Consolidate sim2real calibration source artifacts

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/comparison.json

@@ -0,0 +1,84 @@
+{
+  "episodes_per_run": 2,
+  "methods": {
+    "fixed": {
+      "mean_absolute_paired_error": 30.2,
+      "paired_sim_minus_real": {
+        "ci95_high": 75.34515685974918,
+        "ci95_low": -14.94515685974918,
+        "mean": 30.2
+      },
+      "simulated": {
+        "ci95_high": 607.3149619060925,
+        "ci95_low": 327.0450380939074,
+        "mean": 467.18
+      }
+    },
+    "iid": {
+      "mean_absolute_paired_error": 82.94,
+      "paired_sim_minus_real": {
+        "ci95_high": 49.063175392726855,
+        "ci95_low": -94.14317539272685,
+        "mean": -22.54
+      },
+      "simulated": {
+        "ci95_high": 537.7150894539534,
+        "ci95_low": 291.1649105460466,
+        "mean": 414.44
+      }
+    },
+    "normal": {
+      "mean_absolute_paired_error": 30.2,
+      "paired_sim_minus_real": {
+        "ci95_high": 75.34515685974918,
+        "ci95_low": -14.94515685974918,
+        "mean": 30.2
+      },
+      "simulated": {
+        "ci95_high": 607.3149619060925,
+        "ci95_low": 327.0450380939074,
+        "mean": 467.18
+      }
+    },
+    "temporal": {
+      "mean_absolute_paired_error": 39.88,
+      "paired_sim_minus_real": {
+        "ci95_high": 52.49417074758577,
+        "ci95_low": -47.21417074758577,
+        "mean": 2.64
+      },
+      "simulated": {
+        "ci95_high": 571.3297917471037,
+        "ci95_low": 307.91020825289627,
+        "mean": 439.62
+      }
+    }
+  },
+  "n_validation_runs": 25,
+  "real": {
+    "ci95_high": 575.6425437158877,
+    "ci95_low": 298.3174562841124,
+    "mean": 436.98
+  },
+  "return_field": "episode_return_env",
+  "statistical_unit": "run_mean",
+  "task_metrics": {},
+  "timing": {
+    "fit": {
+      "admitted_count": 29377,
+      "capacity_drops": 5,
+      "mean_frames": 0.6525625679640304,
+      "mean_latency_ms": 70.66316031075172,
+      "mean_raw_frames": 1.000238281648909,
+      "target_frame_error": -0.01831650953059849
+    },
+    "valid": {
+      "admitted_count": 21845,
+      "capacity_drops": 4,
+      "mean_frames": 0.6535693455660824,
+      "mean_latency_ms": 70.77217987543963,
+      "mean_raw_frames": 1.0002288853284504,
+      "target_frame_error": -0.017309731928546568
+    }
+  }
+}

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/eval_template.yaml

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+experiment:
+  name: inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10
+  seed: 42
+executor:
+  mode: realtime
+  inference_devices:
+  - cuda:0
+env:
+  name: gymnasium
+  task_name: inverted_pendulum
+  env_id: LatencyBench/InvertedPendulumDiscrete-v0
+  registration_imports:
+  - latency_bench.envs.gymnasium_mujoco
+  make_kwargs:
+    base_env_id: InvertedPendulum-v4
+    render_mode: rgb_array
+    force_values:
+    - -3.0
+    - -1.5
+    - 0.0
+    - 1.5
+    - 3.0
+    base_make_kwargs: {}
+  env_fps: 10.0
+  obs_fps: 10.0
+  frame_stack: 1
+  state_space:
+    labels:
+    - cart_position
+    - pole_angle
+    - cart_velocity
+    - pole_angular_velocity
+  noop_action: zero_force
+  action_map:
+    push_left_hard: 0
+    push_left_soft: 1
+    zero_force: 2
+    push_right_soft: 3
+    push_right_hard: 4
+  action_order:
+  - push_left_hard
+  - push_left_soft
+  - zero_force
+  - push_right_soft
+  - push_right_hard
+  base_prompt: 'Keep the pole upright by applying horizontal cart forces. Choose exactly
+    one action from: push_left_hard, push_left_soft, zero_force, push_right_soft,
+    push_right_hard.'
+  obs_resize:
+  - 224
+  - 224
+latency:
+  method: measured
+  device: cuda:0
+  sync_cuda: true
+  model_id: qwenoft
+  gpu_class: 1x-rtx3090
+  workload_id: inverted_pendulum
+  instance_id: instance_859cf1e47bca6046
+scheduler:
+  hold_policy: hold
+  ordering_policy: issue_order_fifo
+policy:
+  type: starvla
+  actions:
+  - push_left_hard
+  - push_left_soft
+  - zero_force
+  - push_right_soft
+  - push_right_hard
+  checkpoint_path: checkpoints/model.pt
+  model_config_path: config.full.yaml
+  task_manifest_path: manifest.json
+  device: cuda:0
+  latency_prompt_map_path: latency_prompt_map.json
+  latency_prompt_key: 1
+  prompt_mode: raw
+evaluation:
+  eval_episodes: 20
+  eval_parallel_envs: 1
+  eval_max_steps: 1000
+  eval_latency_values: null
+logging:
+  video:
+    enabled: false
+    num_bins: 1
+  save_step_records: true
+  save_action_records: true
+  save_latency_records: true
+  realtime_pipeline_profile: true
+provenance:
+  archived_eval:
+    path: inverted_pendulum/profile_latency/OpenVLA/20260911T010114Z-ip10/vla/evaluation/records/F.yaml
+    repo_id: latency-sensitive-bench/Standard-Pipeline
+    repo_type: dataset
+    revision: ff90f1b6c46a6eaae55bbf341762f03a2be6e013

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/hardware_public.json

@@ -0,0 +1,40 @@
+{
+  "driver_version": "580.173.02",
+  "gpu_class": "1x-rtx3090",
+  "gpus": [
+    {
+      "name": "NVIDIA GeForce RTX 3090",
+      "slot": 0
+    }
+  ],
+  "instance_id": "instance_1aecacdd828a257b",
+  "topology_links": [],
+  "torch": {
+    "backends": {
+      "cuda_cudnn_sdp_enabled": true,
+      "cuda_flash_sdp_enabled": true,
+      "cuda_math_sdp_enabled": true,
+      "cuda_matmul_allow_tf32": false,
+      "cuda_mem_efficient_sdp_enabled": true,
+      "cudnn_allow_tf32": true,
+      "cudnn_benchmark": false
+    },
+    "cuda_available": true,
+    "cuda_device_count": 1,
+    "cuda_version": "12.8",
+    "current_device": 0,
+    "current_device_name": "NVIDIA GeForce RTX 3090",
+    "device_properties": [
+      {
+        "index": 0,
+        "major": 8,
+        "minor": 6,
+        "multi_processor_count": 82,
+        "name": "NVIDIA GeForce RTX 3090",
+        "total_memory": 25296044032
+      }
+    ],
+    "float32_matmul_precision": "highest",
+    "version": "2.11.0+cu128"
+  }
+}

