009773255,
+        -1.9403674137592315,
+        -0.37652781426906584,
+        -0.2563450685143471,
+        -0.009859658796340227,
+        -0.08185164272785186,
+        -0.006400714865885675,
+        -0.06846927426755428,
+        -0.04677555814385414,
+        -0.08384766034781933,
+        -1.2373335897922515,
+        -2.5556209540367125,
+        -0.5486467045545578,
+        -0.33084746181964875,
+        -0.9947142213582992,
+        -0.2311967882514,
+        -0.9775875151157379,
+        -0.9773123681545257,
+        -0.9998888236284256,
+        -0.3732592210173607,
+        0.5978375816345215,
+        -0.1684956283867359,
+        -0.964976640343666,
+        -0.999969847202301,
+        -0.9998770463466644,
+        -0.06252653915435076,
+        -0.5409780406951904,
+        -0.9571350759267807,
+        -0.5424295908212662,
+        -0.39339866757392883,
+        -0.9999995231628418,
+        -0.35741625279188155,
+        -0.8306320977210998,
+        -0.9943105894327163,
+        -0.9999842047691345,
+        -0.16905571818351744,
+        -0.4674675902724266,
+        -0.7811073952913283,
+        -0.9999245023727417,
+        -0.5119624477624893,
+        0.0985196427255869,
+        -0.9634795236587524,
+        -0.5559981465339661,
+        -0.8806438654661178,
+        -1.0,
+        0.9987564212083817,
+        0.9980721533298492,
+        0.996207035779953,
+        0.9997165763378143,
+        -0.7018561452627182,
+        0.021700690016150485,
+        0.9961085838079452,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.29200246930122375,
+        -0.37239140272140503,
+        -0.317146358191967,
+        -0.3447149693965912,
+        -0.3754720315337181,
+        -0.28391565918922423,
+        -0.28809887170791626,
+        -0.27271372079849243,
+        -0.3002236783504486,
+        -0.462598979473114,
+        -0.37090457290410994,
+        -0.24682701855897904,
+        -0.2862042486667633,
+        -0.32992789179086685,
+        -0.3642439329624176,
+        -0.36913543224334716,
+        -0.3806321796774864,
+        -0.21892075672745703,
+        -0.33037957549095154,
+        -0.36777003526687624,
+        -0.4212671476602554,
+        -0.4000000059604645,
+        -0.3658411505818367,
+        -0.3741508722305298,
+        -0.3285769820213318,
+        -0.3173708060383797,
+        -0.38048961758613586,
+        -0.35264320999383925,
+        -0.49494075566530227,
+        -0.800000011920929,
+        -0.4878997355699539,
+        -0.0011936658108606935,
+        -0.002283390345983207,
+        -0.0036388921621255572,
+        -0.005383590306155384,
+        -0.0006413132016314194,
+        -0.7616722583770752,
+        -0.41769622564315795,
+        -0.008325544130057096,
+        -0.0008096899872180075,
+        -0.004881269889883697,
+        -0.012035777224227785,
+        -0.000660818821634166
+      ],
+      "q99": [
+        0.029957046192139285,
+        0.07297273807227608,
+        1.1436983251571655,
+        0.9998994189500808,
+        0.04547667942941188,
+        0.052446636259555764,
+        0.2076067803800106,
+        -0.18197450399398832,
+        0.30966404408216464,
+        0.12578195497393577,
+        1.105542709827423,
+        0.1119257550686597,
+        0.15244179323315601,
+        -0.18462872788310059,
+        0.39493914783000944,
+        0.5402256453037262,
+        1.350053985118866,
+        0.058233227282762506,
+        0.17856155499815937,
+        0.6158074867725372,
+        0.30807589083909964,
+        0.24763341039419162,
+        0.48483594477176556,
+        1.811000221967697,
+        -0.7672779947519316,
+        1.9814046454429626,
+        0.9073285472393032,
+        0.6851024144887917,
+        0.13147500663995576,
+        0.30688880234956734,
+        0.4473135614395142,
+        0.01884778682142491,
+        0.0006911237147869522,
+        0.0003483437121030857,
+        0.0004915516480104994,
+        0.00013535567341023026,
+        1.1712122225761412,
+        0.12803016796708105,
+        0.9738646781444547,
+        0.12433375194668715,
+        1.9015903484821317,
+        1.60049990773201,
+        0.5569062489271164,
+        0.3279782435297965,
+        0.7284259074926376,
+        0.00243172382004559,
+        0.15074557393789248,
+        0.09042721405625341,
+        0.06084188539534807,
+        0.0679668886959552,
+        0.06894955359399313,
+        0.09159850120544433,
+        0.3776577800512314,
+        0.9997670441865921,
+        0.07582188278436641,
+        0.21541747376322742,
+        0.37753453701734535,
+        0.2452618490159511,
+        0.3682231426239012,
+        0.32623841404914844,
+        1.5776709008216856,
+        1.4744468724727628,
+        1.918623201847075,
+        1.9428202724456787,
+        3.4683675193786616,
+        2.981773746013641,
+        2.158506700992584,
+        3.2476440525054877,
+        2.4579999399185173,
+        1.9540489041805267,
+        2.368746647834777,
+        3.1443473672866804,
+        2.7122783708572387,
+        3.377815780639647,
+        2.272193768024444,
+        2.976429629325866,
+        2.205811095237731,
+        2.335614604949951,
+        5.188981890678406,
+        5.285648245811462,
+        2.5086313986778257,
+        4.2421125459671,
+        7.408803982734676,
+        5.127609434127807,
+        5.668459100723263,
+        1.1045215368270855,
+        1.4216266143321985,
+        0.003381526672746985,
+        0.00843842542730271,
+        0.0016549472720362214,
+        0.01774735698476426,
+        0.0031258431728929275,
+        3.7054628300666783,
+        3.30491584777832,
+        3.983845264911651,
+        4.628064742088315,
+        6.2449722909927345,
+        5.599628534317009,
+        5.688065972328186,
+        1.9120617055892928,
+        2.073907401561737,
+        0.25559608280658597,
+        0.3573176491260516,
+        0.05933069020509682,
+        0.10700251474976535,
+        0.0325118956714866,
+        0.07831415504217147,
+        0.059199744053184955,
+        0.08414101652801036,
+        1.3108053505420683,
+        2.5036844253540016,
+        0.6200450110435484,
+        -0.09078622095286867,
+        -0.4211417004466057,
+        0.1434874913096427,
+        -0.23932421505451212,
+        0.7491812175512313,
+        0.9897513985633849,
+        -0.10096082292497194,
+        0.9756254541873931,
+        0.244974961131811,
+        -0.044606409855187046,
+        0.7621487122774118,
+        0.9999745208024978,
+        0.2807990139722823,
+        0.9994107103347778,
+        0.7163681638240814,
+        0.2891936457157134,
+        0.9712466925382613,
+        -0.3370773196220398,
+        0.9997783023118972,
+        0.5243469411134718,
+        0.5710341197252272,
+        0.20579300835728637,
+        0.6022311794757843,
+        0.9999998807907104,
+        0.7008448052406311,
+        -0.18123966038227204,
+        1.0,
+        0.9999992847442627,
+        0.5125884771347043,
+        0.42678924530744533,
+        0.4257562431693075,
+        -0.9987497389316559,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.3381400379538535,
+        0.999991774559021,
+        1.0,
+        -0.9995543849468231,
+        -0.9946568489074707,
+        -0.9834027856588364,
+        -0.9994118493795395,
+        0.29490387439727783,
+        0.36637401074171055,
+        0.3157080936431884,
+        0.33772996068000793,
+        0.37655770778656006,
+        0.28387005388736714,
+        0.2909606099128723,
+        0.27434446513652777,
+        0.31184977293014526,
+        0.4462558105587951,
+        0.3834984254837036,
+        0.245473226159811,
+        0.29748550057411194,
+        0.3272694340348242,
+        0.36351412862539284,
+        0.3486882746219635,
+        0.38010306417942036,
+        0.20000000298023224,
+        0.3209454527497291,
+        0.38236724704503994,
+        0.4240100383758545,
+        0.40270814299583435,
+        0.36347103118896484,
+        0.36667031943798006,
+        0.3092769384384155,
+        0.3342975953221318,
+        0.3764949551224707,
+        0.4000000059604645,
+        0.4692749974131578,
+        0.800000011920929,
+        0.46033775806427,
+        0.0015209564659744393,
+        0.0012377466517500572,
+        0.002963461449835444,
+        0.0037110612448304848,
+        0.0006300433253636578,
+        0.6866433358192444,
+        0.4416135549545288,
+        0.005796513012610372,
+        0.0009014814946567628,
+        0.00880358230322592,
+        0.020615411605685877,
+        0.001144802144262934
+      ]
+    },
+    "num_transitions": 86048,
+    "num_trajectories": 90
+  }
+}
\ No newline at end of file
diff --git a/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/eval_l0.json b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/eval_l0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5acb1d5f749272435debc7b0f334401e36623e1b
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/eval_l0.json
@@ -0,0 +1,4028 @@
+{
+  "n_episodes": 100,
+  "mean_return": 98.43569101869826,
+  "std_return": 15.416536802242812,
+  "min_return": 66.75647830228253,
+  "max_return": 150.12334926011758,
+  "mean_length": 111.1,
+  "std_length": 15.68853084262513,
+  "min_length": 82.0,
+  "max_length": 163.0,
+  "return_field": "episode_return_env",
+  "length_field": "survival_steps",
+  "mode": "simulated",
+  "policy_id": "starvla",
+  "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+  "model_id": null,
+  "gpu_class": null,
+  "workload_id": null,
+  "instance_id": null,
+  "source_run_id": null,
+  "profile_ref": null,
+  "env_fps": 50.0,
+  "obs_fps": 50.0,
+  "frame_ms": 20.0,
+  "latency_type": "zero",
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_return": 90.61698723498868,
+      "episode_return_env": 90.61698723498868,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 0,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 95,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 95
+    },
+    {
+      "episode_id": 1,
+      "episode_return": 108.59139837546854,
+      "episode_return_env": 108.59139837546854,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 1,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 116,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 116
+    },
+    {
+      "episode_id": 2,
+      "episode_return": 110.8851177963625,
+      "episode_return_env": 110.8851177963625,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 2,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 127,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 127
+    },
+    {
+      "episode_id": 3,
+      "episode_return": 79.08797751473644,
+      "episode_return_env": 79.08797751473644,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 3,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 94,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 94
+    },
+    {
+      "episode_id": 4,
+      "episode_return": 101.48541997698108,
+      "episode_return_env": 101.48541997698108,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 4,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 105,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 105
+    },
+    {
