diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/published/sim/fixed/4.json b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/published/sim/fixed/4.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cf7f766f9816be440f974440ea8ac10fef196df
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/published/sim/fixed/4.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/4/DONE b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/DONE
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/actions.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..20b16b92e662f7ddc351fafd625437b85fb60cf5
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/actions.jsonl
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/e2e_latencies.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/e2e_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cff9945329893f099a546506716fd0765eef2548
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/e2e_latencies.jsonl
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/episode_metrics.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/episode_metrics.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a40a691451df7e21caabdeb0b8b86f92ee13e610
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/episode_metrics.jsonl
@@ -0,0 +1,2 @@
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/infer_latencies.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/infer_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..01ce2c5c8cdd02a95b5b37cd5174c79536d7e71b
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/infer_latencies.jsonl
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diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/latencies.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..01ce2c5c8cdd02a95b5b37cd5174c79536d7e71b
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/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": 1956, "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": 1957, "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": 1958, "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": 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/4/observation_attempts.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/observation_attempts.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/queue_eval_latency_fixed.json b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/queue_eval_latency_fixed.json
new file mode 100644
index 0000000000000000000000000000000000000000..b80486439f9ed63802f3a6aeb84483d9a6fcdc0f
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/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": 2447.575187827855,
+  "returns": [
+    2591.661500564347,
+    2303.4888750913633
+  ],
+  "seed": 2000180,
+  "source_profile_path": "/workspace/latency-sensitive-bench/results/sim2real/replays/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/4d554e4dcd73eb4074b3f7c819dac1abe263fd40/profile/profile.json",
+  "std_return": 144.0863127364919,
+  "suite_name": "fixed",
+  "timestamp_utc": "2026-09-29T04:07:55.482753+00:00"
+}
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/queue_eval_results.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/queue_eval_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0c52fc1294b12954870f16d802f7745ba59f9142
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/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-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": 2447.575187827855, "returns": [2591.661500564347, 2303.4888750913633], "seed": 2000180, "source_profile_path": "/workspace/latency-sensitive-bench/results/sim2real/replays/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/4d554e4dcd73eb4074b3f7c819dac1abe263fd40/profile/profile.json", "std_return": 144.0863127364919, "suite_name": "fixed", "timestamp_utc": "2026-09-29T04:07:55.482753+00:00"}
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/stdout.log b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/stdout.log
new file mode 100644
index 0000000000000000000000000000000000000000..47fb4a10ac91b7b1526e6e9a29d0b16498f9384a
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/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 [04:03:15] 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 [04:03:20] 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, 25.41it/s]
+[QWen3] gradient_checkpointing ENABLED (use_reentrant=False, active=True, text_use_cache=False)
+Total number of DiT parameters:  157032448
+09/29 [04:03:38] 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 [04:03:39] 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=281.7s
+episode=0 return=2591.662 steps=1000 mean_latency_ms=130.92790511503355
+episode=1 return=2303.489 steps=1000 mean_latency_ms=130.92790511503355
+summary latency=fixed episodes=2 mean_return=2447.575 std_return=144.086 mean_length=1000.0
diff --git a/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/steps.jsonl b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/4/steps.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0beeb5646a6f62316479a6061160e3079ece7a9
--- /dev/null