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/0/episode_metrics.jsonl

@@ -0,0 +1,2 @@
+{"episode_id": 0, "episode_return": 121.0, "episode_return_env": 121.0, "game_score": null, "mean_latency_ms": 67.72728514160917, "metadata": {"action_prefix": {"mode": "none"}, "actual_env_fps": 8.230949940952195, "checkpoint_kind": "best", "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwenoft-h1/inverted_pendulum_rgb_state_ip10_20260911T010114Z_openvla_native_sft_2k/checkpoints/model.pt", "config_name": "inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10", "discarded_ready_result_count": 0, "dropped_observation_count": 0, "env_deadline_miss_count": 0, "env_fps": 9.234834178011425, "env_id": "LatencyBench/InvertedPendulumDiscrete-v0", "episode_seed": 2000000, "fifo_blocked_count": 0, "frame_ms": 108.28564766014392, "gpu_class": null, "idle_worker_count": 0, "ignored_late_result_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "measured", "max_wall_clock_lag_ms": 1.0979123982610872, "mode": "realtime", "model_id": null, "obs_fps": 9.234834178011425, "output_dir": "/workspace/fivegpu-20261001/real/inverted_pendulum/qwenoft/instance_1aecacdd828a257b/20260930T195054093377Z/real/0", "policy_id": "starvla", "pre_episode_drain_wait_ms": 0.08080999759840779, "pre_episode_drained_completion_count": 0, "pre_episode_in_flight_after_drain": 0, "pre_episode_in_flight_count": 0, "profile_ref": null, "run_name": "inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10", "source_run_id": null, "submitted_observation_frames": 121, "target_env_fps": 9.234834178011425, "warmup_mean_latency_ms": 72.05617093008186, "warmup_median_rel_span": 0.00044158438213988714, "warmup_median_span_ms": 0.02938249963335693, "warmup_median_tolerance_ms": 2.5, "warmup_mode": "stress_policy", "warmup_p50_latency_ms": 66.55722300092748, "warmup_p90_latency_ms": 66.68073699947854, "warmup_p90_rel_span": 0.0008532737857577, "warmup_p90_span_ms": 0.056870900516514666, "warmup_profiled_samples": 100, "warmup_samples": 100, "warmup_stability_reason": "stable", "warmup_stage_summary": {"env_action_recv_to_enqueue_ms": {"count": 100, "max": 0.0, "mean": 0.0, "p50": 0.0, "p90": 0.0}, "env_observe_ms": {"count": 100, "max": 0.41436100006103516, "mean": 0.13746570974588393, "p50": 0.12997000105679035, "p90": 0.13674189895391464}, "env_to_parent_ipc_ms": {"count": 100, "max": 0.0, "mean": 0.0, "p50": 0.0, "p90": 0.0}, "env_wall_lag_ms": {"count": 100, "max": 0.0, "mean": 0.0, "p50": 0.0, "p90": 0.0}, "parent_observation_handle_ms": {"count": 100, "max": 0.11156000196933746, "mean": 0.06679815974086523, "p50": 0.06569050252437592, "p90": 0.06754699870944023}, "parent_to_env_ipc_ms": {"count": 100, "max": 0.0, "mean": 0.0, "p50": 0.0, "p90": 0.0}, "parent_to_worker_ipc_ms": {"count": 100, "max": 0.20917999744415283, "mean": 0.11333993002772332, "p50": 0.11176050081849098, "p90": 0.11614600047469138}, "policy_build_example_ms": {"count": 100, "max": 4.031936001410941, "mean": 2.993431760369276, "p50": 2.9743340019194875, "p90": 2.993675998732215}, "policy_decode_ms": {"count": 100, "max": 0.04704000093624927, "mean": 0.03507396009808872, "p50": 0.034860000596381724, "p90": 0.03654000101960264}, "policy_wrapper_predict_action_ms": {"count": 100, "max": 602.0717210012663, "mean": 68.8706426999488, "p50": 63.38822500038077, "p90": 63.521780100563774}, "worker_observation_attach_ms": {"count": 100, "max": 0.229909997433424, "mean": 0.06833683010190725, "p50": 0.06664550118148327, "p90": 0.06800199672579765}, "worker_observation_localize_ms": {"count": 100, "max": 0.13137099519371986, "mean": 0.08308370038866997, "p50": 0.08238499984145164, "p90": 0.08410300202667714}, "worker_recv_overhead_ms": {"count": 100, "max": 0.23431000113487244, "mean": 0.07277772974222899, "p50": 0.07101549953222275, "p90": 0.0725188996642828}, "worker_to_parent_ipc_ms": {"count": 100, "max": 1.3106619976460934, "mean": 1.0849453204125166, "p50": 1.1577070020139217, "p90": 1.248694999143481}}, "warmup_status": "stable", "warmup_stop_sample": 100, "warmup_trimmed_mean_rel_span": 0.0004576782736572077, "warmup_trimmed_mean_span_ms": 0.03045740652396489, "warmup_trimmed_mean_tolerance_ms": 2.5, "workload_id": null}, "num_actions": 120, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 68.28587969794171, "p99_latency_ms": 70.89519665954867, "return_raw": null, "survival_steps": 121}
+{"episode_id": 1, "episode_return": 100.0, "episode_return_env": 100.0, "game_score": null, "mean_latency_ms": 71.717648131244, "metadata": {"action_prefix": {"mode": "none"}, "actual_env_fps": 8.045274609085736, "checkpoint_kind": "best", "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwenoft-h1/inverted_pendulum_rgb_state_ip10_20260911T010114Z_openvla_native_sft_2k/checkpoints/model.pt", "config_name": "inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10", "discarded_ready_result_count": 0, "dropped_observation_count": 0, "env_deadline_miss_count": 0, "env_fps": 9.234834178011425, "env_id": "LatencyBench/InvertedPendulumDiscrete-v0", "episode_seed": 2000001, "fifo_blocked_count": 0, "frame_ms": 108.28564766014392, "gpu_class": null, "idle_worker_count": 0, "ignored_late_result_count": 0, "in_flight_count": 1, "inference_worker_count": 1, "instance_id": null, "latency_type": "measured", "max_wall_clock_lag_ms": 1.11146220896444, "mode": "realtime", "model_id": null, "obs_fps": 9.234834178011425, "output_dir": "/workspace/fivegpu-20261001/real/inverted_pendulum/qwenoft/instance_1aecacdd828a257b/20260930T195054093377Z/real/0", "policy_id": "starvla", "pre_episode_drain_wait_ms": 0.07244999869726598, "pre_episode_drained_completion_count": 0, "pre_episode_in_flight_after_drain": 0, "pre_episode_in_flight_count": 0, "profile_ref": null, "run_name": "inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10", "source_run_id": null, "submitted_observation_frames": 100, "target_env_fps": 9.234834178011425, "warmup_mean_latency_ms": 72.05617093008186, "warmup_median_rel_span": 0.00044158438213988714, "warmup_median_span_ms": 0.02938249963335693, "warmup_median_tolerance_ms": 2.5, "warmup_mode": "stress_policy", "warmup_p50_latency_ms": 66.55722300092748, "warmup_p90_latency_ms": 66.68073699947854, "warmup_p90_rel_span": 0.0008532737857577, "warmup_p90_span_ms": 0.056870900516514666, "warmup_profiled_samples": 100, "warmup_samples": 100, "warmup_stability_reason": "stable", "warmup_stage_summary": {"env_action_recv_to_enqueue_ms": {"count": 100, "max": 0.0, "mean": 0.0, "p50": 0.0, "p90": 0.0}, "env_observe_ms": {"count": 100, "max": 0.41436100006103516, "mean": 0.13746570974588393, "p50": 0.12997000105679035, "p90": 0.13674189895391464}, "env_to_parent_ipc_ms": {"count": 100, "max": 0.0, "mean": 0.0, "p50": 0.0, "p90": 0.0}, "env_wall_lag_ms": {"count": 100, "max": 0.0, "mean": 0.0, "p50": 0.0, "p90": 0.0}, "parent_observation_handle_ms": {"count": 100, "max": 0.11156000196933746, "mean": 0.06679815974086523, "p50": 0.06569050252437592, "p90": 0.06754699870944023}, "parent_to_env_ipc_ms": {"count": 100, "max": 0.0, "mean": 0.0, "p50": 0.0, "p90": 0.0}, "parent_to_worker_ipc_ms": {"count": 100, "max": 0.20917999744415283, "mean": 0.11333993002772332, "p50": 0.11176050081849098, "p90": 0.11614600047469138}, "policy_build_example_ms": {"count": 100, "max": 4.031936001410941, "mean": 2.993431760369276, "p50": 2.9743340019194875, "p90": 2.993675998732215}, "policy_decode_ms": {"count": 100, "max": 0.04704000093624927, "mean": 0.03507396009808872, "p50": 0.034860000596381724, "p90": 0.03654000101960264}, "policy_wrapper_predict_action_ms": {"count": 100, "max": 602.0717210012663, "mean": 68.8706426999488, "p50": 63.38822500038077, "p90": 63.521780100563774}, "worker_observation_attach_ms": {"count": 100, "max": 0.229909997433424, "mean": 0.06833683010190725, "p50": 0.06664550118148327, "p90": 0.06800199672579765}, "worker_observation_localize_ms": {"count": 100, "max": 0.13137099519371986, "mean": 0.08308370038866997, "p50": 0.08238499984145164, "p90": 0.08410300202667714}, "worker_recv_overhead_ms": {"count": 100, "max": 0.23431000113487244, "mean": 0.07277772974222899, "p50": 0.07101549953222275, "p90": 0.0725188996642828}, "worker_to_parent_ipc_ms": {"count": 100, "max": 1.3106619976460934, "mean": 1.0849453204125166, "p50": 1.1577070020139217, "p90": 1.248694999143481}}, "warmup_status": "stable", "warmup_stop_sample": 100, "warmup_trimmed_mean_rel_span": 0.0004576782736572077, "warmup_trimmed_mean_span_ms": 0.03045740652396489, "warmup_trimmed_mean_tolerance_ms": 2.5, "workload_id": null}, "num_actions": 99, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 73.91819380281959, "p99_latency_ms": 74.39419164133142, "return_raw": null, "survival_steps": 100}