+      "episode_id": 5,
+      "episode_return": 81.96262779454364,
+      "episode_return_env": 81.96262779454364,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 5,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 90,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 90
+    },
+    {
+      "episode_id": 6,
+      "episode_return": 96.99284568010818,
+      "episode_return_env": 96.99284568010818,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 6,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 113,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 113
+    },
+    {
+      "episode_id": 7,
+      "episode_return": 116.13114715645767,
+      "episode_return_env": 116.13114715645767,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 7,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 132,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 132
+    },
+    {
+      "episode_id": 8,
+      "episode_return": 82.80017916103247,
+      "episode_return_env": 82.80017916103247,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 8,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 98,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 98
+    },
+    {
+      "episode_id": 9,
+      "episode_return": 104.29472664905715,
+      "episode_return_env": 104.29472664905715,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 9,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 108,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 108
+    },
+    {
+      "episode_id": 10,
+      "episode_return": 97.74786274178896,
+      "episode_return_env": 97.74786274178896,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 10,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 112,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 112
+    },
+    {
+      "episode_id": 11,
+      "episode_return": 88.05489354636323,
+      "episode_return_env": 88.05489354636323,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 11,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 104,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 104
+    },
+    {
+      "episode_id": 12,
+      "episode_return": 91.6655676776074,
+      "episode_return_env": 91.6655676776074,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 12,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 101,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 101
+    },
+    {
+      "episode_id": 13,
+      "episode_return": 93.7510500028475,
+      "episode_return_env": 93.7510500028475,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 13,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 97,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 97
+    },
+    {
+      "episode_id": 14,
+      "episode_return": 122.88046353504485,
+      "episode_return_env": 122.88046353504485,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 14,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 128,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 128
+    },
+    {
+      "episode_id": 15,
+      "episode_return": 81.88118125670208,
+      "episode_return_env": 81.88118125670208,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 15,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 97,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 97
+    },
+    {
+      "episode_id": 16,
+      "episode_return": 103.15190721743438,
+      "episode_return_env": 103.15190721743438,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 16,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 117,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 117
+    },
+    {
+      "episode_id": 17,
+      "episode_return": 118.5506641125541,
+      "episode_return_env": 118.5506641125541,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 17,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 126,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 126
+    },
+    {
+      "episode_id": 18,
+      "episode_return": 90.40453616110516,
+      "episode_return_env": 90.40453616110516,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 18,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 107,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 107
+    },
+    {
+      "episode_id": 19,
+      "episode_return": 86.05178880213576,
+      "episode_return_env": 86.05178880213576,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 19,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 92,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 92
+    },
+    {
+      "episode_id": 20,
+      "episode_return": 84.31162566320872,
+      "episode_return_env": 84.31162566320872,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 20,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 99,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 99
+    },
+    {
+      "episode_id": 21,
+      "episode_return": 123.77369649071811,
+      "episode_return_env": 123.77369649071811,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 21,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 134,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 134
+    },
+    {
+      "episode_id": 22,
+      "episode_return": 118.94604399089647,
+      "episode_return_env": 118.94604399089647,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 22,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 136,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 136
+    },
+    {
+      "episode_id": 23,
+      "episode_return": 127.39861653969147,
+      "episode_return_env": 127.39861653969147,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 23,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 143,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 143
+    },
+    {
+      "episode_id": 24,
+      "episode_return": 94.02951694832342,
+      "episode_return_env": 94.02951694832342,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 24,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 108,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 108
+    },
+    {
+      "episode_id": 25,
+      "episode_return": 69.07819329440852,
+      "episode_return_env": 69.07819329440852,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 25,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 85,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 85
+    },
+    {
+      "episode_id": 26,
+      "episode_return": 97.00926219215278,
+      "episode_return_env": 97.00926219215278,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 26,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 111,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 111
+    },
+    {
+      "episode_id": 27,
+      "episode_return": 101.72839953374496,
+      "episode_return_env": 101.72839953374496,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 27,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 112,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 112
+    },
+    {
+      "episode_id": 28,
+      "episode_return": 92.36281201119395,
+      "episode_return_env": 92.36281201119395,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 28,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 98,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 98
+    },
+    {
+      "episode_id": 29,
+      "episode_return": 66.75647830228253,
+      "episode_return_env": 66.75647830228253,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 29,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 82,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 82
+    },
+    {
+      "episode_id": 30,
+      "episode_return": 101.63220398119148,
+      "episode_return_env": 101.63220398119148,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 30,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 117,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 117
+    },
+    {
+      "episode_id": 31,
+      "episode_return": 91.63735804451431,
+      "episode_return_env": 91.63735804451431,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 31,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 105,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 105
+    },
+    {
+      "episode_id": 32,
+      "episode_return": 88.90657912483768,
+      "episode_return_env": 88.90657912483768,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 32,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 106,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 106
+    },
+    {
+      "episode_id": 33,
+      "episode_return": 84.39702495641752,
+      "episode_return_env": 84.39702495641752,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 33,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 99,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 99
+    },
+    {
+      "episode_id": 34,
+      "episode_return": 91.35331606794247,
+      "episode_return_env": 91.35331606794247,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 34,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 109,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 109
+    },
+    {
+      "episode_id": 35,
+      "episode_return": 79.06166232197879,
+      "episode_return_env": 79.06166232197879,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 35,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 93,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 93
+    },
+    {
+      "episode_id": 36,
+      "episode_return": 108.14163506350978,
+      "episode_return_env": 108.14163506350978,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 36,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 124,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 124
+    },
+    {
+      "episode_id": 37,
+      "episode_return": 106.94071495796346,
+      "episode_return_env": 106.94071495796346,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 37,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 120,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 120
+    },
+    {
+      "episode_id": 38,
+      "episode_return": 82.1915756442236,
+      "episode_return_env": 82.1915756442236,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 38,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 96,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 96
+    },
+    {
+      "episode_id": 39,
+      "episode_return": 101.1417594746628,
+      "episode_return_env": 101.1417594746628,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 39,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 116,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 116
+    },
+    {
+      "episode_id": 40,
+      "episode_return": 127.36372613669025,
+      "episode_return_env": 127.36372613669025,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 40,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 144,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 144
+    },
+    {
+      "episode_id": 41,
+      "episode_return": 97.58389469471112,
+      "episode_return_env": 97.58389469471112,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 41,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 112,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 112
+    },
+    {
+      "episode_id": 42,
+      "episode_return": 104.61938418420712,