+++ b/sim2real/ant/qwengr00t/1x-rtx3090/instance_33621945a15d3b38/20260928T235512274259Z/sim/fixed/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": 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": -0.13917013849189272, "reward_survive": 1.0, "scheduled_time_ms": 0.0, "sim_time_ms": 248.19982090486033, "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": [0.04504305124282837, 0.03826814889907837, 0.0028936415910720825, 0.011715391650795937, 0.06720586866140366, -0.008222825825214386, -0.034241631627082825, 0.008487507700920105]}, "done": false, "env_step": 1, "episode_id": 0, "info": {"active_action_id": 0, "active_action_obs_env_step": 0, "applied_action": [0.04504305124282837, 0.03826814889907837, 0.0028936415910720825, 0.011715391650795937, 0.06720586866140366, -0.008222825825214386, -0.034241631627082825, 0.008487507700920105], "applied_action_name": "continuous_torque", "distance_from_origin": 0.05708159223903704, "env_step": 2, "forward_reward": -0.14594273873468266, "frame_time_ms": 248.19982090486033, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "fixed", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.004733860958367586, "reward_forward": -0.14594273873468266, "reward_survive": 1.0, "scheduled_time_ms": 248.19982090486033, "sim_time_ms": 496.39964180972066, "x_position": -0.01995938906136993, "x_velocity": -0.14594273873468266, "y_position": 0.05347832234504519, "y_velocity": -0.07127233093196725}, "reward": 0.8493234003069497, "sim_time_ms": 248.19982090486033}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [0.2725304663181305, 0.18592827022075653, -0.09410181641578674, -0.03988039493560791, -0.0028874650597572327, -0.08816289901733398, -0.04298281669616699, 0.162517249584198]}, "done": false, "env_step": 2, "episode_id": 0, "info": {"active_action_id": 1, "active_action_obs_env_step": 1, "applied_action": [0.2725304663181305, 0.18592827022075653, -0.09410181641578674, -0.03988039493560791, -0.0028874650597572327, -0.08816289901733398, -0.04298281669616699, 0.162517249584198], "applied_action_name": "continuous_torque", "distance_from_origin": 0.049842325881875184, "env_step": 3, "forward_reward": -0.11027322403965381, "frame_time_ms": 248.19982090486033, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "fixed", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.0776640921831131, "reward_forward": -0.11027322403965381, "reward_survive": 1.0, "scheduled_time_ms": 496.39964180972066, "sim_time_ms": 744.599462714581, "x_position": -0.02547305026335262, "x_velocity": -0.11027322403965381, "y_position": 0.04284134871354724, "y_velocity": -0.2127394726299589}, "reward": 0.8120626837772331, "sim_time_ms": 496.39964180972066}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [0.003010958433151245, -0.21599234640598297, 0.33464404940605164, -0.29372626543045044, 0.4338284134864807, 0.06453215330839157, -0.09338159114122391, 0.07985806465148926]}, "done": false, "env_step": 3, "episode_id": 0, "info": {"active_action_id": 2, "active_action_obs_env_step": 2, "applied_action": [0.003010958433151245, -0.21599234640598297, 0.33464404940605164, -0.29372626543045044, 0.4338284134864807, 0.06453215330839157, -0.09338159114122391, 0.07985806465148926], "applied_action_name": "continuous_torque", "distance_from_origin": 0.002645268778828272, "env_step": 4, "forward_reward": 0.4718584699022907, "frame_time_ms": 248.19982090486033, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "fixed", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.22619622945785522, "reward_forward": 0.4718584699022907, "reward_survive": 1.0, "scheduled_time_ms": 744.599462714581, "sim_time_ms": 992.7992836194413, "x_position": -0.0018801267682380862, "x_velocity": 0.4718584699022907, "y_position": -0.0018607982823504073, "y_velocity": -0.894042939917953}, "reward": 1.2456622404444355, "sim_time_ms": 744.599462714581}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [0.035513848066329956, -0.2562282681465149, 0.5372717380523682, -0.07548007369041443, 0.0938456654548645, 0.13544464111328125, 0.12400057911872864, 0.07036595791578293]}, "done": false, "env_step": 4, "episode_id": 0, "info": {"active_action_id": 3, "active_action_obs_env_step": 3, "applied_action": [0.035513848066329956, -0.2562282681465149, 0.5372717380523682, -0.07548007369041443, 0.0938456654548645, 0.13544464111328125, 0.12400057911872864, 0.07036595791578293], "applied_action_name": "continuous_torque", "distance_from_origin": 0.05663700186579124, "env_step": 5, "forward_reward": 0.5608387495667985, "frame_time_ms": 248.19982090486033, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "fixed", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.20437605679035187, "reward_forward": 0.5608387495667985, "reward_survive": 1.0, "scheduled_time_ms": 992.7992836194413, "sim_time_ms": 1240.9991045243016, "x_position": 0.02616181071010184, "x_velocity": 0.5608387495667985, "y_position": -0.05023255558613797, "y_velocity": -0.9674351460757513}, "reward": 1.3564626927764465, "sim_time_ms": 992.7992836194413}
+{"active_action": {"is_noop": false, "is_oneshot": false, "name": "continuous_torque", "value": [-0.07086578011512756, 0.06328344345092773, 0.15631434321403503, -0.15430787205696106, 0.29558002948760986, 0.08996806293725967, -0.11169087886810303, 0.18409015238285065]}, "done": false, "env_step": 5, "episode_id": 0, "info": {"active_action_id": 4, "active_action_obs_env_step": 4, "applied_action": [-0.07086578011512756, 0.06328344345092773, 0.15631434321403503, -0.15430787205696106, 0.29558002948760986, 0.08996806293725967, -0.11169087886810303, 0.18409015238285065], "applied_action_name": "continuous_torque", "distance_from_origin": 0.12226933046670625, "env_step": 6, "forward_reward": 0.9210823297332572, "frame_time_ms": 248.19982090486033, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "fixed", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.09954884648323059, "reward_forward": 0.9210823297332572, "reward_survive": 1.0, "scheduled_time_ms": 1240.9991045243016, "sim_time_ms": 1489.198925429162, "x_position": 0.0722159271967647, "x_velocity": 0.9210823297332572, "y_position": -0.09866432502119599, "y_velocity": -0.9686353887011603}, "reward": 1.8215334832500267, "sim_time_ms": 1240.9991045243016}
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