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/0/queue_eval_latency_measured.json

@@ -0,0 +1,21 @@
+{
+  "checkpoint_kind": "best",
+  "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwenoft-h1/inverted_pendulum_rgb_state_ip10_20260911T010114Z_openvla_native_sft_2k/checkpoints/model.pt",
+  "experiment_name": "inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10",
+  "latency": "measured",
+  "latency_type": "measured",
+  "lengths": [
+    121,
+    100
+  ],
+  "mean_length": 110.5,
+  "mean_return": 110.5,
+  "returns": [
+    121.0,
+    100.0
+  ],
+  "seed": 2000000,
+  "std_return": 10.5,
+  "suite_name": "measured",
+  "timestamp_utc": "2026-09-30T19:55:55.086352+00:00"
+}

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/0/queue_eval_results.jsonl

@@ -0,0 +1 @@
+{"checkpoint_kind": "best", "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwenoft-h1/inverted_pendulum_rgb_state_ip10_20260911T010114Z_openvla_native_sft_2k/checkpoints/model.pt", "experiment_name": "inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10", "latency": "measured", "latency_type": "measured", "lengths": [121, 100], "mean_length": 110.5, "mean_return": 110.5, "returns": [121.0, 100.0], "seed": 2000000, "std_return": 10.5, "suite_name": "measured", "timestamp_utc": "2026-09-30T19:55:55.086352+00:00"}

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/0/realtime_pipeline_summary.json