+      "episode_return_env": 104.61938418420712,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 42,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 109,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 109
+    },
+    {
+      "episode_id": 43,
+      "episode_return": 89.3820430141323,
+      "episode_return_env": 89.3820430141323,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 43,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 104,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 104
+    },
+    {
+      "episode_id": 44,
+      "episode_return": 114.30383073178025,
+      "episode_return_env": 114.30383073178025,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 44,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 122,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 122
+    },
+    {
+      "episode_id": 45,
+      "episode_return": 115.05804329531952,
+      "episode_return_env": 115.05804329531952,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 45,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 132,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 132
+    },
+    {
+      "episode_id": 46,
+      "episode_return": 85.19124175329297,
+      "episode_return_env": 85.19124175329297,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 46,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 89,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 89
+    },
+    {
+      "episode_id": 47,
+      "episode_return": 132.58023831411933,
+      "episode_return_env": 132.58023831411933,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 47,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 147,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 147
+    },
+    {
+      "episode_id": 48,
+      "episode_return": 99.25865064007814,
+      "episode_return_env": 99.25865064007814,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 48,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 116,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 116
+    },
+    {
+      "episode_id": 49,
+      "episode_return": 105.23339923925192,
+      "episode_return_env": 105.23339923925192,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 49,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 120,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 120
+    },
+    {
+      "episode_id": 50,
+      "episode_return": 128.35927191055418,
+      "episode_return_env": 128.35927191055418,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 50,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 133,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 133
+    },
+    {
+      "episode_id": 51,
+      "episode_return": 90.43362842986556,
+      "episode_return_env": 90.43362842986556,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 51,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 94,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 94
+    },
+    {
+      "episode_id": 52,
+      "episode_return": 110.956315246371,
+      "episode_return_env": 110.956315246371,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 52,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 128,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 128
+    },
+    {
+      "episode_id": 53,
+      "episode_return": 76.54620757558148,
+      "episode_return_env": 76.54620757558148,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 53,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 93,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 93
+    },
+    {
+      "episode_id": 54,
+      "episode_return": 82.58215521656531,
+      "episode_return_env": 82.58215521656531,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 54,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 99,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 99
+    },
+    {
+      "episode_id": 55,
+      "episode_return": 100.35821126124323,
+      "episode_return_env": 100.35821126124323,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 55,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 112,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 112
+    },
+    {
+      "episode_id": 56,
+      "episode_return": 89.01150224440946,
+      "episode_return_env": 89.01150224440946,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 56,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 103,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 103
+    },
+    {
+      "episode_id": 57,
+      "episode_return": 87.40509414517317,
+      "episode_return_env": 87.40509414517317,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 57,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 102,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 102
+    },
+    {
+      "episode_id": 58,
+      "episode_return": 76.15454786257338,
+      "episode_return_env": 76.15454786257338,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 58,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 91,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 91
+    },
+    {
+      "episode_id": 59,
+      "episode_return": 97.67518694229824,
+      "episode_return_env": 97.67518694229824,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 59,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 116,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 116
+    },
+    {
+      "episode_id": 60,
+      "episode_return": 98.70625933741334,
+      "episode_return_env": 98.70625933741334,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 60,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 104,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 104
+    },
+    {
+      "episode_id": 61,
+      "episode_return": 109.33735001803915,
+      "episode_return_env": 109.33735001803915,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 61,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 127,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 127
+    },
+    {
+      "episode_id": 62,
+      "episode_return": 118.7679062251028,
+      "episode_return_env": 118.7679062251028,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 62,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 131,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 131
+    },
+    {
+      "episode_id": 63,
+      "episode_return": 78.44575731827754,
+      "episode_return_env": 78.44575731827754,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 63,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 85,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 85
+    },
+    {
+      "episode_id": 64,
+      "episode_return": 120.09986755361034,
+      "episode_return_env": 120.09986755361034,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 64,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 125,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 125
+    },
+    {
+      "episode_id": 65,
+      "episode_return": 81.69151353845206,
+      "episode_return_env": 81.69151353845206,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 65,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 97,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 97
+    },
+    {
+      "episode_id": 66,
+      "episode_return": 131.08182608131952,
+      "episode_return_env": 131.08182608131952,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 66,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 146,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 146
+    },
+    {
+      "episode_id": 67,
+      "episode_return": 100.37815686409299,
+      "episode_return_env": 100.37815686409299,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 67,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 115,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 115
+    },
+    {
+      "episode_id": 68,
+      "episode_return": 87.06788766043454,
+      "episode_return_env": 87.06788766043454,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 68,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 105,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 105
+    },
+    {
+      "episode_id": 69,
+      "episode_return": 120.9511070322044,
+      "episode_return_env": 120.9511070322044,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 69,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 137,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 137
+    },
+    {
+      "episode_id": 70,
+      "episode_return": 84.6280423992775,
+      "episode_return_env": 84.6280423992775,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 70,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 100,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 100
+    },
+    {
+      "episode_id": 71,
+      "episode_return": 77.35881925915109,
+      "episode_return_env": 77.35881925915109,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 71,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 93,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 93
+    },
+    {
+      "episode_id": 72,
+      "episode_return": 106.74182951045664,
+      "episode_return_env": 106.74182951045664,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 72,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 121,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 121
+    },
+    {
+      "episode_id": 73,
+      "episode_return": 76.64904982898692,
+      "episode_return_env": 76.64904982898692,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 73,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 91,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 91
+    },
+    {
+      "episode_id": 74,
+      "episode_return": 119.86953591161203,
+      "episode_return_env": 119.86953591161203,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 74,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 135,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 135
+    },
+    {
+      "episode_id": 75,
+      "episode_return": 97.7176077229732,
+      "episode_return_env": 97.7176077229732,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 75,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 113,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 113
+    },
+    {
+      "episode_id": 76,
+      "episode_return": 87.50420765567097,
+      "episode_return_env": 87.50420765567097,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 76,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 92,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 92
+    },
+    {
+      "episode_id": 77,
+      "episode_return": 97.20343996443944,
+      "episode_return_env": 97.20343996443944,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 77,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 103,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 103
+    },
+    {
+      "episode_id": 78,
+      "episode_return": 103.47002806053513,
+      "episode_return_env": 103.47002806053513,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 78,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 120,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 120
+    },
+    {
+      "episode_id": 79,
+      "episode_return": 110.21528884816502,
