diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/published/sim/iid/2.json b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/published/sim/iid/2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba4c389bf661585c75036bd7001ee27696f38ef5
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/published/sim/iid/2.json
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/DONE b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/DONE
new file mode 100644
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/actions.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b960758a3f01d6fb11545bc78fc9660cedb48797
--- /dev/null
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/e2e_latencies.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/e2e_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fb32f62c0976138f8ce68c09fc173a225cad5fa9
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/e2e_latencies.jsonl
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/episode_metrics.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/episode_metrics.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..58cf9d5e6e8047e9eadd7d54d2d53bc129188701
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/episode_metrics.jsonl
@@ -0,0 +1,2 @@
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/infer_latencies.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/infer_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3d811b36315135dbbd8fba6169f104bdd92344c
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/infer_latencies.jsonl
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/latencies.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3d811b36315135dbbd8fba6169f104bdd92344c
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/latencies.jsonl
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+{"device": null, "end_wall_time": null, "gpu_class": "1x-rtx3090", "inference_ms": null, "instance_id": "instance_33621945a15d3b38", "latency_ms": 127.23331640045869, "latency_type": "profile_sample", "metadata": {"worker_id": 0}, "model_id": "qwengr00t", "obs_id": 1994, "source_run_id": "20260928T235512274259Z", "start_wall_time": null, "workload_id": "ant"}
+{"device": null, "end_wall_time": null, "gpu_class": "1x-rtx3090", "inference_ms": null, "instance_id": "instance_33621945a15d3b38", "latency_ms": 126.44734222606057, "latency_type": "profile_sample", "metadata": {"worker_id": 0}, "model_id": "qwengr00t", "obs_id": 1995, "source_run_id": "20260928T235512274259Z", "start_wall_time": null, "workload_id": "ant"}
+{"device": null, "end_wall_time": null, "gpu_class": "1x-rtx3090", "inference_ms": null, "instance_id": "instance_33621945a15d3b38", "latency_ms": 126.11832867164757, "latency_type": "profile_sample", "metadata": {"worker_id": 0}, "model_id": "qwengr00t", "obs_id": 1996, "source_run_id": "20260928T235512274259Z", "start_wall_time": null, "workload_id": "ant"}
+{"device": null, "end_wall_time": null, "gpu_class": "1x-rtx3090", "inference_ms": null, "instance_id": "instance_33621945a15d3b38", "latency_ms": 129.359416762604, "latency_type": "profile_sample", "metadata": {"worker_id": 0}, "model_id": "qwengr00t", "obs_id": 1997, "source_run_id": "20260928T235512274259Z", "start_wall_time": null, "workload_id": "ant"}
+{"device": null, "end_wall_time": null, "gpu_class": "1x-rtx3090", "inference_ms": null, "instance_id": "instance_33621945a15d3b38", "latency_ms": 132.7168034391392, "latency_type": "profile_sample", "metadata": {"worker_id": 0}, "model_id": "qwengr00t", "obs_id": 1998, "source_run_id": "20260928T235512274259Z", "start_wall_time": null, "workload_id": "ant"}
+{"device": null, "end_wall_time": null, "gpu_class": "1x-rtx3090", "inference_ms": null, "instance_id": "instance_33621945a15d3b38", "latency_ms": 133.7846377642618, "latency_type": "profile_sample", "metadata": {"worker_id": 0}, "model_id": "qwengr00t", "obs_id": 1999, "source_run_id": "20260928T235512274259Z", "start_wall_time": null, "workload_id": "ant"}
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/observation_attempts.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/observation_attempts.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/queue_eval_latency_profile_sample.json b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/queue_eval_latency_profile_sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..823281807bcb76d99437211e2ade4db00e644693
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/queue_eval_latency_profile_sample.json
@@ -0,0 +1,22 @@
+{
+  "checkpoint_kind": "best",
+  "checkpoint_path": "/data/ubuntu/lzj/cache/huggingface/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt",
+  "experiment_name": "gr00t_ant_measured",
+  "latency": "profile_sample",
+  "latency_type": "profile_sample",
+  "lengths": [
+    1000,
+    1000
+  ],
+  "mean_length": 1000.0,
+  "mean_return": 1856.1295390009318,
+  "returns": [
+    2332.7568639467954,
+    1379.5022140550684
+  ],
+  "seed": 2000140,
+  "source_profile_path": "/data/ubuntu/lzj/sim2real-return-20260929/results/sim2real/replays/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/4d554e4dcd73eb4074b3f7c819dac1abe263fd40/profile/profile.json",
+  "std_return": 476.6273249458635,
+  "suite_name": "profile_sample",