@@ -0,0 +1,138 @@
+{
+  "bench_overhead_ms": {
+    "count": 219,
+    "max": 23.53879701346159,
+    "mean": 1.8940363741866801,
+    "p50": 1.72801099345088,
+    "p90": 2.31437199562788
+  },
+  "inference_latency_ms": {
+    "count": 219,
+    "max": 76.03356699837605,
+    "mean": 69.53114786295095,
+    "p50": 67.84473800144042,
+    "p90": 73.82919200244942
+  },
+  "num_profiled_actions": 219,
+  "stages": {
+    "env_action_recv_to_enqueue_ms": {
+      "count": 219,
+      "max": 0.1897609978914261,
+      "mean": 0.14772036523647505,
+      "p50": 0.14409999921917915,
+      "p90": 0.16183999925851822
+    },
+    "env_observe_ms": {
+      "count": 219,
+      "max": 0.2191300019621849,
+      "mean": 0.1656589907462194,
+      "p50": 0.1647699996829033,
+      "p90": 0.17937099933624268
+    },
+    "env_scheduler_update_ms": {
+      "count": 219,
+      "max": 0.030090000480413437,
+      "mean": 0.015345045420677151,
+      "p50": 0.01500999927520752,
+      "p90": 0.016630001366138458
+    },
+    "env_step_ms": {
+      "count": 219,
+      "max": 3.613994002342224,
+      "mean": 2.207158173447194,
+      "p50": 2.5229830034077168,
+      "p90": 2.5765930004417896
+    },
+    "env_to_parent_ipc_ms": {
+      "count": 219,
+      "max": 0.3847309984266758,
+      "mean": 0.1862385433898669,
+      "p50": 0.17020100355148315,
+      "p90": 0.24530000239610672
+    },
+    "env_wall_lag_ms": {
+      "count": 219,
+      "max": 1.11146220896444,
+      "mean": 0.6323202073197465,
+      "p50": 0.6381925385712748,
+      "p90": 1.0385418315054267
+    },
+    "parent_observation_handle_ms": {
+      "count": 219,
+      "max": 0.1647700034081936,
+      "mean": 0.0806405342196765,
+      "p50": 0.06071000173687935,
+      "p90": 0.11983999982476234
+    },
+    "parent_release_ms": {
+      "count": 219,
+      "max": 0.04441000148653984,
+      "mean": 0.026881753241634804,
+      "p50": 0.02394000068306923,
+      "p90": 0.03452000021934509
+    },
+    "parent_to_env_ipc_ms": {
+      "count": 219,
+      "max": 0.2756799980998039,
+      "mean": 0.21948250233446626,
+      "p50": 0.22054000198841095,
+      "p90": 0.23885099962353706
+    },
+    "parent_to_worker_ipc_ms": {
+      "count": 219,
+      "max": 0.29917000234127045,
+      "mean": 0.13644041553071645,
+      "p50": 0.12420999631285667,
+      "p90": 0.17604999989271164
+    },
+    "policy_build_example_ms": {
+      "count": 219,
+      "max": 6.010567001794698,
+      "mean": 3.228214310279348,
+      "p50": 3.0448039979091845,
+      "p90": 3.260663001128705
+    },
+    "policy_decode_ms": {
+      "count": 219,
+      "max": 0.05157000123290345,
+      "mean": 0.04024168047014747,
+      "p50": 0.03997000021627173,
+      "p90": 0.04280099892639555
+    },
+    "policy_wrapper_predict_action_ms": {
+      "count": 219,
+      "max": 70.89684099992155,
+      "mean": 66.08195790871018,
+      "p50": 64.55973400079529,
+      "p90": 70.35985000038636
+    },
+    "worker_observation_attach_ms": {
+      "count": 219,
+      "max": 21.805185995996,
+      "mean": 0.17709495424884095,
+      "p50": 0.07261000201106071,
+      "p90": 0.10787000134587288
+    },
+    "worker_observation_localize_ms": {
+      "count": 219,
+      "max": 0.2173609957098961,
+      "mean": 0.09422512323548805,
+      "p50": 0.08959999680519104,
+      "p90": 0.10597000271081924
+    },
+    "worker_recv_overhead_ms": {
+      "count": 219,
+      "max": 21.818556003272533,
+      "mean": 0.18310194547590056,
+      "p50": 0.07829999923706055,
+      "p90": 0.11570100113749504
+    },
+    "worker_to_parent_ipc_ms": {
+      "count": 219,
+      "max": 1.4904009960591793,
+      "mean": 0.7325262785910471,
+      "p50": 0.6728010028600693,
+      "p90": 1.179552000015974
+    }
+  }
+}

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/0/stdout.log

@@ -0,0 +1,257 @@
+[bench] run=inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10 sweeps=1 episodes_per_sweep=2 total_episode_runs=2
+[bench] sweep 1/1: eval_latency=measured
+09/30 [19:54:57] INFO     | >> Failed to load library (       ctypesloader.py:70
+                          'libOpenGL.so.0' ): libOpenGL.so.0:                   
+                          cannot open shared object file: No                    
+                          such file or directory                                
+                 INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+                 INFO     | >> Failed to load library (       ctypesloader.py:70
+                          'libOpenGL.so.0' ): libOpenGL.so.0:                   
+                          cannot open shared object file: No                    
+                          such file or directory                                
+/venv/sim2real/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+09/30 [19:55:02] INFO     | >>  Loaded mixtures from Behavior    registry.py:113
+                          (data_config): ['BEHAVIOR_challenge']                 
+                 INFO     | >>  Loaded data_config from DOMINO:  registry.py:107
+                          ['robotwin']                                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          DOMINO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from DOMINO      registry.py:113
+                          (data_config): ['domino',                             
+                          'domino_clean', 'domino_random',                      
+                          'domino_cotrain']                                     
+                 INFO     | >>  Loaded data_config from Franka:  registry.py:107
+                          ['custom_robot_config',                               
+                          'demo_sim_franka_delta_joints',                       
+                          'SO101']                                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Franka (data_config): []                              
+                 INFO     | >>  Loaded mixtures from Franka      registry.py:113
+                          (data_config): ['custom_dataset',                     
+                          'custom_dataset_2',                                   
+                          'demo_sim_pick_place', 'SO101_pick']                  
+                 INFO     | >>  Loaded data_config from LIBERO:  registry.py:107
+                          ['libero_franka']                                     
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          LIBERO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from LIBERO      registry.py:113
+                          (data_config): ['libero_all',                         
+                          'libero_goal', 'multi_robot']                         
+                 INFO     | >>  Loaded data_config from MIKASA:  registry.py:107
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          MIKASA (data_config):                                 
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded mixtures from MIKASA      registry.py:113
+                          (data_config):                                        
+                          ['local/intercept_grab_fast_vla_v0_h1_                
+                          train']                                               
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          RoboChallenge_table30v2:                              
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          RoboChallenge_table30v2 (data_config):                
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          RoboChallenge_table30v2 (data_config):                
+                          ['robochallenge_table30v2_shred_paper'                
+                          , 'robochallenge_table30v2_ur5_all',                  
+                          'robochallenge_table30v2_arx5_all',                   
+                          'robochallenge_table30v2_dosw1_all']                  
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_365:                                         
+                          ['panda_omron_robocasa365']                           
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_365 (data_config): []                        
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_365 (data_config):                           
+                          ['robocasa365_open_drawer_target_human                
+                          ',                                                    
+                          'robocasa365_atomic_target_human_all',                
+                          'robocasa365_composite_target_human_al                
+                          l', 'robocasa365_target_human_all']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_tabletop:                                    
+                          ['fourier_gr1_arms_waist']                            
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_tabletop (data_config): []                   
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_tabletop (data_config):                      
+                          ['fourier_gr1_unified_1000']                          
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robotwin: ['robotwin', 'robotwin50',                  
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robotwin (data_config): []                            
+                 INFO     | >>  Loaded mixtures from Robotwin    registry.py:113
+                          (data_config): ['robotwin_all',                       
+                          'robotwin_all_50', 'robotwin',                        
+                          'robotwin_task1', 'robotwin_task2',                   
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          SimplerEnv: ['oxe_droid',                             
+                          'oxe_bridge', 'oxe_rt1']                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          SimplerEnv (data_config): []                          
+                 INFO     | >>  Loaded mixtures from SimplerEnv  registry.py:113
+                          (data_config): ['bridge',                             
+                          'bridge_rt_1']                                        
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          VLA-Arena: ['vla_arena_franka']                       
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          VLA-Arena (data_config): []                           
+                 INFO     | >>  Loaded mixtures from VLA-Arena   registry.py:113
+                          (data_config): ['vla_arena_L0_S',                     
+                          'vla_arena_L0_M', 'vla_arena_L0_L']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          rl_games: ['rl_games_flappy',                         
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          rl_games (data_config):                               
+                          ['rl_games_flappy',                                   
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded mixtures from rl_games    registry.py:113
+                          (data_config): ['flappy_train',                       
+                          'flappy_train__bridge',                               
+                          'flappy_mixed_latency_train',                         
+                          'flappy_mixed_latency_train__bridge',                 
+                          'demon_attack_train',                                 
+                          'demon_attack_train__bridge',                         
+                          'demon_attack_mixed_latency_train',                   
+                          'demon_attack_mixed_latency_train__bri                
+                          dge', 'defend_the_line_train',                        
+                          'defend_the_line_train__bridge',                      
+                          'defend_the_line_mixed_latency_train',                
+                          'defend_the_line_mixed_latency_train__                
+                          bridge', 'deadly_corridor_train',                     
+                          'deadly_corridor_train__bridge',                      
+                          'deadly_corridor_mixed_latency_train',                
+                          'deadly_corridor_mixed_latency_train__                
+                          bridge', 'asterix_train',                             
+                          'asterix_train__bridge',                              
+                          'asterix_mixed_latency_train',                        
+                          'asterix_mixed_latency_train__bridge',                
+                          'atlantis_train',                                     
+                          'atlantis_train__bridge',                             
+                          'atlantis_mixed_latency_train',                       
+                          'atlantis_mixed_latency_train__bridge'                
+                          , 'h1hand_balance_hard']                              
+                 INFO     | >> PolicyServerWrapper: loading policy_wrapper.py:73
+                          framework from                                        
+                          /workspace/hf/hub/models--latency                     
+                          -sensitive-bench--benchmark-model                     
+                          s/snapshots/180da0effdaaaeacef218                     
+                          cf5fbaa4db41af67495/latency-aware                     
+                          /inverted-pendulum/vla/starvla-qw                     
+                          enoft-h1/inverted_pendulum_rgb_st                     
+                          ate_ip10_20260911T010114Z_openvla                     
+                          _native_sft_2k/checkpoints/model.                     
+                          pt                                                    
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+[QWen3] loading /workspace/hf/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 with gradient_checkpointing=True
+
+[QWen3] gradient_checkpointing ENABLED (use_reentrant=False, active=True, text_use_cache=False)
+09/30 [19:55:18] INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+                 INFO     | >> PolicyServerWrapper ready:  policy_wrapper.py:126
+                          action_chunk_size=1,                                  
+                          default_unnorm_key=new_embodimen                      
+                          t,                                                    
+                          available_unnorm_keys=['new_embo                      
+                          diment'],                                             
+                          action_keys=['action.button'],                        
+                          state_keys=['state.game_state']                       
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+[bench] sweep 1/1 episode 1/2 done
+[bench] sweep 1/1 episode 2/2 done
+[bench] sweep 1/1 complete elapsed=59.6s
+episode=0 return=121.000 steps=121 mean_latency_ms=67.72728514160917
+episode=1 return=100.000 steps=100 mean_latency_ms=71.717648131244
+summary latency=measured episodes=2 mean_return=110.500 std_return=10.500 mean_length=110.5