+      "episode_return_env": 110.21528884816502,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 79,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 123,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 123
+    },
+    {
+      "episode_id": 80,
+      "episode_return": 91.02836856893039,
+      "episode_return_env": 91.02836856893039,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 80,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 105,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 105
+    },
+    {
+      "episode_id": 81,
+      "episode_return": 105.47515866685293,
+      "episode_return_env": 105.47515866685293,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 81,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 111,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 111
+    },
+    {
+      "episode_id": 82,
+      "episode_return": 109.88678541944893,
+      "episode_return_env": 109.88678541944893,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 82,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 117,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 117
+    },
+    {
+      "episode_id": 83,
+      "episode_return": 85.38382627982517,
+      "episode_return_env": 85.38382627982517,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 83,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 100,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 100
+    },
+    {
+      "episode_id": 84,
+      "episode_return": 92.73662202060885,
+      "episode_return_env": 92.73662202060885,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 84,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 109,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 109
+    },
+    {
+      "episode_id": 85,
+      "episode_return": 100.63326608828116,
+      "episode_return_env": 100.63326608828116,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 85,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 117,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 117
+    },
+    {
+      "episode_id": 86,
+      "episode_return": 111.25035428384926,
+      "episode_return_env": 111.25035428384926,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 86,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 125,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 125
+    },
+    {
+      "episode_id": 87,
+      "episode_return": 82.70480510313585,
+      "episode_return_env": 82.70480510313585,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 87,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 97,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 97
+    },
+    {
+      "episode_id": 88,
+      "episode_return": 79.63563273968232,
+      "episode_return_env": 79.63563273968232,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 88,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 95,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 95
+    },
+    {
+      "episode_id": 89,
+      "episode_return": 108.36192508250487,
+      "episode_return_env": 108.36192508250487,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 89,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 121,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 121
+    },
+    {
+      "episode_id": 90,
+      "episode_return": 82.001542307442,
+      "episode_return_env": 82.001542307442,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 90,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 97,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 97
+    },
+    {
+      "episode_id": 91,
+      "episode_return": 105.5461358245545,
+      "episode_return_env": 105.5461358245545,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 91,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 122,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 122
+    },
+    {
+      "episode_id": 92,
+      "episode_return": 95.93419079272509,
+      "episode_return_env": 95.93419079272509,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 92,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 100,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 100
+    },
+    {
+      "episode_id": 93,
+      "episode_return": 90.46398163957446,
+      "episode_return_env": 90.46398163957446,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 93,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 104,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 104
+    },
+    {
+      "episode_id": 94,
+      "episode_return": 94.02192201873763,
+      "episode_return_env": 94.02192201873763,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 94,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 110,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 110
+    },
+    {
+      "episode_id": 95,
+      "episode_return": 103.50595357602289,
+      "episode_return_env": 103.50595357602289,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 95,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 119,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 119
+    },
+    {
+      "episode_id": 96,
+      "episode_return": 150.12334926011758,
+      "episode_return_env": 150.12334926011758,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 96,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 163,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 163
+    },
+    {
+      "episode_id": 97,
+      "episode_return": 95.94401405834263,
+      "episode_return_env": 95.94401405834263,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 97,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 114,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 114
+    },
+    {
+      "episode_id": 98,
+      "episode_return": 89.78745019311802,
+      "episode_return_env": 89.78745019311802,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 98,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 94,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 94
+    },
+    {
+      "episode_id": 99,
+      "episode_return": 93.41494732045774,
+      "episode_return_env": 93.41494732045774,
+      "game_score": null,
+      "mean_latency_ms": 0.0,
+      "metadata": {
+        "chunk_age_ms": 0.0,
+        "chunk_age_raw_frames": 0,
+        "config_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "env_fps": 50.0,
+        "env_id": "LatencyBench/G1SonicBalanceSimple-v0",
+        "episode_seed": 99,
+        "frame_ms": 20.0,
+        "gpu_class": null,
+        "hold_last_chunk_action": true,
+        "instance_id": null,
+        "latency_type": "zero",
+        "mode": "simulated",
+        "model_id": null,
+        "obs_fps": 50.0,
+        "policy_id": "starvla",
+        "profile_ref": null,
+        "run_name": "humanoidbench_balance_simple_qwenoft_h1_l0",
+        "sim_inference_pool_workers": 1,
+        "source_run_id": null,
+        "stale_prefix_frames": 0,
+        "underflow_count": 0,
+        "underflow_duration_ms": 0.0,
+        "underflow_frames": 0,
+        "workload_id": null
+      },
+      "num_actions": 109,
+      "num_dropped_actions": 0,
+      "num_invalid_actions": 0,
+      "p90_latency_ms": 0.0,
+      "p99_latency_ms": 0.0,
+      "return_raw": null,
+      "survival_steps": 109
+    }
+  ]
+}
diff --git a/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/provenance.json b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/provenance.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba0f1d5d5f99d6dbaf9c5ad534a2161b844be7c8
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/provenance.json
@@ -0,0 +1,84 @@
+{
+  "task": "balance",
+  "model": "qwenoft",
+  "run_id": "humanoidbench_balance_simple_qwenoft_formal_latest",
+  "smoke": false,
+  "teacher": {
+    "repo_id": "latency-sensitive-bench/benchmark-models",
+    "revision": "46abd9ece5745d808d16aa8013766a26b4f6c371",
+    "path": "zero-latency/humanoidbench-balance-simple/small-policy/fasttd3-v1/checkpoint.pth"
+  },
+  "backbone": {
+    "repo_id": "Qwen/Qwen3-VL-4B-Instruct",
+    "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17",
+    "allow_patterns": [
+      "*.json",
+      "*.safetensors",
+      "*.txt",
+      "*.jinja",
+      "*.model"
+    ]
+  },
+  "code_revisions": {
+    "benchmark": {
+      "revision": "2f18d4620afd1861059d8cecfc2b1410a4a4777d",
+      "dirty": true
+    },
+    "starvla": {
+      "revision": "73cd1e6175d8c6e5896e742b6a8c8ca3aef52dca",
+      "dirty": false
+    },
+    "haic": {
+      "revision": "b96533e17dfb6d5a1bd3a67032a66acc76e2fd80",
+      "dirty": true
+    },
+    "parkour": {
+      "revision": "26274b2ad83cd6f45d061973a4d102fd492010de",
+      "dirty": false
+    },
+    "mikasa": {
+      "revision": "a5f72ac4faf1f83ea1ccbf7f33ca04173554d3bc",
+      "dirty": true
+    },
+    "gr00t": {
+      "revision": "aa0c592853102010080e4f61609db8e3dc0779d4",
+      "dirty": false
+    }
+  },
+  "datasets": [
+    {
+      "repo_id": "latency-sensitive-bench/benchmark-datasets",
+      "path": "zero-latency/humanoidbench-balance-simple/teacher-rollouts-h1-state-v1",
+      "revision": "5421c9d272d7a939bb04045b047af84519c1fba8"
+    }
+  ],
+  "seed": 0,
+  "training": {
+    "sft_updates": 15000,
+    "dagger_updates": 0,
+    "global_batch": 128,
+    "bootstrap_weight": 1.0,
+    "dagger_weight": 0.0,
+    "micro_batch": 16,
+    "num_gpus": 8,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08,
+      "fused": true
+    },
+    "learning_rate": {
+      "base": 3e-05,
+      "action_model": 0.0001
+    },
+    "scheduler": "cosine_with_min_lr",
+    "scheduler_kwargs": {
+      "min_lr": 1e-06
+    },
+    "warmup_updates": 100
+  }
+}
diff --git a/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/task_contract.json b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/task_contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a29a79efdf3e56e7339f97590e7a94838c8a653
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/vla/starvla-qwenoft-h1/humanoidbench_balance_simple_qwenoft_formal_latest/task_contract.json
@@ -0,0 +1,1737 @@
+{
+  "format": "latency_bench_starvla_h1_v1",
+  "task": "humanoidbench_balance_simple",
+  "robot_type": "latency_balance_h1",
+  "state_dim": 198,
+  "action_dim": 43,
+  "action_horizon": 1,
+  "fps": 50.0,
+  "state_key": "observation.state",
+  "action_key": "action",
+  "video_keys": [
+    "video.ego_view"
+  ],
+  "auxiliary": {},
+  "normalization": {
+    "state": {
+      "mean": [
+        -0.028602425009012222,
+        0.011210105381906033,
+        1.1085069179534912,
+        0.9959309697151184,
+        -0.011775643564760685,
+        -0.02804010733962059,
+        0.014384770765900612,
+        -0.4412290155887604,
+        -0.08114857226610184,
+        -0.20169055461883545,
+        0.8834572434425354,
+        -0.34989801049232483,
+        -0.07307411730289459,
+        -0.4853156507015228,
+        0.2371111661195755,
+        0.20334705710411072,
+        1.032150387763977,
+        -0.37859615683555603,
+        -0.10763077437877655,
+        0.2566596269607544,
+        0.10063953697681427,
+        0.01801823265850544,
+        -0.5808030366897583,
+        0.8628511428833008,
+        -2.4450204372406006,
+        0.8529497385025024,
+        -0.2585517466068268,
+        -0.7246996760368347,