+  "timestamp_utc": "2026-09-29T05:37:21.474965+00:00"
+}
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/queue_eval_results.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/queue_eval_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5622773e26ad40825539d214ac90f6da5f62de89
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/queue_eval_results.jsonl
@@ -0,0 +1 @@
+{"checkpoint_kind": "best", "checkpoint_path": "/data/ubuntu/lzj/cache/huggingface/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/ant/vla/starvla-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt", "experiment_name": "gr00t_ant_measured", "latency": "profile_sample", "latency_type": "profile_sample", "lengths": [1000, 1000], "mean_length": 1000.0, "mean_return": 1856.1295390009318, "returns": [2332.7568639467954, 1379.5022140550684], "seed": 2000140, "source_profile_path": "/data/ubuntu/lzj/sim2real-return-20260929/results/sim2real/replays/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/4d554e4dcd73eb4074b3f7c819dac1abe263fd40/profile/profile.json", "std_return": 476.6273249458635, "suite_name": "profile_sample", "timestamp_utc": "2026-09-29T05:37:21.474965+00:00"}
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/stdout.log b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/stdout.log
new file mode 100644
index 0000000000000000000000000000000000000000..e1b73d56c87f0a8d5dbaaab094259183f8166fce
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/stdout.log
@@ -0,0 +1,80 @@
+[bench] run=gr00t_ant_measured sweeps=1 episodes_per_sweep=2 total_episode_runs=2
+[bench] sweep 1/1: eval_latency=profile_sample
+09/29 [05:31:26] INFO     | >> No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'                                                                                             acceleratesupport.py:24
+/data/ubuntu/lzj/conda/envs/qwenoft/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()
+09/29 [05:31:30] INFO     | >>  Loaded mixtures from Behavior (data_config): ['BEHAVIOR_challenge']                                                                                                        registry.py:113
+                 INFO     | >>  Loaded data_config from DOMINO: ['robotwin']                                                                                                                               registry.py:107
+                 INFO     | >>  Loaded embodiment_tags from DOMINO (data_config): []                                                                                                                       registry.py:110
+                 INFO     | >>  Loaded mixtures from DOMINO (data_config): ['domino', 'domino_clean', 'domino_random', 'domino_cotrain']                                                                   registry.py:113
+                 INFO     | >>  Loaded data_config from Franka: ['custom_robot_config', 'demo_sim_franka_delta_joints', 'SO101']                                                                           registry.py:107
+                 INFO     | >>  Loaded embodiment_tags from Franka (data_config): []                                                                                                                       registry.py:110
+                 INFO     | >>  Loaded mixtures from Franka (data_config): ['custom_dataset', 'custom_dataset_2', 'demo_sim_pick_place', 'SO101_pick']                                                     registry.py:113
+                 INFO     | >>  Loaded data_config from LIBERO: ['libero_franka']                                                                                                                          registry.py:107
+                 INFO     | >>  Loaded embodiment_tags from LIBERO (data_config): []                                                                                                                       registry.py:110
+                 INFO     | >>  Loaded mixtures from LIBERO (data_config): ['libero_all', 'libero_goal', 'multi_robot']                                                                                    registry.py:113
+                 INFO     | >>  Loaded data_config from MIKASA: ['mikasa_franka_h1']                                                                                                                       registry.py:107
+                 INFO     | >>  Loaded embodiment_tags from MIKASA (data_config): ['mikasa_franka_h1']                                                                                                     registry.py:110
+                 INFO     | >>  Loaded mixtures from MIKASA (data_config): ['local/intercept_grab_fast_vla_v0_h1_train']                                                                                   registry.py:113
+                 INFO     | >>  Loaded data_config from RoboChallenge_table30v2: ['ur5_robochallenge', 'arx5_robochallenge', 'dosw1_robochallenge']                                                        registry.py:107
+                 INFO     | >>  Loaded embodiment_tags from RoboChallenge_table30v2 (data_config): ['ur5_robochallenge', 'arx5_robochallenge', 'dosw1_robochallenge']                                      registry.py:110