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/0/warmup_latencies.jsonl

@@ -0,0 +1,100 @@
+{"device": "cuda:0", "end_wall_time": 23663.618470236, "gpu_class": null, "inference_ms": 606.4073490015289, "instance_id": null, "latency_ms": 606.4073490015289, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 0, "source_run_id": null, "start_wall_time": 23663.012062887, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 23663.691539461, "gpu_class": null, "inference_ms": 71.7706340001314, "instance_id": null, "latency_ms": 71.7706340001314, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 1, "source_run_id": null, "start_wall_time": 23663.619768827, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 23663.761450572, "gpu_class": null, "inference_ms": 69.02273000014247, "instance_id": null, "latency_ms": 69.02273000014247, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 2, "source_run_id": null, "start_wall_time": 23663.692427842, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 23663.831619963, "gpu_class": null, "inference_ms": 68.7882290003472, "instance_id": null, "latency_ms": 68.7882290003472, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 3, "source_run_id": null, "start_wall_time": 23663.762831734, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 23663.900169252, "gpu_class": null, "inference_ms": 66.85070599996834, "instance_id": null, "latency_ms": 66.85070599996834, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 4, "source_run_id": null, "start_wall_time": 23663.833318546, "workload_id": null}
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experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/0/warmup_pipeline_profile.jsonl

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experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/0/warmup_summary.json

@@ -0,0 +1,119 @@
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experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/1/episode_metrics.jsonl

@@ -0,0 +1,2 @@
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experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/1/queue_eval_latency_measured.json

@@ -0,0 +1,21 @@
+{
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+}

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/1/queue_eval_results.jsonl

@@ -0,0 +1 @@
+{"checkpoint_kind": "best", "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwenoft-h1/inverted_pendulum_rgb_state_ip10_20260911T010114Z_openvla_native_sft_2k/checkpoints/model.pt", "experiment_name": "inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10", "latency": "measured", "latency_type": "measured", "lengths": [47, 1000], "mean_length": 523.5, "mean_return": 523.5, "returns": [47.0, 1000.0], "seed": 2000020, "std_return": 476.5, "suite_name": "measured", "timestamp_utc": "2026-09-30T19:58:26.120996+00:00"}

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/1/realtime_pipeline_summary.json

@@ -0,0 +1,138 @@
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+      "max": 0.32625000178813934,
+      "mean": 0.20039321542784358,
+      "p50": 0.2034199982881546,
+      "p90": 0.22720999643206596
+    },
+    "parent_to_worker_ipc_ms": {
+      "count": 1045,
+      "max": 0.33605000376701355,
+      "mean": 0.1445525723032689,
+      "p50": 0.13603000342845917,
+      "p90": 0.186209999024868
+    },
+    "policy_build_example_ms": {
+      "count": 1045,
+      "max": 5.715672003134387,
+      "mean": 3.1212915827656103,
+      "p50": 3.019420000782702,
+      "p90": 3.270702000008896
+    },
+    "policy_decode_ms": {
+      "count": 1045,
+      "max": 0.049369999032933265,
+      "mean": 0.03758662964234632,
+      "p50": 0.03769999966607429,
+      "p90": 0.04103000173927285
+    },
+    "policy_wrapper_predict_action_ms": {
+      "count": 1045,
+      "max": 79.65421600238187,
+      "mean": 65.434719580885,
+      "p50": 64.72590799967293,
+      "p90": 68.79730899891001
+    },
+    "worker_observation_attach_ms": {
+      "count": 1045,
+      "max": 13.983921002596617,
+      "mean": 0.09175513394212609,
+      "p50": 0.07003999873995781,
+      "p90": 0.11341999843716621
+    },
+    "worker_observation_localize_ms": {
+      "count": 1045,
+      "max": 0.22033999860286713,
+      "mean": 0.09500584693616657,
+      "p50": 0.08951999992132187,
+      "p90": 0.1176299974322319
+    },
+    "worker_recv_overhead_ms": {
+      "count": 1045,
+      "max": 13.998031001538038,
+      "mean": 0.09802961431122853,
+      "p50": 0.07574999704957008,
+      "p90": 0.12186000123620033
+    },
+    "worker_to_parent_ipc_ms": {
+      "count": 1045,
+      "max": 1.5053109973669052,
+      "mean": 0.8274085970693513,
+      "p50": 0.8256599977612495,
+      "p90": 1.3211099989712238
+    }
+  }
+}