+        -1.4576455354690552,
+        -0.04861937090754509,
+        -0.022380858659744263,
+        0.0029191081412136555,
+        -0.0020707666408270597,
+        -0.0013189931632950902,
+        -0.00379357417114079,
+        -0.0010906531242653728,
+        0.7195061445236206,
+        -0.5346284508705139,
+        0.19430916011333466,
+        -0.5666400194168091,
+        -0.10551681369543076,
+        1.4728354215621948,
+        -0.6867821216583252,
+        -0.027375927194952965,
+        0.5881136655807495,
+        -0.010727722197771072,
+        0.022796686738729477,
+        0.007920119911432266,
+        0.01751074567437172,
+        0.005925323814153671,
+        0.019007092341780663,
+        0.029419489204883575,
+        0.36648035049438477,
+        0.9855276942253113,
+        -0.05059549957513809,
+        0.04954992234706879,
+        0.06553544104099274,
+        -0.000191218001418747,
+        0.006305274087935686,
+        -0.010322765447199345,
+        -0.008112922310829163,
+        -0.0018212671857327223,
+        -0.013134466484189034,
+        0.006569786928594112,
+        -0.006966143846511841,
+        -0.018010884523391724,
+        -0.01869499497115612,
+        0.00282880337908864,
+        0.007796550169587135,
+        0.011220492422580719,
+        0.005451401229947805,
+        0.020252352580428123,
+        -0.016919083893299103,
+        0.013449860736727715,
+        0.003931984305381775,
+        0.060562629252672195,
+        0.007490259595215321,
+        -0.004585026763379574,
+        -0.05728745833039284,
+        0.045183807611465454,
+        -0.07471512258052826,
+        0.04875332489609718,
+        0.032789185643196106,
+        -0.014926602132618427,
+        -0.02488536573946476,
+        0.0012409135233610868,
+        -0.007099764421582222,
+        0.0070608798414468765,
+        -0.016884805634617805,
+        -0.006579508073627949,
+        -0.014454777352511883,
+        -0.000736794201657176,
+        0.01841406524181366,
+        -0.015390408225357533,
+        -0.04492317885160446,
+        0.03313269466161728,
+        0.034004323184490204,
+        0.04260051250457764,
+        -0.020651858299970627,
+        -0.017756829038262367,
+        0.02696680836379528,
+        -0.007900165393948555,
+        0.014337698929011822,
+        0.012094870209693909,
+        0.004789072088897228,
+        0.01682163029909134,
+        0.0028059117030352354,
+        0.004037707578390837,
+        -0.000873103563208133,
+        -0.007424165494740009,
+        0.022097086533904076,
+        0.024115443229675293,
+        -0.2344273030757904,
+        -0.7737956047058105,
+        -0.046938538551330566,
+        -0.4846355617046356,
+        -0.44329309463500977,
+        0.09098762273788452,
+        -0.24220746755599976,
+        0.8425998687744141,
+        0.07085103541612625,
+        -0.4170801341533661,
+        -0.302837073802948,
+        -0.6077567338943481,
+        0.09941127896308899,
+        0.18760836124420166,
+        -0.0013511995784938335,
+        -0.1792546808719635,
+        0.4255783259868622,
+        -0.9584691524505615,
+        0.2357017695903778,
+        -0.12267287820577621,
+        -0.4550532400608063,
+        -0.9259516000747681,
+        0.35576650500297546,
+        -0.11656756699085236,
+        0.06444451212882996,
+        -0.782818078994751,
+        -0.06672676652669907,
+        0.9320697784423828,
+        -0.4365447759628296,
+        -0.04027169197797775,
+        -0.202534481883049,
+        -0.9967522621154785,
+        0.9928654432296753,
+        0.9971051812171936,
+        0.9930632710456848,
+        0.9997642040252686,
+        -0.027836671099066734,
+        0.9205313920974731,
+        0.9971214532852173,
+        -0.9988372921943665,
+        -0.9932730197906494,
+        -0.9938066005706787,
+        -0.9952998757362366,
+        5.689021782018244e-05,
+        -0.0004896067548543215,
+        -0.0005725595401600003,
+        -0.0011024301638826728,
+        1.066198183252709e-05,
+        0.0001847397070378065,
+        0.0004191467887721956,
+        0.00013592098548542708,
+        0.0007633726927451789,
+        -0.0010872379643842578,
+        0.00043851963710039854,
+        2.739125193329528e-05,
+        0.0022172497119754553,
+        0.0004673148796427995,
+        -0.00039172216202132404,
+        -0.0024688735138624907,
+        0.0011154315434396267,
+        -0.0016445276560261846,
+        0.0015458223642781377,
+        0.001155533012934029,
+        -0.0004969961591996253,
+        -0.0011123537551611662,
+        -0.00034417829010635614,
+        0.001162978122010827,
+        -0.0012147389352321625,
+        0.0010385235073044896,
+        0.0011080808471888304,
+        0.0023768460378050804,
+        -0.0010146666318178177,
+        0.0017074396600946784,
+        -0.0013334548566490412,
+        0.0008456954383291304,
+        -0.0030911066569387913,
+        -0.0012068337528035045,
+        -0.0020151492208242416,
+        -0.0002479793329257518,
+        -0.005456255748867989,
+        0.00275916769169271,
+        -0.0016578156501054764,
+        0.0005222856416366994,
+        0.002851760247722268,
+        0.0026648666244000196,
+        0.0021478154230862856
+      ],
+      "std": [
+        0.03918137773871422,
+        0.031741611659526825,
+        0.016042063012719154,
+        0.009608582593500614,
+        0.03153660520911217,
+        0.03055555745959282,
+        0.0747390016913414,
+        0.0895991399884224,
+        0.11665503680706024,
+        0.1606401801109314,
+        0.14428426325321198,
+        0.16362181305885315,
+        0.09917627274990082,
+        0.10180758684873581,
+        0.10749836266040802,
+        0.23723061382770538,
+        0.1519324630498886,
+        0.16321614384651184,
+        0.09142400324344635,
+        0.158849835395813,
+        0.08241847157478333,
+        0.08541189134120941,
+        0.33678269386291504,
+        0.32484737038612366,
+        0.33300966024398804,
+        0.46847003698349,
+        0.5227484107017517,
+        0.3698599934577942,
+        0.33582451939582825,
+        0.12862703204154968,
+        0.13104386627674103,
+        0.03160897269845009,
+        0.03336478769779205,
+        0.027505723759531975,
+        0.04575680196285248,
+        0.007449387107044458,
+        0.33436790108680725,
+        0.24484366178512573,
+        0.3866509199142456,
+        0.2250736653804779,
+        0.5200925469398499,
+        0.27921730279922485,
+        0.37124374508857727,
+        0.19634906947612762,
+        0.1510355919599533,
+        0.03797613084316254,
+        0.04274161905050278,
+        0.037266992032527924,
+        0.03062029555439949,
+        0.03985287621617317,
+        0.017869142815470695,
+        0.024519924074411392,
+        0.005956176668405533,
+        0.020815400406718254,
+        0.052176158875226974,
+        0.05793736129999161,
+        0.11451561003923416,
+        0.11827288568019867,
+        0.10463850945234299,
+        0.14725491404533386,
+        0.5814369320869446,
+        0.6115269064903259,
+        0.8287802934646606,
+        0.7806344628334045,
+        1.133933186531067,
+        1.169194221496582,
+        0.7897614240646362,
+        1.1164964437484741,
+        0.8752659559249878,
+        0.7663220763206482,
+        0.8405881524085999,
+        1.0916681289672852,
+        0.8549209237098694,
+        1.1243551969528198,
+        0.7207143902778625,
+        1.070910930633545,
+        0.7852795124053955,
+        0.9204129576683044,
+        1.7633163928985596,
+        1.6882017850875854,
+        1.5320903062820435,
+        1.6664018630981445,
+        2.441115379333496,
+        1.8440839052200317,
+        1.6112279891967773,
+        0.3324856162071228,
+        0.4653097689151764,
+        0.17928282916545868,
+        0.2653930187225342,
+        0.169254332780838,
+        0.27003541588783264,
+        0.04637885093688965,
+        1.2588098049163818,
+        1.2630091905593872,
+        1.6312470436096191,
+        1.595764398574829,
+        2.1584110260009766,
+        1.4105252027511597,
+        2.035829544067383,
+        0.6038760542869568,
+        0.5594924092292786,
+        0.2103649228811264,
+        0.32211580872535706,
+        0.23625178635120392,
+        0.1936260312795639,
+        0.2786567807197571,
+        0.02552131935954094,
+        0.018150694668293,
+        0.028709325939416885,
+        0.41942098736763,
+        0.8458216190338135,
+        0.1905694156885147,
+        0.050079114735126495,
+        0.10568305104970932,
+        0.08916224539279938,
+        0.11030066758394241,
+        0.348344624042511,
+        0.5070257782936096,
+        0.05404030531644821,
+        0.08206790685653687,
+        0.09916862100362778,
+        0.1334863007068634,
+        0.3706263601779938,
+        0.619789719581604,
+        0.0782003402709961,
+        0.31398096680641174,
+        0.3119264841079712,
+        0.1581353098154068,
+        0.23507776856422424,
+        0.13670411705970764,
+        0.34449484944343567,
+        0.27750709652900696,
+        0.25001129508018494,
+        0.22440612316131592,
+        0.1633608043193817,
+        0.2928782105445862,
+        0.19763927161693573,
+        0.18425147235393524,
+        0.3049336373806,
+        0.18389318883419037,
+        0.26437240839004517,
+        0.16341252624988556,
+        0.20191508531570435,
+        0.06625427305698395,
+        0.10391812771558762,
+        0.06355498731136322,
+        0.10337475687265396,
+        0.011009562760591507,
+        0.19919107854366302,
+        0.18475505709648132,
+        0.06040927767753601,
+        0.038562189787626266,
+        0.09985460340976715,
+        0.09065743535757065,
+        0.08364185690879822,
+        0.13696537911891937,
+        0.15331725776195526,
+        0.14244486391544342,
+        0.14934313297271729,
+        0.14721718430519104,
+        0.12055136263370514,
+        0.1361958384513855,
+        0.12418317049741745,
+        0.14095747470855713,
+        0.16658081114292145,
+        0.15433606505393982,
+        0.07860767841339111,
+        0.13753996789455414,
+        0.14226274192333221,
+        0.15537889301776886,
+        0.15272299945354462,
+        0.1553136706352234,
+        0.07561425864696503,
+        0.14370320737361908,
+        0.15684090554714203,
+        0.17629890143871307,
+        0.11860993504524231,
+        0.15700335800647736,
+        0.1568058431148529,
+        0.14278644323349,
+        0.13682910799980164,
+        0.15531432628631592,
+        0.11522653698921204,
+        0.191243976354599,
+        0.27852168679237366,
+        0.1884843111038208,
+        0.03203072026371956,
+        0.046926166862249374,
+        0.03094625100493431,
+        0.04020872339606285,
+        0.013060592114925385,
+        0.2619837522506714,
+        0.13783374428749084,
+        0.03651143237948418,
+        0.02051202766597271,
+        0.04729859158396721,
+        0.045352526009082794,
+        0.03992603346705437
+      ],
+      "min": [
+        -0.7213805317878723,
+        -0.5479562282562256,
+        0.8000727295875549,
