diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/published/sim/fixed/3.json b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/published/sim/fixed/3.json
new file mode 100644
index 0000000000000000000000000000000000000000..faaab1a7445e49deecdccfac49859bdd5c923769
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/published/sim/fixed/3.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/DONE b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/DONE
new file mode 100644
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/actions.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..77b9f4437879f8c222447da4fb825b2b7686aac1
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/actions.jsonl
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/e2e_latencies.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/e2e_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cff9945329893f099a546506716fd0765eef2548
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/e2e_latencies.jsonl
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/episode_metrics.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/episode_metrics.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..54e2d0842b68a42f2ab7643930d39fd345a11769
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/episode_metrics.jsonl
@@ -0,0 +1,2 @@
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/infer_latencies.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/infer_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..01ce2c5c8cdd02a95b5b37cd5174c79536d7e71b
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/infer_latencies.jsonl
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/latencies.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..01ce2c5c8cdd02a95b5b37cd5174c79536d7e71b
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/latencies.jsonl
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+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 130.92790511503355, "latency_type": "fixed", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1957, "source_run_id": null, "start_wall_time": null, "workload_id": null}
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+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 130.92790511503355, "latency_type": "fixed", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1959, "source_run_id": null, "start_wall_time": null, "workload_id": null}
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+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 130.92790511503355, "latency_type": "fixed", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1961, "source_run_id": null, "start_wall_time": null, "workload_id": null}
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+{"device": null, "end_wall_time": null, "gpu_class": null, "inference_ms": null, "instance_id": null, "latency_ms": 130.92790511503355, "latency_type": "fixed", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1963, "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": 130.92790511503355, "latency_type": "fixed", "metadata": {"worker_id": 0}, "model_id": null, "obs_id": 1964, "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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": 130.92790511503355, "latency_type": "fixed", "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/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/observation_attempts.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/observation_attempts.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/queue_eval_latency_fixed.json b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/queue_eval_latency_fixed.json
new file mode 100644
index 0000000000000000000000000000000000000000..68091cf3c3840ccc85784bdbf65fd864f7921b16
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/queue_eval_latency_fixed.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-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt",
+  "experiment_name": "gr00t_ant_measured",
+  "latency": "fixed",
+  "latency_type": "fixed",
+  "lengths": [
+    1000,
+    1000
+  ],
+  "mean_length": 1000.0,
+  "mean_return": 2429.742434552799,
+  "returns": [
+    2469.0592506606918,
+    2390.425618444906
+  ],
+  "seed": 2000160,
+  "source_profile_path": "/workspace/latency-sensitive-bench/results/sim2real/replays/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/4d554e4dcd73eb4074b3f7c819dac1abe263fd40/profile/profile.json",
+  "std_return": 39.31681610789292,
+  "suite_name": "fixed",
+  "timestamp_utc": "2026-09-29T04:03:03.701732+00:00"
+}
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/queue_eval_results.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/queue_eval_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6cd769f0d4807b686e87a1b2eb4c19e8d0102b2a