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/1/stdout.log

@@ -0,0 +1,257 @@
+[bench] run=inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10 sweeps=1 episodes_per_sweep=2 total_episode_runs=2
+[bench] sweep 1/1: eval_latency=measured
+09/30 [19:55:58] INFO     | >> Failed to load library (       ctypesloader.py:70
+                          'libOpenGL.so.0' ): libOpenGL.so.0:                   
+                          cannot open shared object file: No                    
+                          such file or directory                                
+                 INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+                 INFO     | >> Failed to load library (       ctypesloader.py:70
+                          'libOpenGL.so.0' ): libOpenGL.so.0:                   
+                          cannot open shared object file: No                    
+                          such file or directory                                
+/venv/sim2real/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+09/30 [19:56:03] INFO     | >>  Loaded mixtures from Behavior    registry.py:113
+                          (data_config): ['BEHAVIOR_challenge']                 
+                 INFO     | >>  Loaded data_config from DOMINO:  registry.py:107
+                          ['robotwin']                                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          DOMINO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from DOMINO      registry.py:113
+                          (data_config): ['domino',                             
+                          'domino_clean', 'domino_random',                      
+                          'domino_cotrain']                                     
+                 INFO     | >>  Loaded data_config from Franka:  registry.py:107
+                          ['custom_robot_config',                               
+                          'demo_sim_franka_delta_joints',                       
+                          'SO101']                                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Franka (data_config): []                              
+                 INFO     | >>  Loaded mixtures from Franka      registry.py:113
+                          (data_config): ['custom_dataset',                     
+                          'custom_dataset_2',                                   
+                          'demo_sim_pick_place', 'SO101_pick']                  
+                 INFO     | >>  Loaded data_config from LIBERO:  registry.py:107
+                          ['libero_franka']                                     
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          LIBERO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from LIBERO      registry.py:113
+                          (data_config): ['libero_all',                         
+                          'libero_goal', 'multi_robot']                         
+                 INFO     | >>  Loaded data_config from MIKASA:  registry.py:107
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          MIKASA (data_config):                                 
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded mixtures from MIKASA      registry.py:113
+                          (data_config):                                        
+                          ['local/intercept_grab_fast_vla_v0_h1_                
+                          train']                                               
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          RoboChallenge_table30v2:                              
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          RoboChallenge_table30v2 (data_config):                
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          RoboChallenge_table30v2 (data_config):                
+                          ['robochallenge_table30v2_shred_paper'                
+                          , 'robochallenge_table30v2_ur5_all',                  
+                          'robochallenge_table30v2_arx5_all',                   
+                          'robochallenge_table30v2_dosw1_all']                  
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_365:                                         
+                          ['panda_omron_robocasa365']                           
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_365 (data_config): []                        
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_365 (data_config):                           
+                          ['robocasa365_open_drawer_target_human                
+                          ',                                                    
+                          'robocasa365_atomic_target_human_all',                
+                          'robocasa365_composite_target_human_al                
+                          l', 'robocasa365_target_human_all']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_tabletop:                                    
+                          ['fourier_gr1_arms_waist']                            
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_tabletop (data_config): []                   
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_tabletop (data_config):                      
+                          ['fourier_gr1_unified_1000']                          
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robotwin: ['robotwin', 'robotwin50',                  
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robotwin (data_config): []                            
+                 INFO     | >>  Loaded mixtures from Robotwin    registry.py:113
+                          (data_config): ['robotwin_all',                       
+                          'robotwin_all_50', 'robotwin',                        
+                          'robotwin_task1', 'robotwin_task2',                   
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          SimplerEnv: ['oxe_droid',                             
+                          'oxe_bridge', 'oxe_rt1']                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          SimplerEnv (data_config): []                          
+                 INFO     | >>  Loaded mixtures from SimplerEnv  registry.py:113
+                          (data_config): ['bridge',                             
+                          'bridge_rt_1']                                        
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          VLA-Arena: ['vla_arena_franka']                       
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          VLA-Arena (data_config): []                           
+                 INFO     | >>  Loaded mixtures from VLA-Arena   registry.py:113
+                          (data_config): ['vla_arena_L0_S',                     
+                          'vla_arena_L0_M', 'vla_arena_L0_L']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          rl_games: ['rl_games_flappy',                         
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          rl_games (data_config):                               
+                          ['rl_games_flappy',                                   
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded mixtures from rl_games    registry.py:113
+                          (data_config): ['flappy_train',                       
+                          'flappy_train__bridge',                               
+                          'flappy_mixed_latency_train',                         
+                          'flappy_mixed_latency_train__bridge',                 
+                          'demon_attack_train',                                 
+                          'demon_attack_train__bridge',                         
+                          'demon_attack_mixed_latency_train',                   
+                          'demon_attack_mixed_latency_train__bri                
+                          dge', 'defend_the_line_train',                        
+                          'defend_the_line_train__bridge',                      
+                          'defend_the_line_mixed_latency_train',                
+                          'defend_the_line_mixed_latency_train__                
+                          bridge', 'deadly_corridor_train',                     
+                          'deadly_corridor_train__bridge',                      
+                          'deadly_corridor_mixed_latency_train',                
+                          'deadly_corridor_mixed_latency_train__                
+                          bridge', 'asterix_train',                             
+                          'asterix_train__bridge',                              
+                          'asterix_mixed_latency_train',                        
+                          'asterix_mixed_latency_train__bridge',                
+                          'atlantis_train',                                     
+                          'atlantis_train__bridge',                             
+                          'atlantis_mixed_latency_train',                       
+                          'atlantis_mixed_latency_train__bridge'                
+                          , 'h1hand_balance_hard']                              
+                 INFO     | >> PolicyServerWrapper: loading policy_wrapper.py:73
+                          framework from                                        
+                          /workspace/hf/hub/models--latency                     
+                          -sensitive-bench--benchmark-model                     
+                          s/snapshots/180da0effdaaaeacef218                     
+                          cf5fbaa4db41af67495/latency-aware                     
+                          /inverted-pendulum/vla/starvla-qw                     
+                          enoft-h1/inverted_pendulum_rgb_st                     
+                          ate_ip10_20260911T010114Z_openvla                     
+                          _native_sft_2k/checkpoints/model.                     
+                          pt                                                    
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+[QWen3] loading /workspace/hf/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 with gradient_checkpointing=True
+
+[QWen3] gradient_checkpointing ENABLED (use_reentrant=False, active=True, text_use_cache=False)
+09/30 [19:56:19] INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+                 INFO     | >> PolicyServerWrapper ready:  policy_wrapper.py:126
+                          action_chunk_size=1,                                  
+                          default_unnorm_key=new_embodimen                      
+                          t,                                                    
+                          available_unnorm_keys=['new_embo                      
+                          diment'],                                             
+                          action_keys=['action.button'],                        
+                          state_keys=['state.game_state']                       
+09/30 [19:56:20] INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+[bench] sweep 1/1 episode 1/2 done
+[bench] sweep 1/1 episode 2/2 done
+[bench] sweep 1/1 complete elapsed=149.3s
+episode=0 return=47.000 steps=47 mean_latency_ms=68.28811060847289
+episode=1 return=1000.000 steps=1000 mean_latency_ms=68.79406881882124
+summary latency=measured episodes=2 mean_return=523.500 std_return=476.500 mean_length=523.5

