diff --git a/sim2real-fivegpu/20261001/nodes/l40s/node_state.json b/sim2real-fivegpu/20261001/nodes/l40s/node_state.json
index 67c49be1f0c3988fd23a0c1c5b7e56ff74faa90b..ea9df64e0ce57bca3a3eecfa9dd3c8fbe8402f45 100644
--- a/sim2real-fivegpu/20261001/nodes/l40s/node_state.json
+++ b/sim2real-fivegpu/20261001/nodes/l40s/node_state.json
@@ -1,9 +1,9 @@
 {
-  "completed_runs": 45,
+  "completed_runs": 49,
   "gpu": "l40s",
-  "heartbeat_at": 1790811639.5539653,
+  "heartbeat_at": 1790812555.8861299,
   "model": "qwengr00t",
-  "progress_at": 1790811516.2897277,
+  "progress_at": 1790812421.7779865,
   "state": "running",
   "task": "inverted_pendulum"
 }
diff --git a/sim2real-fivegpu/20261001/nodes/l40s/published/heartbeat/1790812555.json b/sim2real-fivegpu/20261001/nodes/l40s/published/heartbeat/1790812555.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8fa519bb1bfcff3e677147efcad8e8361a00131
--- /dev/null
+++ b/sim2real-fivegpu/20261001/nodes/l40s/published/heartbeat/1790812555.json
@@ -0,0 +1 @@
+{"stage": "heartbeat/1790812555", "files": ["node_state.json", "publisher_status.json"]}
\ No newline at end of file
diff --git a/sim2real-fivegpu/20261001/nodes/l40s/publisher_status.json b/sim2real-fivegpu/20261001/nodes/l40s/publisher_status.json
index b9955a89e1dc2617ebdd5ae84bdcdf774dd91b00..4696922f7366e33f37268b801cf76188f6181780 100644
--- a/sim2real-fivegpu/20261001/nodes/l40s/publisher_status.json
+++ b/sim2real-fivegpu/20261001/nodes/l40s/publisher_status.json
@@ -1,7 +1,7 @@
 {
-  "at": 1790810747.0465033,
-  "pending_stages": 0,
-  "revision": "b55c4ee434077606c4ac26d20fc62a84a7d38d18",
-  "stages": 5,
+  "at": 1790811655.1331224,
+  "pending_stages": 1,
+  "revision": "cfa6bd013af835c703fc2dfbb339ed66ced00c7d",
+  "stages": 4,
   "state": "published"
 }
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/published/real/45.json b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/published/real/45.json
new file mode 100644
index 0000000000000000000000000000000000000000..0091ff7da78922ffcd9935f18350ef055568d25d
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/published/real/45.json
@@ -0,0 +1 @@
+{"stage": "real/45", "files": ["real/45/DONE", "real/45/actions.jsonl", "real/45/e2e_latencies.jsonl", "real/45/episode_metrics.jsonl", "real/45/eval_latency_trace.png", "real/45/latencies.jsonl", "real/45/observation_attempts.jsonl", "real/45/queue_eval_latency_measured.json", "real/45/queue_eval_results.jsonl", "real/45/realtime_pipeline_profile.jsonl", "real/45/realtime_pipeline_summary.json", "real/45/stdout.log", "real/45/steps.jsonl", "real/45/warmup_latencies.jsonl", "real/45/warmup_pipeline_profile.jsonl", "real/45/warmup_stability.png", "real/45/warmup_summary.json"]}
\ No newline at end of file
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/published/real/46.json b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/published/real/46.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eca43aabb75821c0093afd41bf80ee9cc64ed02
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/published/real/46.json
@@ -0,0 +1 @@
+{"stage": "real/46", "files": ["real/46/DONE", "real/46/actions.jsonl", "real/46/e2e_latencies.jsonl", "real/46/episode_metrics.jsonl", "real/46/eval_latency_trace.png", "real/46/latencies.jsonl", "real/46/observation_attempts.jsonl", "real/46/queue_eval_latency_measured.json", "real/46/queue_eval_results.jsonl", "real/46/realtime_pipeline_profile.jsonl", "real/46/realtime_pipeline_summary.json", "real/46/stdout.log", "real/46/steps.jsonl", "real/46/warmup_latencies.jsonl", "real/46/warmup_pipeline_profile.jsonl", "real/46/warmup_stability.png", "real/46/warmup_summary.json"]}
\ No newline at end of file
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/published/real/47.json b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/published/real/47.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e16648afd23ccfd92fa7739368a25c8efdc1c49
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/published/real/47.json
@@ -0,0 +1 @@
+{"stage": "real/47", "files": ["real/47/DONE", "real/47/actions.jsonl", "real/47/e2e_latencies.jsonl", "real/47/episode_metrics.jsonl", "real/47/eval_latency_trace.png", "real/47/latencies.jsonl", "real/47/observation_attempts.jsonl", "real/47/queue_eval_latency_measured.json", "real/47/queue_eval_results.jsonl", "real/47/realtime_pipeline_profile.jsonl", "real/47/realtime_pipeline_summary.json", "real/47/stdout.log", "real/47/steps.jsonl", "real/47/warmup_latencies.jsonl", "real/47/warmup_pipeline_profile.jsonl", "real/47/warmup_stability.png", "real/47/warmup_summary.json"]}
\ No newline at end of file
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/published/real/48.json b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/published/real/48.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f6967e321cdc88804f48a2ebb78b0936861628
