diff --git a/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/published/sim/normal/4.json b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/published/sim/normal/4.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fbec55f956e3fd2b71a29d94b3bc414a7cb2d9d
--- /dev/null
+++ b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/published/sim/normal/4.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/DONE b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/DONE
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/actions.jsonl b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5ab82a9214d6d618f83b173669c73234add78447
--- /dev/null
+++ b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/actions.jsonl
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diff --git a/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/e2e_latencies.jsonl b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/e2e_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d3f272a45d79fd2584025303be803014f9b8e2d
--- /dev/null
+++ b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/e2e_latencies.jsonl
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diff --git a/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/episode_metrics.jsonl b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/episode_metrics.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..83fbbc1c059188f74147e51ec6d4d463655a8d4e
--- /dev/null
+++ b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/episode_metrics.jsonl
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diff --git a/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/infer_latencies.jsonl b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/infer_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a3a83af4f9f9ecb647d97b16a887caa0de1d3920
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+++ b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/infer_latencies.jsonl
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diff --git a/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/latencies.jsonl b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a3a83af4f9f9ecb647d97b16a887caa0de1d3920
--- /dev/null
+++ b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/latencies.jsonl
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+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 108.73022951851894, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1965, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 109.65037114738416, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1966, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 112.77575345759274, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1967, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 109.0677571406938, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1968, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 110.60125464158098, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1969, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 106.65530021590578, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1970, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 116.02916123571993, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1971, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 110.13197374210256, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1972, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 117.07043730712037, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1973, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 103.59412827258721, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1974, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 110.53318882347011, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1975, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 113.91532820354196, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1976, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 110.48393967957242, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1977, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 112.75564127460844, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1978, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 111.91710938805107, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1979, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 111.05249707880634, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1980, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 107.18120417507696, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1981, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 115.9394384698671, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1982, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 118.61710240261395, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1983, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 112.82554762684079, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1984, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 114.06689936848169, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1985, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 119.7791428206687, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1986, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 113.74799142362122, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1987, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 111.67737067882204, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1988, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 116.85106620645209, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1989, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 110.87042884636321, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1990, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 114.10392817637923, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1991, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 