+        0.5198266506195068,
+        -0.35267123579978943,
+        -0.44554948806762695,
+        -0.7888574600219727,
+        -1.2468421459197998,
+        -0.5581842660903931,
+        -2.6197967529296875,
+        -0.12189347296953201,
+        -0.9411125183105469,
+        -0.3119841516017914,
+        -0.8834165334701538,
+        -1.3299897909164429,
+        -2.3375213146209717,
+        -0.12783043086528778,
+        -0.9378536939620972,
+        -0.30498602986335754,
+        -0.4499369263648987,
+        -0.5380851030349731,
+        -0.5747485160827637,
+        -3.168861150741577,
+        -0.27519869804382324,
+        -2.7014734745025635,
+        -0.7477371692657471,
+        -2.0058979988098145,
+        -1.6296168565750122,
+        -1.6845757961273193,
+        -0.9389839768409729,
+        -0.6910831928253174,
+        -0.010025137104094028,
+        -1.3476489782333374,
+        -1.567052960395813,
+        -1.4559965133666992,
+        -0.29278871417045593,
+        -2.1247715950012207,
+        -1.5141545534133911,
+        -2.7097291946411133,
+        -1.0692622661590576,
+        -1.6334675550460815,
+        -1.6040414571762085,
+        -1.6606814861297607,
+        -1.1913909912109375,
+        -1.0770212411880493,
+        -1.5063859224319458,
+        -0.06663643568754196,
+        -0.0300943274050951,
+        -0.03823625668883324,
+        -0.0173481497913599,
+        -0.033166300505399704,
+        -0.03182905167341232,
+        0.21958652138710022,
+        0.658620297908783,
+        -0.36821869015693665,
+        -0.19437049329280853,
+        -0.6277045011520386,
+        -1.9335763454437256,
+        -1.5697778463363647,
+        -2.763810396194458,
+        -5.7058258056640625,
+        -5.727808475494385,
+        -14.637327194213867,
+        -8.060015678405762,
+        -8.497668266296387,
+        -16.938838958740234,
+        -9.099246978759766,
+        -14.422565460205078,
+        -7.058075904846191,
+        -5.785505294799805,
+        -11.949816703796387,
+        -17.538625717163086,
+        -10.428555488586426,
+        -13.160971641540527,
+        -7.697381019592285,
+        -11.6815767288208,
+        -9.980195999145508,
+        -9.37336254119873,
+        -23.010221481323242,
+        -21.589120864868164,
+        -25.631223678588867,
+        -16.540298461914062,
+        -17.63788604736328,
+        -18.011945724487305,
+        -21.53767204284668,
+        -4.760582447052002,
+        -12.286470413208008,
+        -3.080672264099121,
+        -7.945549488067627,
+        -6.2860589027404785,
+        -9.138263702392578,
+        -3.252242088317871,
+        -24.053264617919922,
+        -13.540660858154297,
+        -31.91184425354004,
+        -15.762149810791016,
+        -18.202360153198242,
+        -24.793140411376953,
+        -18.375213623046875,
+        -19.541898727416992,
+        -8.60667610168457,
+        -6.232077121734619,
+        -9.489171028137207,
+        -4.158493518829346,
+        -5.0675177574157715,
+        -3.352649211883545,
+        -0.2297496348619461,
+        -0.2860429883003235,
+        -0.9197208881378174,
+        -3.8577685356140137,
+        -8.307486534118652,
+        -1.756037712097168,
+        -0.9166802167892456,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.5438705682754517,
+        -0.5545967221260071,
+        -0.9999997615814209,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.26674899458885193,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.9951164126396179,
+        -0.9999999403953552,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.9058794379234314,
+        -1.0,
+        -1.0,
+        -0.9531409740447998,
+        -1.0,
+        -1.0,
+        -0.9999999403953552,
+        -1.0,
+        -1.0110548734664917,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.07719623297452927,
+        -1.0,
+        -0.9992016553878784,
+        -1.0,
+        -1.0127109289169312,
+        -1.011113166809082,
+        -1.0126135349273682,
+        -1.0112144947052002,
+        -0.7025753259658813,
+        -0.738789975643158,
+        -1.0,
+        -0.9013891220092773,
+        -0.6648460030555725,
+        -0.4118444621562958,
+        -0.7156120538711548,
+        -0.9710818529129028,
+        -1.0,
+        -0.9269059300422668,
+        -0.6451252698898315,
+        -0.41389867663383484,
+        -0.7844355702400208,
+        -0.579231858253479,
+        -0.572383463382721,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.80543053150177,
+        -0.8377922177314758,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.8587154150009155,
+        -1.0,
+        -0.7663687467575073,
+        -0.8259900212287903,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.7908406853675842,
+        -0.9236996173858643,
+        -0.7721707224845886,
+        -0.5980362296104431
+      ],
+      "max": [
+        0.7599605917930603,
+        0.7984061241149902,
+        1.1988013982772827,
+        1.0098607540130615,
+        0.3601436913013458,
+        0.4068429172039032,
+        0.5341254472732544,
+        1.1669517755508423,
+        0.7694416046142578,
+        2.782636880874634,
+        1.6379969120025635,
+        0.5947601199150085,
+        0.3083627223968506,
+        0.944282591342926,
+        0.5696494579315186,
+        2.7011971473693848,
+        1.8813841342926025,
+        0.5713737607002258,
+        0.303571879863739,
+        2.6936838626861572,
+        0.5647034049034119,
+        0.5940527319908142,
+        2.6244096755981445,
+        2.3371951580047607,
+        2.5656349658966064,
+        2.15295147895813,
+        2.0218281745910645,
+        1.6072564125061035,
+        1.614941954612732,
+        1.0280264616012573,
+        1.0753710269927979,
+        1.589059591293335,
+        0.021420201286673546,
+        0.02219754084944725,
+        0.024384818971157074,
+        0.011256116442382336,
+        1.9089372158050537,
+        0.2539112865924835,
+        2.6271870136260986,
+        2.146968126296997,
+        2.0334393978118896,
+        1.6699708700180054,
+        1.6172478199005127,
+        1.0908187627792358,
+        0.8054711818695068,
+        0.04508945718407631,
+        1.3217328786849976,
+        1.5713354349136353,
+        1.1631770133972168,
+        1.5838088989257812,
+        0.20901276171207428,
+        0.12893250584602356,
+        0.4168711304664612,
+        1.0095936059951782,
+        0.3301088213920593,
+        0.750914990901947,
+        0.6147305369377136,
+        2.2886695861816406,
+        1.887458324432373,
+        1.0892002582550049,
+        6.10505485534668,
+        5.7457685470581055,
+        9.985755920410156,
+        14.891435623168945,
+        9.397353172302246,
+        23.75527000427246,
+        8.166568756103516,
+        12.676641464233398,
+        7.233610153198242,
+        8.83322525024414,
+        7.8055500984191895,
+        16.762535095214844,
+        6.461264610290527,
+        13.020792961120605,
+        6.773934841156006,
+        18.246091842651367,
+        9.232620239257812,
+        11.878945350646973,
+        21.752790451049805,
+        15.42947769165039,
+        32.493106842041016,
+        21.292572021484375,
+        26.464021682739258,
+        26.715869903564453,
+        21.66487693786621,
+        9.117076873779297,
+        7.544443130493164,
+        6.415763854980469,
+        2.3188350200653076,
+        2.8078205585479736,
+        3.650911331176758,
+        1.5436595678329468,
+        19.05170440673828,
+        19.52846908569336,
+        12.386187553405762,
+        23.035953521728516,
+        19.374109268188477,
+        24.661035537719727,
+        24.54315185546875,
+        10.775065422058105,
+        10.954834938049316,
+        5.841822147369385,
+        7.362697124481201,
+        6.361740589141846,
+        9.276972770690918,
+        6.460104942321777,
+        0.5556983351707458,
+        0.7932174205780029,
+        0.5048443675041199,
+        2.9950690269470215,
+        9.394247055053711,
+        1.9100544452667236,
+        0.7122330665588379,
+        0.03046470321714878,
+        1.0,
+        0.3342762589454651,
+        1.0,
+        1.0,
+        0.5759937167167664,
+        1.0,
+        1.0,
+        0.3578331470489502,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9999999403953552,
+        0.9970787167549133,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9998758435249329,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9999336004257202,
+        0.9999998211860657,
+        1.0119907855987549,
+        1.011216163635254,
+        1.0120702981948853,
+        1.011449933052063,
+        1.0,
+        1.0,
+        1.0109573602676392,
+        0.9999998807907104,
+        1.0,
+        1.0,
+        1.0,
+        0.9508418440818787,
+        0.7408133149147034,
+        0.9582346081733704,
+        0.8986108899116516,
+        0.6662322878837585,
+        0.4131700098514557,
+        0.7060761451721191,
+        0.6289181709289551,
+        0.8582524657249451,
+        0.8933549523353577,
+        0.666519820690155,
+        0.4142039120197296,
+        0.9343754053115845,
+        0.5762034058570862,
+        0.5775034427642822,
+        1.0,
+        0.9724196791648865,
+        1.0,
+        0.8131569623947144,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.800000011920929,
+        0.7340266704559326,
+        0.9151788949966431,
+        0.9066815972328186,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.5308939218521118,
+        0.7569483518600464,
+        0.7922459244728088,
+        0.3067988455295563,
+        1.0,
+        1.0,
+        0.8318873047828674,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ],
+      "q01": [
+        -0.08860856138169765,
+        -0.040002715848386286,
+        1.0690423715114594,
+        0.9688970482349396,
+        -0.11802998207509517,
+        -0.10257903702557086,
+        -0.16465846747159957,
+        -0.6399147224426269,
+        -0.3332405364513397,
+        -0.5356841695308685,
+        0.2075869616866112,
+        -0.6594177478551865,
+        -0.2747973760962486,
+        -0.6962711733579635,
+        -0.06831745564937591,
+        -0.4189327621459961,
+        0.2907466873526573,
+        -0.8034981518983841,
+        -0.2710865548253059,
+        -0.09460571102797985,
+        -0.16322636350989342,
+        -0.2172604040801525,
+        -1.2254106903076172,
+        -0.03413635905832052,
+        -2.624399018287659,
+        0.10511831104755402,
+        -1.564160794019699,
+        -1.542237216234207,
+        -1.6038083839416504,
+        -0.504413383603096,
+        -0.37547415792942046,
+        -2.616109000882716e-05,
+        -0.01621376158669591,
+        -0.007218891116790473,
+        -0.04891510065644979,
+        -0.025130778960883615,
+        -0.3290189442038536,
+        -0.9841915714740753,
+        -1.3298238694667817,
+        -0.8925684624910355,
+        -0.8840637642145157,
+        0.16317979201674462,
+        -1.4545844221115112,
+        -0.7799432051181793,
+        -0.11022581480443476,
+        -0.17471379667520523,
+        -0.002921562842093408,
+        -0.0013138529064599424,