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/published/real/48.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/DONE b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/DONE
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/actions.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d75c1390b3383d39024d5a9ee3dc615a3ff889c
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/actions.jsonl
@@ -0,0 +1,1998 @@
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/e2e_latencies.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/e2e_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8337ad2d6160fdb2bc1ae3f45e7ee53e9bba5bfe
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/e2e_latencies.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/observation_attempts.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/observation_attempts.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..25e89d82355bb5fad4e52bbeec5f042853bb87b2
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/observation_attempts.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/queue_eval_latency_measured.json b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/queue_eval_latency_measured.json
new file mode 100644
index 0000000000000000000000000000000000000000..9af1cd928e532819d4cf857ff9490157c391e00e
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/queue_eval_latency_measured.json
@@ -0,0 +1,21 @@
+{
+  "checkpoint_kind": "best",
+  "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwengr00t-h1/ip_profile_gr00t_h1_5fps_1h200_20260917/checkpoints/model.pt",
+  "experiment_name": "gr00t_inverted_pendulum_measured",
+  "latency": "measured",
+  "latency_type": "measured",
+  "lengths": [
+    1000,
+    1000
+  ],
+  "mean_length": 1000.0,
+  "mean_return": 1000.0,
+  "returns": [
+    1000.0,
+    1000.0
+  ],
+  "seed": 2000900,
+  "std_return": 0.0,
+  "suite_name": "measured",
+  "timestamp_utc": "2026-09-30T23:40:52.766608+00:00"
+}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/queue_eval_results.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/queue_eval_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a92b28073484f648c6f2dc46213c9dda2da4c2d2
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/queue_eval_results.jsonl
@@ -0,0 +1 @@
+{"checkpoint_kind": "best", "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwengr00t-h1/ip_profile_gr00t_h1_5fps_1h200_20260917/checkpoints/model.pt", "experiment_name": "gr00t_inverted_pendulum_measured", "latency": "measured", "latency_type": "measured", "lengths": [1000, 1000], "mean_length": 1000.0, "mean_return": 1000.0, "returns": [1000.0, 1000.0], "seed": 2000900, "std_return": 0.0, "suite_name": "measured", "timestamp_utc": "2026-09-30T23:40:52.766608+00:00"}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/realtime_pipeline_profile.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/realtime_pipeline_profile.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab7a74c7c916c25defa76e0239b60ad577e2bf9f
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/realtime_pipeline_profile.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/realtime_pipeline_summary.json b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/realtime_pipeline_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ea9ab720cafeb73173688936d585d3ee5af8dae
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/realtime_pipeline_summary.json
@@ -0,0 +1,138 @@
+{
+  "bench_overhead_ms": {
+    "count": 1998,
+    "max": 9.527247041463852,
+    "mean": 2.938034037405903,
+    "p50": 2.907190978527069,
+    "p90": 3.4800009429454803
+  },
+  "inference_latency_ms": {
+    "count": 1998,
+    "max": 131.06827199226245,
+    "mean": 71.44124083764812,
+    "p50": 68.86809700517915,
+    "p90": 72.48636599979363
+  },
+  "num_profiled_actions": 1998,
+  "stages": {
+    "env_action_recv_to_enqueue_ms": {
+      "count": 1998,
+      "max": 0.3176559805870056,
+      "mean": 0.1944668630699257,
+      "p50": 0.2015250027179718,
+      "p90": 0.22422000765800476
+    },
+    "env_observe_ms": {
+      "count": 1998,
+      "max": 0.41990599036216736,
+      "mean": 0.2567774519786701,
+      "p50": 0.26361897587776184,
+      "p90": 0.29713302850723267
+    },
+    "env_scheduler_update_ms": {
+      "count": 1998,
+      "max": 0.1018429696559906,
+      "mean": 0.022709230283597805,
+      "p50": 0.022569000720977783,
+      "p90": 0.02521398663520813
+    },
+    "env_step_ms": {
+      "count": 1998,
+      "max": 7.142704993486404,
+      "mean": 2.087686837539897,
+      "p50": 2.092171013355255,
+      "p90": 2.164805978536606
+    },
+    "env_to_parent_ipc_ms": {
+      "count": 1998,
+      "max": 3.809926003217697,
+      "mean": 0.40512321140613405,
+      "p50": 0.37446802854537964,
+      "p90": 0.49515500664711
+    },
+    "env_wall_lag_ms": {
+      "count": 1998,
+      "max": 1.2164331052117632,
+      "mean": 0.6460632341154956,