113.31261253120832, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1992, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 122.49345889853856, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1993, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 109.9334979233012, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1994, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 117.86871203286174, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1995, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 111.30796329607759, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1996, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 111.04155249393469, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1997, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 115.0162423777996, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1998, "source_run_id": null, "start_wall_time": null, "workload_id": null}
+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 112.73741009458222, "latency_type": "normal_distribution", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1999, "source_run_id": null, "start_wall_time": null, "workload_id": null}
diff --git a/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/observation_attempts.jsonl b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/observation_attempts.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/queue_eval_latency_normal_distribution.json b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/queue_eval_latency_normal_distribution.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f65ee9fd4ac9f54def075374b84e9484e598154
--- /dev/null
+++ b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/queue_eval_latency_normal_distribution.json
@@ -0,0 +1,22 @@
+{
+  "checkpoint_kind": "best",
+  "checkpoint_path": "/workspace/.hf_home/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/checkpoints/model.pt",
+  "experiment_name": "ant_F_newV_10fps_20260911T112232Z-ant",
+  "latency": "normal_distribution",
+  "latency_type": "normal_distribution",
+  "lengths": [
+    1000,
+    1000
+  ],
+  "mean_length": 1000.0,
+  "mean_return": 1642.583908343628,
+  "returns": [
+    2279.9326353053298,
+    1005.2351813819264
+  ],
+  "seed": 2000180,
+  "source_profile_path": "/workspace/latency-sensitive-bench/results/sim2real/replays/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/e203aa0a5cb474bbfeae26a153306e6514eda1c4/profile/profile.json",
+  "std_return": 637.3487269617017,
+  "suite_name": "normal_distribution",
+  "timestamp_utc": "2026-09-29T03:49:05.221595+00:00"
+}
diff --git a/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/queue_eval_results.jsonl b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/queue_eval_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2359190f80514a288a42f74f7d02acfb65f739b6
--- /dev/null
+++ b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/queue_eval_results.jsonl
@@ -0,0 +1 @@
+{"checkpoint_kind": "best", "checkpoint_path": "/workspace/.hf_home/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/ant/vla/starvla-qwenoft-h1/ant_rgb_state_profile_20260911T112232Z_openvla_native_sft_5k/checkpoints/model.pt", "experiment_name": "ant_F_newV_10fps_20260911T112232Z-ant", "latency": "normal_distribution", "latency_type": "normal_distribution", "lengths": [1000, 1000], "mean_length": 1000.0, "mean_return": 1642.583908343628, "returns": [2279.9326353053298, 1005.2351813819264], "seed": 2000180, "source_profile_path": "/workspace/latency-sensitive-bench/results/sim2real/replays/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/e203aa0a5cb474bbfeae26a153306e6514eda1c4/profile/profile.json", "std_return": 637.3487269617017, "suite_name": "normal_distribution", "timestamp_utc": "2026-09-29T03:49:05.221595+00:00"}
diff --git a/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/stdout.log b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/stdout.log
new file mode 100644
index 0000000000000000000000000000000000000000..fbb2f4409a543deab0a5a71e7e0b3aea71e7d5fb
--- /dev/null
+++ b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/stdout.log
@@ -0,0 +1,256 @@
+[bench] run=ant_F_newV_10fps_20260911T112232Z-ant sweeps=1 episodes_per_sweep=2 total_episode_runs=2
+[bench] sweep 1/1: eval_latency=normal_distribution
+09/29 [03:45:33] 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()
+09/29 [03:45:38] 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_home/hub/models--l                     
+                          atency-sensitive-bench--benchmark                     
+                          -models/snapshots/180da0effdaaaea                     
+                          cef218cf5fbaa4db41af67495/latency                     
+                          -aware/ant/vla/starvla-qwenoft-h1                     
+                          /ant_rgb_state_profile_20260911T1                     
+                          12232Z_openvla_native_sft_5k/chec                     
+                          kpoints/model.pt                                      
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/.hf_home/hub/models--la                   
+                          tency-sensitive-bench--benchmark-mo                   
+                          dels/snapshots/180da0effdaaaeacef21                   
+                          8cf5fbaa4db41af67495/latency-aware/                   
+                          ant/vla/starvla-qwenoft-h1/ant_rgb_                   
+                          state_profile_20260911T112232Z_open                   
+                          vla_native_sft_5k/checkpoints/model                   
+                          .pt`                                                  
+[QWen3] loading /workspace/.hf_home/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, 25.16it/s]