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/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-qwengr00t-h1/ant_profile_gr00t_h1_5fps_2h100_20260917/checkpoints/model.pt", "experiment_name": "gr00t_ant_measured", "latency": "fixed", "latency_type": "fixed", "lengths": [1000, 1000], "mean_length": 1000.0, "mean_return": 2429.742434552799, "returns": [2469.0592506606918, 2390.425618444906], "seed": 2000160, "source_profile_path": "/workspace/latency-sensitive-bench/results/sim2real/replays/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/4d554e4dcd73eb4074b3f7c819dac1abe263fd40/profile/profile.json", "std_return": 39.31681610789292, "suite_name": "fixed", "timestamp_utc": "2026-09-29T04:03:03.701732+00:00"}
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/stdout.log b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/stdout.log
new file mode 100644
index 0000000000000000000000000000000000000000..8b610bebd332105ee13ac918991e43a15dfa929c
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/stdout.log
@@ -0,0 +1,251 @@
+[bench] run=gr00t_ant_measured sweeps=1 episodes_per_sweep=2 total_episode_runs=2
+[bench] sweep 1/1: eval_latency=fixed
+09/29 [03:58:20] 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 [03:58:25] 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-qwengr00t-                     
+                          h1/ant_profile_gr00t_h1_5fps_2h10                     
+                          0_20260917/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-qwengr00t-h1/ant_pr                   
+                          ofile_gr00t_h1_5fps_2h100_20260917/                   
+                          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, 25.24it/s]
+[QWen3] gradient_checkpointing ENABLED (use_reentrant=False, active=True, text_use_cache=False)
+Total number of DiT parameters:  157032448
+09/29 [03:58:43] 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-qwengr00t-h1/ant_pr                   
+                          ofile_gr00t_h1_5fps_2h100_20260917/                   
+                          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-qwengr00t-h1/ant_pr                   
+                          ofile_gr00t_h1_5fps_2h100_20260917/                   
+                          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-qwengr00t-h1/ant_pr                   
+                          ofile_gr00t_h1_5fps_2h100_20260917/                   
+                          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 [03:58:44] 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-qwengr00t-h1/ant_pr                   
+                          ofile_gr00t_h1_5fps_2h100_20260917/                   
+                          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=284.6s
+episode=0 return=2469.059 steps=1000 mean_latency_ms=130.92790511503355
+episode=1 return=2390.426 steps=1000 mean_latency_ms=130.92790511503355
+summary latency=fixed episodes=2 mean_return=2429.742 std_return=39.317 mean_length=1000.0
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/steps.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/steps.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..745cda71d57ae581e56c0723a9b0377f3eadf242
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/3/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": 0.12570869226910955, "env_step": 1, "forward_reward": 0.008661195687026668, "frame_time_ms": 248.19982090486033, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "fixed", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.0, "reward_forward": 0.008661195687026668, "reward_survive": 1.0, "scheduled_time_ms": 0.0, "sim_time_ms": 248.19982090486033, "x_position": 0.09159944402765478, "x_velocity": 0.008661195687026668, "y_position": -0.0860942342194541, "y_velocity": 0.19694094316990374}, "reward": 1.0086611956870266, "sim_time_ms": 0.0}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [-0.0042699724435806274, -0.0005111396312713623, -0.022318154573440552, 0.005211949348449707, -0.04417550563812256, 0.0007779747247695923, -0.016628950834274292, 0.0453529953956604]}, "done": false, "env_step": 1, "episode_id": 0, "info": {"active_action_id": 0, "active_action_obs_env_step": 0, "applied_action": [-0.0042699724435806274, -0.0005111396312713623, -0.022318154573440552, 0.005211949348449707, -0.04417550563812256, 0.0007779747247695923, -0.016628950834274292, 0.0453529953956604], "applied_action_name": "continuous_torque", "distance_from_origin": 0.11945838862796233, "env_step": 2, "forward_reward": 0.003387559509753224, "frame_time_ms": 248.19982090486033, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "fixed", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.002414627466350794, "reward_forward": 0.003387559509753224, "reward_survive": 1.0, "scheduled_time_ms": 248.19982090486033, "sim_time_ms": 496.39964180972066, "x_position": 0.09176882200314244, "x_velocity": 