+        -0.0019491668103728441,
+        -0.0008122625970281661,
+        -0.01222520007751882,
+        -0.010741320056840777,
+        0.3460958817601204,
+        0.8951539033651352,
+        -0.19547873243689537,
+        -0.0773394275456667,
+        -0.2505894619226456,
+        -0.2525445333123207,
+        -0.2070004227757454,
+        -0.43286277949810026,
+        -1.6912422156333924,
+        -1.445921837091446,
+        -2.1602809858322143,
+        -1.8180472552776337,
+        -3.168845558166504,
+        -3.0249853134155273,
+        -2.400472524166107,
+        -3.3445086884498596,
+        -2.4046105432510374,
+        -1.7345757985115051,
+        -2.2535874891281127,
+        -2.378214883804321,
+        -2.8039454436302185,
+        -3.344017653465271,
+        -2.44307822227478,
+        -2.2479359197616575,
+        -2.1621206855773925,
+        -2.3829350876808166,
+        -5.122804598808289,
+        -5.004576425552368,
+        -4.472459692955017,
+        -4.9454056787490845,
+        -6.684723563194275,
+        -5.089520564079285,
+        -6.132306714057922,
+        -1.1041386640071869,
+        -1.7356487953662871,
+        -0.0014355717715807258,
+        -0.07065005749464033,
+        -0.007705305088311434,
+        -0.10228730656206603,
+        -0.0029560851491987703,
+        -3.0837029099464415,
+        -3.917639260292053,
+        -4.7134020805358885,
+        -4.162553491592408,
+        -6.275325546264648,
+        -3.9426125407218935,
+        -6.127818999290466,
+        -2.1297602009773255,
+        -1.9403674137592315,
+        -0.37652781426906584,
+        -0.2563450685143471,
+        -0.009859658796340227,
+        -0.08185164272785186,
+        -0.006400714865885675,
+        -0.06846927426755428,
+        -0.04677555814385414,
+        -0.08384766034781933,
+        -1.2373335897922515,
+        -2.5556209540367125,
+        -0.5486467045545578,
+        -0.33084746181964875,
+        -0.9947142213582992,
+        -0.2311967882514,
+        -0.9775875151157379,
+        -0.9773123681545257,
+        -0.9998888236284256,
+        -0.3732592210173607,
+        0.5978375816345215,
+        -0.1684956283867359,
+        -0.964976640343666,
+        -0.999969847202301,
+        -0.9998770463466644,
+        -0.06252653915435076,
+        -0.5409780406951904,
+        -0.9571350759267807,
+        -0.5424295908212662,
+        -0.39339866757392883,
+        -0.9999995231628418,
+        -0.35741625279188155,
+        -0.8306320977210998,
+        -0.9943105894327163,
+        -0.9999842047691345,
+        -0.16905571818351744,
+        -0.4674675902724266,
+        -0.7811073952913283,
+        -0.9999245023727417,
+        -0.5119624477624893,
+        0.0985196427255869,
+        -0.9634795236587524,
+        -0.5559981465339661,
+        -0.8806438654661178,
+        -1.0,
+        0.9987564212083817,
+        0.9980721533298492,
+        0.996207035779953,
+        0.9997165763378143,
+        -0.7018561452627182,
+        0.021700690016150485,
+        0.9961085838079452,
+        -1.0,
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.29200246930122375,
+        -0.37239140272140503,
+        -0.317146358191967,
+        -0.3447149693965912,
+        -0.3754720315337181,
+        -0.28391565918922423,
+        -0.28809887170791626,
+        -0.27271372079849243,
+        -0.3002236783504486,
+        -0.462598979473114,
+        -0.37090457290410994,
+        -0.24682701855897904,
+        -0.2862042486667633,
+        -0.32992789179086685,
+        -0.3642439329624176,
+        -0.36913543224334716,
+        -0.3806321796774864,
+        -0.21892075672745703,
+        -0.33037957549095154,
+        -0.36777003526687624,
+        -0.4212671476602554,
+        -0.4000000059604645,
+        -0.3658411505818367,
+        -0.3741508722305298,
+        -0.3285769820213318,
+        -0.3173708060383797,
+        -0.38048961758613586,
+        -0.35264320999383925,
+        -0.49494075566530227,
+        -0.800000011920929,
+        -0.4878997355699539,
+        -0.0011936658108606935,
+        -0.002283390345983207,
+        -0.0036388921621255572,
+        -0.005383590306155384,
+        -0.0006413132016314194,
+        -0.7616722583770752,
+        -0.41769622564315795,
+        -0.008325544130057096,
+        -0.0008096899872180075,
+        -0.004881269889883697,
+        -0.012035777224227785,
+        -0.000660818821634166
+      ],
+      "q99": [
+        0.029957046192139285,
+        0.07297273807227608,
+        1.1436983251571655,
+        0.9998994189500808,
+        0.04547667942941188,
+        0.052446636259555764,
+        0.2076067803800106,
+        -0.18197450399398832,
+        0.30966404408216464,
+        0.12578195497393577,
+        1.105542709827423,
+        0.1119257550686597,
+        0.15244179323315601,
+        -0.18462872788310059,
+        0.39493914783000944,
+        0.5402256453037262,
+        1.350053985118866,
+        0.058233227282762506,
+        0.17856155499815937,
+        0.6158074867725372,
+        0.30807589083909964,
+        0.24763341039419162,
+        0.48483594477176556,
+        1.811000221967697,
+        -0.7672779947519316,
+        1.9814046454429626,
+        0.9073285472393032,
+        0.6851024144887917,
+        0.13147500663995576,
+        0.30688880234956734,
+        0.4473135614395142,
+        0.01884778682142491,
+        0.0006911237147869522,
+        0.0003483437121030857,
+        0.0004915516480104994,
+        0.00013535567341023026,
+        1.1712122225761412,
+        0.12803016796708105,
+        0.9738646781444547,
+        0.12433375194668715,
+        1.9015903484821317,
+        1.60049990773201,
+        0.5569062489271164,
+        0.3279782435297965,
+        0.7284259074926376,
+        0.00243172382004559,
+        0.15074557393789248,
+        0.09042721405625341,
+        0.06084188539534807,
+        0.0679668886959552,
+        0.06894955359399313,
+        0.09159850120544433,
+        0.3776577800512314,
+        0.9997670441865921,
+        0.07582188278436641,
+        0.21541747376322742,
+        0.37753453701734535,
+        0.2452618490159511,
+        0.3682231426239012,
+        0.32623841404914844,
+        1.5776709008216856,
+        1.4744468724727628,
+        1.918623201847075,
+        1.9428202724456787,
+        3.4683675193786616,
+        2.981773746013641,
+        2.158506700992584,
+        3.2476440525054877,
+        2.4579999399185173,
+        1.9540489041805267,
+        2.368746647834777,
+        3.1443473672866804,
+        2.7122783708572387,
+        3.377815780639647,
+        2.272193768024444,
+        2.976429629325866,
+        2.205811095237731,
+        2.335614604949951,
+        5.188981890678406,
+        5.285648245811462,
+        2.5086313986778257,
+        4.2421125459671,
+        7.408803982734676,
+        5.127609434127807,
+        5.668459100723263,
+        1.1045215368270855,
+        1.4216266143321985,
+        0.003381526672746985,
+        0.00843842542730271,
+        0.0016549472720362214,
+        0.01774735698476426,
+        0.0031258431728929275,
+        3.7054628300666783,
+        3.30491584777832,
+        3.983845264911651,
+        4.628064742088315,
+        6.2449722909927345,
+        5.599628534317009,
+        5.688065972328186,
+        1.9120617055892928,
+        2.073907401561737,
+        0.25559608280658597,
+        0.3573176491260516,
+        0.05933069020509682,
+        0.10700251474976535,
+        0.0325118956714866,
+        0.07831415504217147,
+        0.059199744053184955,
+        0.08414101652801036,
+        1.3108053505420683,
+        2.5036844253540016,
+        0.6200450110435484,
+        -0.09078622095286867,
+        -0.4211417004466057,
+        0.1434874913096427,
+        -0.23932421505451212,
+        0.7491812175512313,
+        0.9897513985633849,
+        -0.10096082292497194,
+        0.9756254541873931,
+        0.244974961131811,
+        -0.044606409855187046,
+        0.7621487122774118,
+        0.9999745208024978,
+        0.2807990139722823,
+        0.9994107103347778,
+        0.7163681638240814,
+        0.2891936457157134,
+        0.9712466925382613,
+        -0.3370773196220398,
+        0.9997783023118972,
+        0.5243469411134718,
+        0.5710341197252272,
+        0.20579300835728637,
+        0.6022311794757843,
+        0.9999998807907104,
+        0.7008448052406311,
+        -0.18123966038227204,
+        1.0,
+        0.9999992847442627,
+        0.5125884771347043,
+        0.42678924530744533,
+        0.4257562431693075,
+        -0.9987497389316559,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.3381400379538535,
+        0.999991774559021,
+        1.0,
+        -0.9995543849468231,
+        -0.9946568489074707,
+        -0.9834027856588364,
+        -0.9994118493795395,
+        0.29490387439727783,
+        0.36637401074171055,
+        0.3157080936431884,
+        0.33772996068000793,
+        0.37655770778656006,
+        0.28387005388736714,
+        0.2909606099128723,
+        0.27434446513652777,
+        0.31184977293014526,
+        0.4462558105587951,
+        0.3834984254837036,
+        0.245473226159811,
+        0.29748550057411194,
+        0.3272694340348242,
+        0.36351412862539284,
+        0.3486882746219635,
+        0.38010306417942036,
+        0.20000000298023224,
+        0.3209454527497291,
+        0.38236724704503994,
+        0.4240100383758545,
+        0.40270814299583435,
+        0.36347103118896484,
+        0.36667031943798006,
+        0.3092769384384155,
+        0.3342975953221318,
+        0.3764949551224707,
+        0.4000000059604645,
+        0.4692749974131578,
+        0.800000011920929,
+        0.46033775806427,
+        0.0015209564659744393,
+        0.0012377466517500572,
+        0.002963461449835444,
+        0.0037110612448304848,
+        0.0006300433253636578,
+        0.6866433358192444,
+        0.4416135549545288,
+        0.005796513012610372,
+        0.0009014814946567628,
+        0.00880358230322592,
+        0.020615411605685877,
+        0.001144802144262934
+      ]
+    },
+    "action": {
+      "mean": [
+        -0.45964255928993225,
+        -0.48039761185646057,
+        0.2616966664791107,
+        -0.1290876716375351,
+        0.24892406165599823,
+        0.09783916175365448,
+        -0.12981285154819489,
+        0.19588524103164673,
+        -0.0009276110795326531,
+        0.6768580079078674,
+        0.7770729064941406,
+        -0.7275438904762268,
+        0.8147416710853577,
+        -0.4840342104434967,
+        -0.3856963813304901,
+        1.149482011795044,
+        -0.5545704960823059,
+        0.02393944561481476,
+        -0.1590968668460846,
+        -2.510282516479492,
+        0.16779915988445282,
+        0.8949747085571289,
+        -0.705259382724762,
+        -0.24102875590324402,
+        -0.1307821273803711,
+        -0.7348272800445557,
+        1.5058012008666992,
+        -1.4951870441436768,
+        -0.705223560333252,
+        -0.042068012058734894,
+        -0.018269959837198257,
+        0.0030612628906965256,
+        -0.006413895171135664,
+        -0.0029572658240795135,