+[QWen3] gradient_checkpointing ENABLED (use_reentrant=False, active=True, text_use_cache=False)
+09/29 [03:45:56] INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/.hf_home/hub/models--la                   
+                          tency-sensitive-bench--benchmark-mo                   
+                          dels/snapshots/180da0effdaaaeacef21                   
+                          8cf5fbaa4db41af67495/latency-aware/                   
+                          ant/vla/starvla-qwenoft-h1/ant_rgb_                   
+                          state_profile_20260911T112232Z_open                   
+                          vla_native_sft_5k/checkpoints/model                   
+                          .pt`                                                  
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/.hf_home/hub/models--la                   
+                          tency-sensitive-bench--benchmark-mo                   
+                          dels/snapshots/180da0effdaaaeacef21                   
+                          8cf5fbaa4db41af67495/latency-aware/                   
+                          ant/vla/starvla-qwenoft-h1/ant_rgb_                   
+                          state_profile_20260911T112232Z_open                   
+                          vla_native_sft_5k/checkpoints/model                   
+                          .pt`                                                  
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/.hf_home/hub/models--la                   
+                          tency-sensitive-bench--benchmark-mo                   
+                          dels/snapshots/180da0effdaaaeacef21                   
+                          8cf5fbaa4db41af67495/latency-aware/                   
+                          ant/vla/starvla-qwenoft-h1/ant_rgb_                   
+                          state_profile_20260911T112232Z_open                   
+                          vla_native_sft_5k/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=[8]),                                      
+                          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']                       
+09/29 [03:45:57] INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/.hf_home/hub/models--la                   
+                          tency-sensitive-bench--benchmark-mo                   
+                          dels/snapshots/180da0effdaaaeacef21                   
+                          8cf5fbaa4db41af67495/latency-aware/                   
+                          ant/vla/starvla-qwenoft-h1/ant_rgb_                   
+                          state_profile_20260911T112232Z_open                   
+                          vla_native_sft_5k/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=[8]),                                      
+                          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=213.4s
+episode=0 return=2279.933 steps=1000 mean_latency_ms=113.4448902929515
+episode=1 return=1005.235 steps=1000 mean_latency_ms=113.3699033333008
+summary latency=normal_distribution episodes=2 mean_return=1642.584 std_return=637.349 mean_length=1000.0
diff --git a/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/steps.jsonl b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/steps.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..903eb5aef2dfba8c45fc865715220d1dbedd7ee5
--- /dev/null
+++ b/sim2real/ant/qwenoft/1x-rtx3090/instance_129d8b35443318ea/20260928T212119318227Z/sim/normal/4/steps.jsonl
@@ -0,0 +1,2000 @@
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]", "value": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "done": false, "env_step": 0, "episode_id": 0, "info": {"active_action_id": null, "active_action_obs_env_step": null, "applied_action": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "applied_action_name": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]", "distance_from_origin": 0.05843043232242802, "env_step": 1, "forward_reward": -0.13917013849189272, "frame_time_ms": 123.69578237503175, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "normal_distribution", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.0, "reward_forward": -0.13917013849189272, "reward_survive": 1.0, "scheduled_time_ms": 0.0, "sim_time_ms": 123.69578237503175, "x_position": -0.012662252124635797, "x_velocity": -0.13917013849189272, "y_position": 0.05704193889164355, "y_velocity": -0.0381821527544951}, "reward": 0.8608298615081073, "sim_time_ms": 0.0}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [-0.018269244581460953, -0.03547187149524689, -0.0172145813703537, -0.0212522204965353, 0.0016045309603214264, 0.015766825526952744, -0.033153969794511795, 0.06713263690471649]}, "done": false, "env_step": 1, "episode_id": 0, "info": {"active_action_id": 0, "active_action_obs_env_step": 0, "applied_action": [-0.018269244581460953, -0.03547187149524689, -0.0172145813703537, -0.0212522204965353, 0.0016045309603214264, 0.015766825526952744, -0.033153969794511795, 0.06713263690471649], "applied_action_name": "continuous_torque", "distance_from_origin": 0.05722930966192813, "env_step": 2, "forward_reward": -0.14749917510049088, "frame_time_ms": 123.69578237503175, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "normal_distribution", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.004098581150174141, "reward_forward": -0.14749917510049088, "reward_survive": 1.0, "scheduled_time_ms": 123.69578237503175, "sim_time_ms": 247.3915647500635, "x_position": -0.02003721087966034, "x_velocity": -0.14749917510049088, "y_position": 0.053606940451259494, "y_velocity": -0.06869996880768114}, "reward": 0.848402243749335, "sim_time_ms": 123.69578237503175}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [0.2305082231760025, 0.336065411567688, 0.2516494393348694, 