+      "p50": 0.6513532120952732,
+      "p90": 1.061059420258971
+    },
+    "parent_observation_handle_ms": {
+      "count": 1998,
+      "max": 0.4736890196800232,
+      "mean": 0.2024278316769872,
+      "p50": 0.1993509829044342,
+      "p90": 0.21936002373695374
+    },
+    "parent_release_ms": {
+      "count": 1998,
+      "max": 0.07558399438858032,
+      "mean": 0.04466730441238071,
+      "p50": 0.045419007539749146,
+      "p90": 0.04966500401496887
+    },
+    "parent_to_env_ipc_ms": {
+      "count": 1998,
+      "max": 3.696707993745804,
+      "mean": 0.3207109546935833,
+      "p50": 0.3323960304260254,
+      "p90": 0.36111098527908325
+    },
+    "parent_to_worker_ipc_ms": {
+      "count": 1998,
+      "max": 0.9014429748058319,
+      "mean": 0.4071892252465984,
+      "p50": 0.42367902398109436,
+      "p90": 0.4928460121154785
+    },
+    "policy_build_example_ms": {
+      "count": 1998,
+      "max": 5.7220579765271395,
+      "mean": 2.5129096857080975,
+      "p50": 2.197270019678399,
+      "p90": 3.724216017872095
+    },
+    "policy_decode_ms": {
+      "count": 1998,
+      "max": 0.09246901026926935,
+      "mean": 0.02556724665645469,
+      "p50": 0.02435100032016635,
+      "p90": 0.031130999559536576
+    },
+    "policy_wrapper_predict_action_ms": {
+      "count": 1998,
+      "max": 124.84317002235912,
+      "mean": 68.73081973054678,
+      "p50": 66.4602150209248,
+      "p90": 69.14495400269516
+    },
+    "worker_observation_attach_ms": {
+      "count": 1998,
+      "max": 6.632587969303131,
+      "mean": 0.13815698943457924,
+      "p50": 0.1116040050983429,
+      "p90": 0.22689399123191833
+    },
+    "worker_observation_localize_ms": {
+      "count": 1998,
+      "max": 1.1725639998912811,
+      "mean": 0.09685027036998603,
+      "p50": 0.08549600839614868,
+      "p90": 0.1284160017967224
+    },
+    "worker_recv_overhead_ms": {
+      "count": 1998,
+      "max": 6.642882019281387,
+      "mean": 0.14925480048518042,
+      "p50": 0.12096500396728516,
+      "p90": 0.24416500329971313
+    },
+    "worker_to_parent_ipc_ms": {
+      "count": 1998,
+      "max": 1.7826760113239288,
+      "mean": 0.9347071641528452,
+      "p50": 0.923458993434906,
+      "p90": 1.4148469865322113
+    }
+  }
+}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/stdout.log b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/stdout.log
new file mode 100644
index 0000000000000000000000000000000000000000..34fbba76e7a177c4d03231b4655887524a8a11b6
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/stdout.log
@@ -0,0 +1,244 @@
+[bench] run=gr00t_inverted_pendulum_measured sweeps=1 episodes_per_sweep=2 total_episode_runs=2
+[bench] sweep 1/1: eval_latency=measured
+09/30 [23:35:54] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/venv/sim2real/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+09/30 [23:35:58] INFO     | >>  Loaded mixtures from Behavior    registry.py:113
+                          (data_config): ['BEHAVIOR_challenge']                 
+                 INFO     | >>  Loaded data_config from DOMINO:  registry.py:107
+                          ['robotwin']                                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          DOMINO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from DOMINO      registry.py:113
+                          (data_config): ['domino',                             
+                          'domino_clean', 'domino_random',                      
+                          'domino_cotrain']                                     
+                 INFO     | >>  Loaded data_config from Franka:  registry.py:107
+                          ['custom_robot_config',                               
+                          'demo_sim_franka_delta_joints',                       
+                          'SO101']                                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Franka (data_config): []                              
+                 INFO     | >>  Loaded mixtures from Franka      registry.py:113
+                          (data_config): ['custom_dataset',                     
+                          'custom_dataset_2',                                   
+                          'demo_sim_pick_place', 'SO101_pick']                  
+                 INFO     | >>  Loaded data_config from LIBERO:  registry.py:107
+                          ['libero_franka']                                     
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          LIBERO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from LIBERO      registry.py:113
+                          (data_config): ['libero_all',                         
+                          'libero_goal', 'multi_robot']                         
+                 INFO     | >>  Loaded data_config from MIKASA:  registry.py:107