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/1/warmup_latencies.jsonl

@@ -0,0 +1,100 @@
+{"device": "cuda:0", "end_wall_time": 23724.800816974, "gpu_class": null, "inference_ms": 431.2048559986579, "instance_id": null, "latency_ms": 431.2048559986579, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 0, "source_run_id": null, "start_wall_time": 23724.369612118, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 23724.871548184, "gpu_class": null, "inference_ms": 69.54054900052142, "instance_id": null, "latency_ms": 69.54054900052142, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 1, "source_run_id": null, "start_wall_time": 23724.802007635, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 23724.941585023, "gpu_class": null, "inference_ms": 69.20884799910709, "instance_id": null, "latency_ms": 69.20884799910709, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 2, "source_run_id": null, "start_wall_time": 23724.872376175, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 23725.009926451, "gpu_class": null, "inference_ms": 67.17715699778637, "instance_id": null, "latency_ms": 67.17715699778637, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 3, "source_run_id": null, "start_wall_time": 23724.942749294, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 23725.07987204, "gpu_class": null, "inference_ms": 68.98121800259105, "instance_id": null, "latency_ms": 68.98121800259105, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 4, "source_run_id": null, "start_wall_time": 23725.010890822, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 23725.149946679, "gpu_class": null, "inference_ms": 68.90415800080518, "instance_id": null, "latency_ms": 68.90415800080518, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 5, "source_run_id": null, "start_wall_time": 23725.081042521, "workload_id": null}
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experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/1/warmup_pipeline_profile.jsonl

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experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/1/warmup_summary.json

@@ -0,0 +1,119 @@
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experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/10/episode_metrics.jsonl

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experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/10/queue_eval_latency_measured.json

@@ -0,0 +1,21 @@
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experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/10/queue_eval_results.jsonl

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experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/10/realtime_pipeline_summary.json

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+    }
+  }
+}

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/10/stdout.log

@@ -0,0 +1,257 @@
+[bench] run=inverted_pendulum_F_newV_10fps_20260911T010114Z-ip10 sweeps=1 episodes_per_sweep=2 total_episode_runs=2
+[bench] sweep 1/1: eval_latency=measured
+09/30 [20:19:08] INFO     | >> Failed to load library (       ctypesloader.py:70
+                          'libOpenGL.so.0' ): libOpenGL.so.0:                   
+                          cannot open shared object file: No                    
+                          such file or directory                                
+                 INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+                 INFO     | >> Failed to load library (       ctypesloader.py:70
+                          'libOpenGL.so.0' ): libOpenGL.so.0:                   
+                          cannot open shared object file: No                    
+                          such file or directory                                
+/venv/sim2real/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+09/30 [20:19:13] INFO     | >>  Loaded mixtures from Behavior    registry.py:113
+                          (data_config): ['BEHAVIOR_challenge']                 
+                 INFO     | >>  Loaded data_config from DOMINO:  registry.py:107
+                          ['robotwin']                                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          DOMINO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from DOMINO      registry.py:113
+                          (data_config): ['domino',                             
+                          'domino_clean', 'domino_random',                      
+                          'domino_cotrain']                                     
+                 INFO     | >>  Loaded data_config from Franka:  registry.py:107
+                          ['custom_robot_config',                               
+                          'demo_sim_franka_delta_joints',                       
+                          'SO101']                                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Franka (data_config): []                              
+                 INFO     | >>  Loaded mixtures from Franka      registry.py:113
+                          (data_config): ['custom_dataset',                     
+                          'custom_dataset_2',                                   
+                          'demo_sim_pick_place', 'SO101_pick']                  
+                 INFO     | >>  Loaded data_config from LIBERO:  registry.py:107
+                          ['libero_franka']                                     
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          LIBERO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from LIBERO      registry.py:113
+                          (data_config): ['libero_all',                         
+                          'libero_goal', 'multi_robot']                         
+                 INFO     | >>  Loaded data_config from MIKASA:  registry.py:107
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          MIKASA (data_config):                                 
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded mixtures from MIKASA      registry.py:113
+                          (data_config):                                        
+                          ['local/intercept_grab_fast_vla_v0_h1_                
+                          train']                                               
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          RoboChallenge_table30v2:                              
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          RoboChallenge_table30v2 (data_config):                
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          RoboChallenge_table30v2 (data_config):                
+                          ['robochallenge_table30v2_shred_paper'                
+                          , 'robochallenge_table30v2_ur5_all',                  
+                          'robochallenge_table30v2_arx5_all',                   
+                          'robochallenge_table30v2_dosw1_all']                  
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_365:                                         
+                          ['panda_omron_robocasa365']                           
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_365 (data_config): []                        
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_365 (data_config):                           
+                          ['robocasa365_open_drawer_target_human                
+                          ',                                                    
+                          'robocasa365_atomic_target_human_all',                
+                          'robocasa365_composite_target_human_al                
+                          l', 'robocasa365_target_human_all']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_tabletop:                                    
+                          ['fourier_gr1_arms_waist']                            
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_tabletop (data_config): []                   
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_tabletop (data_config):                      
+                          ['fourier_gr1_unified_1000']                          
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robotwin: ['robotwin', 'robotwin50',                  
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robotwin (data_config): []                            
+                 INFO     | >>  Loaded mixtures from Robotwin    registry.py:113
+                          (data_config): ['robotwin_all',                       
+                          'robotwin_all_50', 'robotwin',                        
+                          'robotwin_task1', 'robotwin_task2',                   
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          SimplerEnv: ['oxe_droid',                             
+                          'oxe_bridge', 'oxe_rt1']                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          SimplerEnv (data_config): []                          
+                 INFO     | >>  Loaded mixtures from SimplerEnv  registry.py:113
+                          (data_config): ['bridge',                             
+                          'bridge_rt_1']                                        
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          VLA-Arena: ['vla_arena_franka']                       
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          VLA-Arena (data_config): []                           
+                 INFO     | >>  Loaded mixtures from VLA-Arena   registry.py:113
+                          (data_config): ['vla_arena_L0_S',                     
+                          'vla_arena_L0_M', 'vla_arena_L0_L']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          rl_games: ['rl_games_flappy',                         
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          rl_games (data_config):                               
+                          ['rl_games_flappy',                                   
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded mixtures from rl_games    registry.py:113
+                          (data_config): ['flappy_train',                       
+                          'flappy_train__bridge',                               
+                          'flappy_mixed_latency_train',                         
+                          'flappy_mixed_latency_train__bridge',                 
+                          'demon_attack_train',                                 
+                          'demon_attack_train__bridge',                         
+                          'demon_attack_mixed_latency_train',                   
+                          'demon_attack_mixed_latency_train__bri                
+                          dge', 'defend_the_line_train',                        
+                          'defend_the_line_train__bridge',                      
+                          'defend_the_line_mixed_latency_train',                
+                          'defend_the_line_mixed_latency_train__                
+                          bridge', 'deadly_corridor_train',                     
+                          'deadly_corridor_train__bridge',                      
+                          'deadly_corridor_mixed_latency_train',                
+                          'deadly_corridor_mixed_latency_train__                
+                          bridge', 'asterix_train',                             
+                          'asterix_train__bridge',                              
+                          'asterix_mixed_latency_train',                        
+                          'asterix_mixed_latency_train__bridge',                
+                          'atlantis_train',                                     
+                          'atlantis_train__bridge',                             
+                          'atlantis_mixed_latency_train',                       
+                          'atlantis_mixed_latency_train__bridge'                
+                          , 'h1hand_balance_hard']                              
+                 INFO     | >> PolicyServerWrapper: loading policy_wrapper.py:73
+                          framework from                                        
+                          /workspace/hf/hub/models--latency                     
+                          -sensitive-bench--benchmark-model                     
+                          s/snapshots/180da0effdaaaeacef218                     
+                          cf5fbaa4db41af67495/latency-aware                     
+                          /inverted-pendulum/vla/starvla-qw                     
+                          enoft-h1/inverted_pendulum_rgb_st                     
+                          ate_ip10_20260911T010114Z_openvla                     
+                          _native_sft_2k/checkpoints/model.                     
+                          pt                                                    
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+[QWen3] loading /workspace/hf/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 with gradient_checkpointing=True
+
+[QWen3] gradient_checkpointing ENABLED (use_reentrant=False, active=True, text_use_cache=False)
+09/30 [20:19:29] INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+09/30 [20:19:30] INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+                 INFO     | >> PolicyServerWrapper ready:  policy_wrapper.py:126
+                          action_chunk_size=1,                                  
+                          default_unnorm_key=new_embodimen                      
+                          t,                                                    
+                          available_unnorm_keys=['new_embo                      
+                          diment'],                                             
+                          action_keys=['action.button'],                        
+                          state_keys=['state.game_state']                       
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwenoft-h1/                   
+                          inverted_pendulum_rgb_state_ip10_20                   
+                          260911T010114Z_openvla_native_sft_2                   
+                          k/checkpoints/model.pt`                               
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+[bench] sweep 1/1 episode 1/2 done
+[bench] sweep 1/1 episode 2/2 done
+[bench] sweep 1/1 complete elapsed=252.9s
+episode=0 return=1000.000 steps=1000 mean_latency_ms=69.09774587088226
+episode=1 return=1000.000 steps=1000 mean_latency_ms=68.12349119415073
+summary latency=measured episodes=2 mean_return=1000.000 std_return=0.000 mean_length=1000.0