0.24093565344810486, 0.16076380014419556, 0.5852904915809631, -0.5475590229034424, 0.01599901169538498]}, "done": false, "env_step": 2, "episode_id": 0, "info": {"active_action_id": 1, "active_action_obs_env_step": 1, "applied_action": [0.2305082231760025, 0.336065411567688, 0.2516494393348694, 0.24093565344810486, 0.16076380014419556, 0.5852904915809631, -0.5475590229034424, 0.01599901169538498], "applied_action_name": "continuous_torque", "distance_from_origin": 0.046398666414658236, "env_step": 3, "forward_reward": -0.052913479111350026, "frame_time_ms": 123.69578237503175, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "normal_distribution", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.47796913981437683, "reward_forward": -0.052913479111350026, "reward_survive": 1.0, "scheduled_time_ms": 247.3915647500635, "sim_time_ms": 371.0873471250953, "x_position": -0.022682884835227842, "x_velocity": -0.052913479111350026, "y_position": 0.04047620264563519, "y_velocity": -0.26261475611248614}, "reward": 0.46911738107427314, "sim_time_ms": 247.3915647500635}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [0.28769591450691223, 0.2563713788986206, 0.19076773524284363, 0.2119697779417038, 0.1417231261730194, 0.5758016109466553, -0.5046753883361816, 0.06771494448184967]}, "done": false, "env_step": 3, "episode_id": 0, "info": {"active_action_id": 2, "active_action_obs_env_step": 2, "applied_action": [0.28769591450691223, 0.2563713788986206, 0.19076773524284363, 0.2119697779417038, 0.1417231261730194, 0.5758016109466553, -0.5046753883361816, 0.06771494448184967], "applied_action_name": "continuous_torque", "distance_from_origin": 0.021803855833119824, "env_step": 4, "forward_reward": 0.6624923013405185, "frame_time_ms": 123.69578237503175, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "normal_distribution", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.42036715149879456, "reward_forward": 0.6624923013405185, "reward_survive": 1.0, "scheduled_time_ms": 371.0873471250953, "sim_time_ms": 494.783129500127, "x_position": 0.010441730231798086, "x_velocity": 0.6624923013405185, "y_position": -0.019141013530057056, "y_velocity": -1.1923443235138447}, "reward": 1.242125149841724, "sim_time_ms": 371.0873471250953}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [-0.08173158764839172, 0.12364432960748672, 0.13498827815055847, 0.15657250583171844, -0.012671519070863724, 0.25233006477355957, -0.06513344496488571, 0.23011338710784912]}, "done": false, "env_step": 4, "episode_id": 0, "info": {"active_action_id": 3, "active_action_obs_env_step": 3, "applied_action": [-0.08173158764839172, 0.12364432960748672, 0.13498827815055847, 0.15657250583171844, -0.012671519070863724, 0.25233006477355957, -0.06513344496488571, 0.23011338710784912], "applied_action_name": "continuous_torque", "distance_from_origin": 0.10046353823109856, "env_step": 5, "forward_reward": 0.8383179452981329, "frame_time_ms": 123.69578237503175, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "normal_distribution", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.09286515414714813, "reward_forward": 0.8383179452981329, "reward_survive": 1.0, "scheduled_time_ms": 494.783129500127, "sim_time_ms": 618.4789118751588, "x_position": 0.05235762749670473, "x_velocity": 0.8383179452981329, "y_position": -0.08574147979145048, "y_velocity": -1.3320093252278686}, "reward": 1.7454527911509847, "sim_time_ms": 494.783129500127}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [-0.08173802495002747, 0.16182363033294678, 0.19098950922489166, 0.1611422300338745, -0.026653051376342773, 0.2819496989250183, -0.0919383242726326, 0.23908722400665283]}, "done": false, "env_step": 5, "episode_id": 0, "info": {"active_action_id": 4, "active_action_obs_env_step": 4, "applied_action": [-0.08173802495002747, 0.16182363033294678, 0.19098950922489166, 0.1611422300338745, -0.026653051376342773, 0.2819496989250183, -0.0919383242726326, 0.23908722400665283], "applied_action_name": "continuous_torque", "distance_from_origin": 0.1942174450039565, "env_step": 6, "forward_reward": 1.5061602365424702, "frame_time_ms": 123.69578237503175, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "normal_distribution", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.12056657671928406, "reward_forward": 1.5061602365424702, "reward_survive": 1.0, "scheduled_time_ms": 618.4789118751588, "sim_time_ms": 742.1746942501906, "x_position": 0.12766563932382824, "x_velocity": 1.5061602365424702, "y_position": -0.1463622235411278, "y_velocity": -1.2124148749935462}, "reward": 2.3855936598231864, "sim_time_ms": 618.4789118751588}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [-0.46705496311187744, 0.29071682691574097, -0.02955222874879837, 0.17837963998317719, -0.3557789921760559, 0.07774826884269714, 0.4408809542655945, 0.24393412470817566]}, "done": false, "env_step": 6, "episode_id": 0, "info": {"active_action_id": 5, "active_action_obs_env_step": 5, "applied_action": [-0.46705496311187744, 0.29071682691574097, -0.02955222874879837, 0.17837963998317719, -0.3557789921760559, 0.07774826884269714, 0.4408809542655945, 0.24393412470817566], "applied_action_name": "continuous_torque", "distance_from_origin": 0.28124015383077944, "env_step": 7, "forward_reward": 1.5987369260475104, "frame_time_ms": 123.69578237503175, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "normal_distribution", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.3609262704849243, "reward_forward": 1.5987369260475104, "reward_survive": 1.0, "scheduled_time_ms": 742.1746942501906, "sim_time_ms": 865.8704766252223, "x_position": 0.20760248562620376, "x_velocity": 1.5987369260475104, "y_position": -0.18972936538285878, "y_velocity": -0.8673428368346198}, "reward": 2.237810655562586, "sim_time_ms": 742.1746942501906}
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