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          MIKASA (data_config):                                 
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded mixtures from MIKASA      registry.py:113
+                          (data_config):                                        
+                          ['local/intercept_grab_fast_vla_v0_h1_                
+                          train']                                               
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          RoboChallenge_table30v2:                              
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          RoboChallenge_table30v2 (data_config):                
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          RoboChallenge_table30v2 (data_config):                
+                          ['robochallenge_table30v2_shred_paper'                
+                          , 'robochallenge_table30v2_ur5_all',                  
+                          'robochallenge_table30v2_arx5_all',                   
+                          'robochallenge_table30v2_dosw1_all']                  
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_365:                                         
+                          ['panda_omron_robocasa365']                           
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_365 (data_config): []                        
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_365 (data_config):                           
+                          ['robocasa365_open_drawer_target_human                
+                          ',                                                    
+                          'robocasa365_atomic_target_human_all',                
+                          'robocasa365_composite_target_human_al                
+                          l', 'robocasa365_target_human_all']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_tabletop:                                    
+                          ['fourier_gr1_arms_waist']                            
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_tabletop (data_config): []                   
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_tabletop (data_config):                      
+                          ['fourier_gr1_unified_1000']                          
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robotwin: ['robotwin', 'robotwin50',                  
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robotwin (data_config): []                            
+                 INFO     | >>  Loaded mixtures from Robotwin    registry.py:113
+                          (data_config): ['robotwin_all',                       
+                          'robotwin_all_50', 'robotwin',                        
+                          'robotwin_task1', 'robotwin_task2',                   
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          SimplerEnv: ['oxe_droid',                             
+                          'oxe_bridge', 'oxe_rt1']                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          SimplerEnv (data_config): []                          
+                 INFO     | >>  Loaded mixtures from SimplerEnv  registry.py:113
+                          (data_config): ['bridge',                             
+                          'bridge_rt_1']                                        
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          VLA-Arena: ['vla_arena_franka']                       
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          VLA-Arena (data_config): []                           
+                 INFO     | >>  Loaded mixtures from VLA-Arena   registry.py:113
+                          (data_config): ['vla_arena_L0_S',                     
+                          'vla_arena_L0_M', 'vla_arena_L0_L']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          rl_games: ['rl_games_flappy',                         
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          rl_games (data_config):                               
+                          ['rl_games_flappy',                                   
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded mixtures from rl_games    registry.py:113
+                          (data_config): ['flappy_train',                       
+                          'flappy_train__bridge',                               
+                          'flappy_mixed_latency_train',                         
+                          'flappy_mixed_latency_train__bridge',                 
+                          'demon_attack_train',                                 
+                          'demon_attack_train__bridge',                         
+                          'demon_attack_mixed_latency_train',                   