+                 INFO     | >>  Loaded mixtures from RoboChallenge_table30v2 (data_config): ['robochallenge_table30v2_shred_paper', 'robochallenge_table30v2_ur5_all', 'robochallenge_table30v2_arx5_all', registry.py:113
+                          'robochallenge_table30v2_dosw1_all']                                                                                                                                                            
+                 INFO     | >>  Loaded data_config from Robocasa_365: ['panda_omron_robocasa365']                                                                                                          registry.py:107
+                 INFO     | >>  Loaded embodiment_tags from Robocasa_365 (data_config): []                                                                                                                 registry.py:110
+                 INFO     | >>  Loaded mixtures from Robocasa_365 (data_config): ['robocasa365_open_drawer_target_human', 'robocasa365_atomic_target_human_all', 'robocasa365_composite_target_human_all', registry.py:113
+                          'robocasa365_target_human_all']                                                                                                                                                                 
+                 INFO     | >>  Loaded data_config from Robocasa_tabletop: ['fourier_gr1_arms_waist']                                                                                                      registry.py:107
+                 INFO     | >>  Loaded embodiment_tags from Robocasa_tabletop (data_config): []                                                                                                            registry.py:110
+                 INFO     | >>  Loaded mixtures from Robocasa_tabletop (data_config): ['fourier_gr1_unified_1000']                                                                                         registry.py:113
+                 INFO     | >>  Loaded data_config from Robotwin: ['robotwin', 'robotwin50', 'arx_x5']                                                                                                     registry.py:107
+                 INFO     | >>  Loaded embodiment_tags from Robotwin (data_config): []                                                                                                                     registry.py:110
+                 INFO     | >>  Loaded mixtures from Robotwin (data_config): ['robotwin_all', 'robotwin_all_50', 'robotwin', 'robotwin_task1', 'robotwin_task2', 'arx_x5']                                 registry.py:113
+                 INFO     | >>  Loaded data_config from SimplerEnv: ['oxe_droid', 'oxe_bridge', 'oxe_rt1']                                                                                                 registry.py:107
+                 INFO     | >>  Loaded embodiment_tags from SimplerEnv (data_config): []                                                                                                                   registry.py:110
+                 INFO     | >>  Loaded mixtures from SimplerEnv (data_config): ['bridge', 'bridge_rt_1']                                                                                                   registry.py:113
+                 INFO     | >>  Loaded data_config from VLA-Arena: ['vla_arena_franka']                                                                                                                    registry.py:107
+                 INFO     | >>  Loaded embodiment_tags from VLA-Arena (data_config): []                                                                                                                    registry.py:110
+                 INFO     | >>  Loaded mixtures from VLA-Arena (data_config): ['vla_arena_L0_S', 'vla_arena_L0_M', 'vla_arena_L0_L']                                                                       registry.py:113
+                 INFO     | >>  Loaded data_config from rl_games: ['rl_games_flappy', 'rl_games_demon_attack', 'rl_games_defend_the_line', 'rl_games_deadly_corridor', 'rl_games_asterix',                 registry.py:107
+                          'rl_games_atlantis', 'rl_games_gymnasium', 'rl_games_gymnasium_discrete', 'rl_games_gymnasium_native']                                                                                          
+                 INFO     | >>  Loaded embodiment_tags from rl_games (data_config): ['rl_games_flappy', 'rl_games_demon_attack', 'rl_games_defend_the_line', 'rl_games_deadly_corridor',                   registry.py:110
+                          'rl_games_asterix', 'rl_games_atlantis', 'rl_games_gymnasium', 'rl_games_gymnasium_discrete', 'rl_games_gymnasium_native']                                                                      
+                 INFO     | >>  Loaded mixtures from rl_games (data_config): ['flappy_train', 'flappy_train__bridge', 'flappy_mixed_latency_train', 'flappy_mixed_latency_train__bridge',                  registry.py:113
+                          'demon_attack_train', 'demon_attack_train__bridge', 'demon_attack_mixed_latency_train', 'demon_attack_mixed_latency_train__bridge', '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 framework from                                                                                                                            policy_wrapper.py:73