0.003387559509753224, "y_position": -0.07647738176575372, "y_velocity": 0.19233704907400756}, "reward": 1.0009729320434024, "sim_time_ms": 248.19982090486033}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [0.31853342056274414, 0.21207772195339203, -0.09224827587604523, -0.07405471801757812, -0.02907942235469818, -0.10451050102710724, 0.02916538715362549, 0.13948214054107666]}, "done": false, "env_step": 2, "episode_id": 0, "info": {"active_action_id": 1, "active_action_obs_env_step": 1, "applied_action": [0.31853342056274414, 0.21207772195339203, -0.09224827587604523, -0.07405471801757812, -0.02907942235469818, -0.10451050102710724, 0.02916538715362549, 0.13948214054107666], "applied_action_name": "continuous_torque", "distance_from_origin": 0.1146140639166355, "env_step": 3, "forward_reward": -0.027551710906433546, "frame_time_ms": 248.19982090486033, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "fixed", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.0962541475892067, "reward_forward": -0.027551710906433546, "reward_survive": 1.0, "scheduled_time_ms": 496.39964180972066, "sim_time_ms": 744.599462714581, "x_position": 0.09039123645782077, "x_velocity": -0.027551710906433546, "y_position": -0.07046848954754842, "y_velocity": 0.12017784436410606}, "reward": 0.8761941415043597, "sim_time_ms": 496.39964180972066}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [0.11072541028261185, -0.13178607821464539, 0.2509271204471588, -0.2165224254131317, 0.36084067821502686, 0.029834285378456116, 0.016955196857452393, 0.09975409507751465]}, "done": false, "env_step": 3, "episode_id": 0, "info": {"active_action_id": 2, "active_action_obs_env_step": 2, "applied_action": [0.11072541028261185, -0.13178607821464539, 0.2509271204471588, -0.2165224254131317, 0.36084067821502686, 0.029834285378456116, 0.016955196857452393, 0.09975409507751465], "applied_action_name": "continuous_torque", "distance_from_origin": 0.11778750895041586, "env_step": 4, "forward_reward": 0.0639111327368852, "frame_time_ms": 248.19982090486033, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "fixed", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.14040425419807434, "reward_forward": 0.0639111327368852, "reward_survive": 1.0, "scheduled_time_ms": 744.599462714581, "sim_time_ms": 992.7992836194413, "x_position": 0.09358679309466503, "x_velocity": 0.0639111327368852, "y_position": -0.07152209045463265, "y_velocity": -0.02107201814168458}, "reward": 0.9235068785388107, "sim_time_ms": 744.599462714581}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [0.11152362078428268, -0.26399803161621094, 0.5385183691978455, -0.09523604810237885, 0.2838243246078491, 0.11355146765708923, -0.007293641567230225, 0.021235167980194092]}, "done": false, "env_step": 4, "episode_id": 0, "info": {"active_action_id": 3, "active_action_obs_env_step": 3, "applied_action": [0.11152362078428268, -0.26399803161621094, 0.5385183691978455, -0.09523604810237885, 0.2838243246078491, 0.11355146765708923, -0.007293641567230225, 0.021235167980194092], "applied_action_name": "continuous_torque", "distance_from_origin": 0.1819762849922694, "env_step": 5, "forward_reward": 1.0466340574737432, "frame_time_ms": 248.19982090486033, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "fixed", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.2375793755054474, "reward_forward": 1.0466340574737432, "reward_survive": 1.0, "scheduled_time_ms": 992.7992836194413, "sim_time_ms": 1240.9991045243016, "x_position": 0.14591849596835219, "x_velocity": 1.0466340574737432, "y_position": -0.1087343590311804, "y_velocity": -0.7442453715309549}, "reward": 1.8090546819682958, "sim_time_ms": 992.7992836194413}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [-0.087124302983284, 0.00046506524085998535, 0.320561021566391, -0.20983806252479553, 0.4624602198600769, 0.11958103626966476, -0.11923779547214508, 0.11403931677341461]}, "done": false, "env_step": 5, "episode_id": 0, "info": {"active_action_id": 4, "active_action_obs_env_step": 4, "applied_action": [-0.087124302983284, 0.00046506524085998535, 0.320561021566391, -0.20983806252479553, 0.4624602198600769, 0.11958103626966476, -0.11923779547214508, 0.11403931677341461], "applied_action_name": "continuous_torque", "distance_from_origin": 0.25778485358669057, "env_step": 6, "forward_reward": 1.2689312283446412, "frame_time_ms": 248.19982090486033, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "fixed", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.20488697290420532, "reward_forward": 1.2689312283446412, "reward_survive": 1.0, "scheduled_time_ms": 1240.9991045243016, "sim_time_ms": 1489.198925429162, "x_position": 0.20936505738558425, "x_velocity": 1.2689312283446412, "y_position": -0.15039715251507427, "y_velocity": -0.8332558696778775}, "reward": 2.064044255440436, "sim_time_ms": 1240.9991045243016}
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