+                          'demon_attack_mixed_latency_train__bri                
+                          dge', 'defend_the_line_train',                        
+                          'defend_the_line_train__bridge',                      
+                          'defend_the_line_mixed_latency_train',                
+                          'defend_the_line_mixed_latency_train__                
+                          bridge', 'deadly_corridor_train',                     
+                          'deadly_corridor_train__bridge',                      
+                          'deadly_corridor_mixed_latency_train',                
+                          'deadly_corridor_mixed_latency_train__                
+                          bridge', 'asterix_train',                             
+                          'asterix_train__bridge',                              
+                          'asterix_mixed_latency_train',                        
+                          'asterix_mixed_latency_train__bridge',                
+                          'atlantis_train',                                     
+                          'atlantis_train__bridge',                             
+                          'atlantis_mixed_latency_train',                       
+                          'atlantis_mixed_latency_train__bridge'                
+                          , 'h1hand_balance_hard']                              
+                 INFO     | >> PolicyServerWrapper: loading policy_wrapper.py:73
+                          framework from                                        
+                          /workspace/hf/hub/models--latency                     
+                          -sensitive-bench--benchmark-model                     
+                          s/snapshots/180da0effdaaaeacef218                     
+                          cf5fbaa4db41af67495/latency-aware                     
+                          /inverted-pendulum/vla/starvla-qw                     
+                          engr00t-h1/ip_profile_gr00t_h1_5f                     
+                          ps_1h200_20260917/checkpoints/mod                     
+                          el.pt                                                 
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+[QWen3] loading /workspace/hf/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 with gradient_checkpointing=True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00, 41.76it/s]
+[QWen3] gradient_checkpointing ENABLED (use_reentrant=False, active=True, text_use_cache=False)
+Total number of DiT parameters:  157032448
+09/30 [23:36:12] INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+                 INFO     | >> PolicyServerWrapper ready:  policy_wrapper.py:126
+                          action_chunk_size=1,                                  
+                          default_unnorm_key=new_embodimen                      
+                          t,                                                    
+                          available_unnorm_keys=['new_embo                      
+                          diment'],                                             
+                          action_keys=['action.button'],                        
+                          state_keys=['state.game_state']                       
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+[bench] sweep 1/1 episode 1/2 done
+[bench] sweep 1/1 episode 2/2 done
+[bench] sweep 1/1 complete elapsed=299.9s
+episode=0 return=1000.000 steps=1000 mean_latency_ms=69.60889436716509
+episode=1 return=1000.000 steps=1000 mean_latency_ms=73.27358730813117
+summary latency=measured episodes=2 mean_return=1000.000 std_return=0.000 mean_length=1000.0
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/steps.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/steps.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..daa069e097a5fa79d0582de2500167aa9f01e746
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/steps.jsonl
@@ -0,0 +1,2000 @@
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/warmup_latencies.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/warmup_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e8856d762f6cf15dc158cc39f19db44e0c749c5
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/warmup_latencies.jsonl
@@ -0,0 +1,100 @@
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/warmup_pipeline_profile.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/warmup_pipeline_profile.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6b6d6174481f936824a594ce0ca4713e157f2e8a
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/45/warmup_pipeline_profile.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/DONE b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/DONE
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/actions.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b8ba6920e4adc42edc9365f6a36f48c3b4b42bfe