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/10/warmup_latencies.jsonl

@@ -0,0 +1,100 @@
+{"device": "cuda:0", "end_wall_time": 25115.154929106, "gpu_class": null, "inference_ms": 578.4016549987427, "instance_id": null, "latency_ms": 578.4016549987427, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 0, "source_run_id": null, "start_wall_time": 25114.576527451, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 25115.227987677, "gpu_class": null, "inference_ms": 71.71953400029452, "instance_id": null, "latency_ms": 71.71953400029452, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 1, "source_run_id": null, "start_wall_time": 25115.156268143, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 25115.297863067, "gpu_class": null, "inference_ms": 69.02270800128463, "instance_id": null, "latency_ms": 69.02270800128463, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 2, "source_run_id": null, "start_wall_time": 25115.228840359, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 25115.367974896, "gpu_class": null, "inference_ms": 68.68755199684529, "instance_id": null, "latency_ms": 68.68755199684529, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 3, "source_run_id": null, "start_wall_time": 25115.299287344, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 25115.436183951, "gpu_class": null, "inference_ms": 66.48082099854946, "instance_id": null, "latency_ms": 66.48082099854946, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 4, "source_run_id": null, "start_wall_time": 25115.36970313, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 25115.504239479, "gpu_class": null, "inference_ms": 66.30975399821182, "instance_id": null, "latency_ms": 66.30975399821182, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 5, "source_run_id": null, "start_wall_time": 25115.437929725, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 25115.571380015, "gpu_class": null, "inference_ms": 66.24503400234971, "instance_id": null, "latency_ms": 66.24503400234971, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 6, "source_run_id": null, "start_wall_time": 25115.505134981, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 25115.638771959, "gpu_class": null, "inference_ms": 66.42918299985467, "instance_id": null, "latency_ms": 66.42918299985467, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 7, "source_run_id": null, "start_wall_time": 25115.572342776, "workload_id": null}
+{"device": "cuda:0", "end_wall_time": 25115.705926914, "gpu_class": null, "inference_ms": 66.38565200046287, "instance_id": null, "latency_ms": 66.38565200046287, "latency_type": "measured", "metadata": {"worker_cuda_current_device": 0, "worker_cuda_current_device_name": "NVIDIA GeForce RTX 3090", "worker_cuda_device_count": 1, "worker_cuda_flash_sdp_enabled": true, "worker_cuda_math_sdp_enabled": true, "worker_cuda_mem_efficient_sdp_enabled": true, "worker_id": 0, "worker_start_method": "spawn", "worker_torch_cuda_version": "12.8", "worker_torch_float32_matmul_precision": "highest", "worker_torch_version": "2.11.0+cu128"}, "model_id": null, "obs_id": 8, "source_run_id": null, "start_wall_time": 25115.639541262, "workload_id": null}
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experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/10/warmup_pipeline_profile.jsonl

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experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/10/warmup_summary.json

@@ -0,0 +1,119 @@
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+}

experiments/sim2real-calibration/cases/rtx3090/inverted_pendulum/qwenoft/real/11/episode_metrics.jsonl

@@ -0,0 +1,2 @@
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