+        -0.00603734003379941,
+        -0.0003057567519135773,
+        -0.02949230559170246,
+        0.6545591354370117,
+        -0.0030437365639954805,
+        0.0010720733553171158,
+        0.006706140469759703,
+        0.005723948124796152,
+        0.0046816375106573105
+      ],
+      "std": [
+        0.1377013474702835,
+        0.14804577827453613,
+        0.21081070601940155,
+        0.18472066521644592,
+        0.14485055208206177,
+        0.1636223942041397,
+        0.25262174010276794,
+        0.2785133421421051,
+        0.16264498233795166,
+        0.16472971439361572,
+        0.1991853564977646,
+        0.4575541913509369,
+        0.47493916749954224,
+        0.24359063804149628,
+        0.25940802693367004,
+        0.45261821150779724,
+        0.5648841261863708,
+        0.13292525708675385,
+        0.16243669390678406,
+        0.3584200441837311,
+        0.5218746662139893,
+        0.5420299768447876,
+        0.2960449457168579,
+        0.5498634576797485,
+        0.6036768555641174,
+        0.40556368231773376,
+        0.2952503561973572,
+        0.36344438791275024,
+        0.4280705153942108,
+        0.1723008155822754,
+        0.17968814074993134,
+        0.06037283316254616,
+        0.08812420815229416,
+        0.05931994318962097,
+        0.0854732021689415,
+        0.012408490292727947,
+        0.2097538262605667,
+        0.162458136677742,
+        0.058414969593286514,
+        0.0327126644551754,
+        0.09333600848913193,
+        0.07759889960289001,
+        0.07858075201511383
+      ],
+      "min": [
+        -2.4454963207244873,
+        -1.2967557907104492,
+        -0.698348879814148,
+        -0.5235999822616577,
+        -2.4272077083587646,
+        -0.5199999809265137,
+        -2.7576000690460205,
+        -2.7575998306274414,
+        -0.5199999809265137,
+        -0.08726699650287628,
+        -0.08726699650287628,
+        -3.089200019836426,
+        -3.089200019836426,
+        -0.8726699948310852,
+        -0.8726699948310852,
+        -1.5881999731063843,
+        -2.070802688598633,
+        -0.26179999113082886,
+        -0.26179999113082886,
+        -2.618000030517578,
+        -2.618000030517578,
+        -1.0395288467407227,
+        -1.0471999645233154,
+        -1.9722198247909546,
+        -1.8798036575317383,
+        -1.6144299507141113,
+        -1.6144299507141113,
+        -1.6144299507141113,
+        -1.6144299507141113,
+        -1.0471999645233154,
+        -0.7243120074272156,
+        0.0,
+        -1.5707999467849731,
+        -1.7453299760818481,
+        -1.5707999467849731,
+        -1.180031418800354,
+        -1.0471999645233154,
+        -1.0464928150177002,
+        -1.7453299760818481,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "max": [
+        2.325857162475586,
+        1.7717031240463257,
+        2.618000030517578,
+        1.2749215364456177,
+        0.5235999822616577,
+        0.5199999809265137,
+        2.7576000690460205,
+        2.7576000690460205,
+        0.5199999809265137,
+        1.8921765089035034,
+        1.9271240234375,
+        2.6619873046875,
+        2.6703999042510986,
+        0.5235999822616577,
+        0.5235999822616577,
+        2.251499891281128,
+        1.5881999731063843,
+        0.26179999113082886,
+        0.26179999113082886,
+        2.618000030517578,
+        2.6176750659942627,
+        2.094399929046631,
+        2.094399929046631,
+        1.9722199440002441,
+        1.9722199440002441,
+        1.6144299507141113,
+        1.6144299507141113,
+        1.6144299507141113,
+        1.6144299507141113,
+        1.0471999645233154,
+        1.047141194343567,
+        1.7453298568725586,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        1.0471999645233154,
+        0.7243120074272156,
+        0.0,
+        1.5707999467849731,
+        1.7453299760818481,
+        1.5707999467849731,
+        1.7453299760818481
+      ],
+      "q01": [
+        -0.7218995213508606,
+        -0.8355625712871552,
+        -0.16388508051633835,
+        -0.5155103874206542,
+        -0.18025376707315444,
+        -0.2820369732379913,
+        -0.64405677318573,
+        -0.46714526295661923,
+        -0.5004579120874405,
+        -0.0821636740118265,
+        -0.057858819551765917,
+        -1.803157511949539,
+        -0.7178884017467498,
+        -0.8574551236629486,
+        -0.8726492559909821,
+        -0.4491018888354301,
+        -1.229117646217346,
+        -0.261771431863308,
+        -0.2617685356736183,
+        -2.6179988384246826,
+        -2.2298606967926027,
+        -0.0384662589803338,
+        -1.0470837426185609,
+        -1.6381892597675323,
+        -1.010104923248291,
+        -1.6055433475971221,
+        0.24141404196619995,
+        -1.6144055128097534,
+        -1.562244281768799,
+        -0.5858428072929383,
+        -0.6295019388198853,
+        0.0,
+        -0.0010019926307722924,
+        -0.0016752164775971324,
+        -0.0028993161139078435,
+        -0.00024205596404499374,
+        -0.7443849730491638,
+        -0.1446154700219631,
+        -0.0034324769722297787,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        -0.06737016074359424,
+        -0.08813329599797726,
+        0.7616705262660977,
+        0.4879354205727576,
+        0.4827850446105003,
+        0.5197483658790588,
+        0.403053365051746,
+        0.6805381709337232,
+        0.37280641853809343,
+        1.0412763738632203,
+        1.3300913882255552,
+        0.6243739086389541,
+        1.5313713669776912,
+        0.34954814136028284,
+        0.3644912460446357,
+        2.2005577397346494,
+        1.5881998538970947,
+        0.2595901024341583,
+        0.2617940902709961,
+        -0.8908778023719797,
+        1.8362499082088457,
+        2.094101836681366,
+        0.3107239735126472,
+        1.05549915075302,
+        1.9722199440002441,
+        0.9733873873949038,
+        1.614428997039795,
+        0.36464152365922925,
+        0.8394826811552041,
+        0.4535677134990692,
+        0.5388337063789367,
+        0.0010296419891528761,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.3549798569083214,
+        0.724308967590332,
+        0.0,
+        0.0003390068962471557,
+        0.005142203788273025,
+        0.015288262981921076,
+        0.0005331666435813495
+      ]
+    }
+  },
+  "prompt": "Keep the G1 humanoid balanced on the support board.",
+  "state_labels": [
+    "state_0",
+    "state_1",
+    "state_2",
+    "state_3",
+    "state_4",
+    "state_5",
+    "state_6",
+    "state_7",
+    "state_8",
+    "state_9",
+    "state_10",
+    "state_11",
+    "state_12",
+    "state_13",
+    "state_14",
+    "state_15",
+    "state_16",
+    "state_17",
+    "state_18",
+    "state_19",
+    "state_20",
+    "state_21",
+    "state_22",
+    "state_23",
+    "state_24",
+    "state_25",
+    "state_26",
+    "state_27",
+    "state_28",
+    "state_29",
+    "state_30",
+    "state_31",
+    "state_32",
+    "state_33",
+    "state_34",
+    "state_35",
+    "state_36",
+    "state_37",
+    "state_38",
+    "state_39",
+    "state_40",
+    "state_41",
+    "state_42",
+    "state_43",
+    "state_44",
+    "state_45",
+    "state_46",
+    "state_47",
+    "state_48",
+    "state_49",
+    "state_50",
+    "state_51",
+    "state_52",
+    "state_53",
+    "state_54",
+    "state_55",
+    "state_56",
+    "state_57",
+    "state_58",
+    "state_59",
+    "state_60",
+    "state_61",
+    "state_62",
+    "state_63",
+    "state_64",
+    "state_65",
+    "state_66",
+    "state_67",
+    "state_68",
+    "state_69",
+    "state_70",
+    "state_71",
+    "state_72",
+    "state_73",
+    "state_74",
+    "state_75",
+    "state_76",
+    "state_77",
+    "state_78",
+    "state_79",
+    "state_80",
+    "state_81",
+    "state_82",
+    "state_83",
+    "state_84",
+    "state_85",
+    "state_86",
+    "state_87",
+    "state_88",
+    "state_89",
+    "state_90",
+    "state_91",
+    "state_92",
+    "state_93",
+    "state_94",
+    "state_95",
+    "state_96",
+    "state_97",
+    "state_98",
+    "state_99",
+    "state_100",
+    "state_101",
+    "state_102",
+    "state_103",
+    "state_104",
+    "state_105",
+    "state_106",
+    "state_107",
+    "state_108",
+    "state_109",
+    "state_110",
+    "state_111",
+    "state_112",
+    "state_113",
+    "state_114",
+    "state_115",
+    "state_116",
+    "state_117",
+    "state_118",
+    "state_119",
+    "state_120",
+    "state_121",
+    "state_122",
+    "state_123",
+    "state_124",
+    "state_125",
+    "state_126",
+    "state_127",
+    "state_128",
+    "state_129",
+    "state_130",
+    "state_131",
+    "state_132",
+    "state_133",
+    "state_134",
+    "state_135",
+    "state_136",
+    "state_137",
+    "state_138",
+    "state_139",
+    "state_140",
+    "state_141",
+    "state_142",
+    "state_143",
+    "state_144",
+    "state_145",
+    "state_146",
+    "state_147",
+    "state_148",
+    "state_149",
+    "state_150",
+    "state_151",
+    "state_152",
+    "state_153",
+    "state_154",
+    "state_155",
+    "state_156",
+    "state_157",
+    "state_158",
+    "state_159",
+    "state_160",
+    "state_161",
+    "state_162",
+    "state_163",
+    "state_164",
+    "state_165",
+    "state_166",
+    "state_167",
+    "state_168",
+    "state_169",
+    "state_170",
+    "state_171",
+    "state_172",
+    "state_173",
+    "state_174",
+    "state_175",
+    "state_176",
+    "state_177",
+    "state_178",
+    "state_179",
+    "state_180",
+    "state_181",
+    "state_182",
+    "state_183",
+    "state_184",
+    "state_185",
+    "state_186",
+    "state_187",
+    "state_188",
+    "state_189",
+    "state_190",
+    "state_191",
+    "state_192",
+    "state_193",
+    "state_194",
+    "state_195",
+    "state_196",
+    "state_197"
+  ],
+  "action_labels": [
+    "left_hip_pitch_joint",
+    "right_hip_pitch_joint",
+    "waist_yaw_joint",
+    "left_hip_roll_joint",
+    "right_hip_roll_joint",
+    "waist_roll_joint",
+    "left_hip_yaw_joint",
+    "right_hip_yaw_joint",
+    "waist_pitch_joint",
+    "left_knee_joint",
+    "right_knee_joint",
+    "left_shoulder_pitch_joint",
+    "right_shoulder_pitch_joint",
+    "left_ankle_pitch_joint",
+    "right_ankle_pitch_joint",
+    "left_shoulder_roll_joint",
+    "right_shoulder_roll_joint",
+    "left_ankle_roll_joint",
+    "right_ankle_roll_joint",
+    "left_shoulder_yaw_joint",
+    "right_shoulder_yaw_joint",
+    "left_elbow_joint",
+    "right_elbow_joint",
+    "left_wrist_roll_joint",
+    "right_wrist_roll_joint",
+    "left_wrist_pitch_joint",
+    "right_wrist_pitch_joint",
+    "left_wrist_yaw_joint",
+    "right_wrist_yaw_joint",
+    "left_hand_thumb_0_joint",
+    "left_hand_thumb_1_joint",
+    "left_hand_thumb_2_joint",
+    "left_hand_middle_0_joint",
+    "left_hand_middle_1_joint",
+    "left_hand_index_0_joint",
+    "left_hand_index_1_joint",
+    "right_hand_thumb_0_joint",
+    "right_hand_thumb_1_joint",
+    "right_hand_thumb_2_joint",
+    "right_hand_index_0_joint",
+    "right_hand_index_1_joint",
+    "right_hand_middle_0_joint",
+    "right_hand_middle_1_joint"
+  ]
+}