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/actions.jsonl
@@ -0,0 +1,1998 @@
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/e2e_latencies.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/e2e_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aa87105321b9137ea469fa9c60f06e6397f2bb49
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/e2e_latencies.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/observation_attempts.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/observation_attempts.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..454e11beea55941d551646218d9c1cfcb205e971
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/observation_attempts.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/queue_eval_latency_measured.json b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/queue_eval_latency_measured.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6a875e96410048c3325ba5f8acfe84fcc0eb1ab
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/queue_eval_latency_measured.json
@@ -0,0 +1,21 @@
+{
+  "checkpoint_kind": "best",
+  "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwengr00t-h1/ip_profile_gr00t_h1_5fps_1h200_20260917/checkpoints/model.pt",
+  "experiment_name": "gr00t_inverted_pendulum_measured",
+  "latency": "measured",
+  "latency_type": "measured",
+  "lengths": [
+    1000,
+    1000
+  ],
+  "mean_length": 1000.0,
+  "mean_return": 1000.0,
+  "returns": [
+    1000.0,
+    1000.0
+  ],
+  "seed": 2000920,
+  "std_return": 0.0,
+  "suite_name": "measured",
+  "timestamp_utc": "2026-09-30T23:45:54.100063+00:00"
+}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/queue_eval_results.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/queue_eval_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d979f0a829ff92b6e7c014b0e9e41d3b69c2649c
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/queue_eval_results.jsonl
@@ -0,0 +1 @@
+{"checkpoint_kind": "best", "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwengr00t-h1/ip_profile_gr00t_h1_5fps_1h200_20260917/checkpoints/model.pt", "experiment_name": "gr00t_inverted_pendulum_measured", "latency": "measured", "latency_type": "measured", "lengths": [1000, 1000], "mean_length": 1000.0, "mean_return": 1000.0, "returns": [1000.0, 1000.0], "seed": 2000920, "std_return": 0.0, "suite_name": "measured", "timestamp_utc": "2026-09-30T23:45:54.100063+00:00"}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/realtime_pipeline_profile.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/realtime_pipeline_profile.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..32dc0db36a492efa5d9b0a0205b2ace33ba9b04e
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/realtime_pipeline_profile.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/realtime_pipeline_summary.json b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/realtime_pipeline_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5180d8cc31b2449ec2ebce5000449abcb337e4b
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/realtime_pipeline_summary.json
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+      "count": 1998,
+      "max": 0.5644590258598328,
+      "mean": 0.32434581220149994,
+      "p50": 0.303197979927063,
+      "p90": 0.40419498085975647
+    },
+    "policy_build_example_ms": {
+      "count": 1998,
+      "max": 3.9586540078744292,
+      "mean": 2.2177370249685757,
+      "p50": 2.16972001362592,
+      "p90": 2.3072659969329834
+    },
+    "policy_decode_ms": {
+      "count": 1998,
+      "max": 0.06940899766050279,
+      "mean": 0.02397813749939177,
+      "p50": 0.023258005967363715,
+      "p90": 0.027850997867062688
+    },
+    "policy_wrapper_predict_action_ms": {
+      "count": 1998,
+      "max": 114.95550599647686,
+      "mean": 65.83628530234591,
+      "p50": 65.00547600444406,
+      "p90": 67.0801539963577
+    },
+    "worker_observation_attach_ms": {
+      "count": 1998,
+      "max": 9.382833987474442,
+      "mean": 0.09325780742638581,
+      "p50": 0.06921100616455078,
+      "p90": 0.14072301983833313
+    },
+    "worker_observation_localize_ms": {
+      "count": 1998,
+      "max": 0.2906759977340698,
+      "mean": 0.07414885618545869,
+      "p50": 0.06633898615837097,
+      "p90": 0.1028660237789154
+    },
+    "worker_recv_overhead_ms": {
+      "count": 1998,
+      "max": 9.402662992477417,
+      "mean": 0.09990527739634623,
+      "p50": 0.07448896765708923,
+      "p90": 0.1530809998512268
+    },
+    "worker_to_parent_ipc_ms": {
+      "count": 1998,
+      "max": 1.7575169801712036,
+      "mean": 0.9601003355211443,
+      "p50": 0.9763520061969757,
+      "p90": 1.4028249979019165
+    }
+  }
+}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/stdout.log b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/stdout.log
new file mode 100644