+                          /data/ubuntu/lzj/cache/huggingface/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/ant/vla/starvla-q                     
+                          wengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt                                                                                                                       
+                 INFO     | >> [*] Loading from local checkpoint path                                                                                                                                   share_tools.py:418
+                          `/data/ubuntu/lzj/cache/huggingface/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/ant/vla/starvla-qw                   
+                          engr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt`                                                                                                                       
+[QWen3] loading /data/ubuntu/lzj/cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 with gradient_checkpointing=True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00, 41.77it/s]
+[QWen3] gradient_checkpointing ENABLED (use_reentrant=False, active=True, text_use_cache=False)
+Total number of DiT parameters:  157032448
+09/29 [05:31:43] INFO     | >> [*] Loading from local checkpoint path                                                                                                                                   share_tools.py:418
+                          `/data/ubuntu/lzj/cache/huggingface/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/ant/vla/starvla-qw                   
+                          engr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt`                                                                                                                       
+                 INFO     | >> [*] Loading from local checkpoint path                                                                                                                                   share_tools.py:418
+                          `/data/ubuntu/lzj/cache/huggingface/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/ant/vla/starvla-qw                   
+                          engr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt`                                                                                                                       
+09/29 [05:31:44] INFO     | >> [*] Loading from local checkpoint path                                                                                                                                   share_tools.py:418
+                          `/data/ubuntu/lzj/cache/huggingface/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/ant/vla/starvla-qw                   
+                          engr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt`                                                                                                                       
+                 INFO     | >> PolicyNormProcessor ready: robot_type=rl_games_gymnasium, unnorm_key=new_embodiment, action_keys=['action.button'] (dims=[8]), state_keys=['state.game_state'] policy_norm_processor.py:333
+                 INFO     | >> PolicyServerWrapper ready: action_chunk_size=1, default_unnorm_key=new_embodiment, available_unnorm_keys=['new_embodiment'], action_keys=['action.button'],           policy_wrapper.py:126
+                          state_keys=['state.game_state']                                                                                                                                                                 
+                 INFO     | >> [*] Loading from local checkpoint path                                                                                                                                   share_tools.py:418
+                          `/data/ubuntu/lzj/cache/huggingface/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/ant/vla/starvla-qw                   
+                          engr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt`                                                                                                                       
+                 INFO     | >> PolicyNormProcessor ready: robot_type=rl_games_gymnasium, unnorm_key=new_embodiment, action_keys=['action.button'] (dims=[8]), state_keys=['state.game_state'] policy_norm_processor.py:333
+[bench] sweep 1/1 episode 1/2 done
+[bench] sweep 1/1 episode 2/2 done
+[bench] sweep 1/1 complete elapsed=356.4s
+episode=0 return=2332.757 steps=1000 mean_latency_ms=130.77732043966236
+episode=1 return=1379.502 steps=1000 mean_latency_ms=131.024161561233
+summary latency=profile_sample episodes=2 mean_return=1856.130 std_return=476.627 mean_length=1000.0
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/steps.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/steps.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c57f8c2a5f52808c0ff1c5336032ec393bc075e4
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/iid/2/steps.jsonl
@@ -0,0 +1,2000 @@
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