index 0000000000000000000000000000000000000000..2e88b299f58160d9779320f830d18b4b709b9548
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/stdout.log
@@ -0,0 +1,244 @@
+[bench] run=gr00t_inverted_pendulum_measured sweeps=1 episodes_per_sweep=2 total_episode_runs=2
+[bench] sweep 1/1: eval_latency=measured
+09/30 [23:40:55] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/venv/sim2real/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+09/30 [23:40:59] INFO     | >>  Loaded mixtures from Behavior    registry.py:113
+                          (data_config): ['BEHAVIOR_challenge']                 
+                 INFO     | >>  Loaded data_config from DOMINO:  registry.py:107
+                          ['robotwin']                                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          DOMINO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from DOMINO      registry.py:113
+                          (data_config): ['domino',                             
+                          'domino_clean', 'domino_random',                      
+                          'domino_cotrain']                                     
+                 INFO     | >>  Loaded data_config from Franka:  registry.py:107
+                          ['custom_robot_config',                               
+                          'demo_sim_franka_delta_joints',                       
+                          'SO101']                                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Franka (data_config): []                              
+                 INFO     | >>  Loaded mixtures from Franka      registry.py:113
+                          (data_config): ['custom_dataset',                     
+                          'custom_dataset_2',                                   
+                          'demo_sim_pick_place', 'SO101_pick']                  
+                 INFO     | >>  Loaded data_config from LIBERO:  registry.py:107
+                          ['libero_franka']                                     
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          LIBERO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from LIBERO      registry.py:113
+                          (data_config): ['libero_all',                         
+                          'libero_goal', 'multi_robot']                         
+                 INFO     | >>  Loaded data_config from MIKASA:  registry.py:107
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          MIKASA (data_config):                                 
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded mixtures from MIKASA      registry.py:113
+                          (data_config):                                        
+                          ['local/intercept_grab_fast_vla_v0_h1_                
+                          train']                                               
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          RoboChallenge_table30v2:                              
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          RoboChallenge_table30v2 (data_config):                
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          RoboChallenge_table30v2 (data_config):                
+                          ['robochallenge_table30v2_shred_paper'                
+                          , 'robochallenge_table30v2_ur5_all',                  
+                          'robochallenge_table30v2_arx5_all',                   
+                          'robochallenge_table30v2_dosw1_all']                  
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_365:                                         
+                          ['panda_omron_robocasa365']                           
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_365 (data_config): []                        
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_365 (data_config):                           
+                          ['robocasa365_open_drawer_target_human                
+                          ',                                                    
+                          'robocasa365_atomic_target_human_all',                
+                          'robocasa365_composite_target_human_al                
+                          l', 'robocasa365_target_human_all']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_tabletop:                                    
+                          ['fourier_gr1_arms_waist']                            
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_tabletop (data_config): []                   
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_tabletop (data_config):                      
+                          ['fourier_gr1_unified_1000']                          
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robotwin: ['robotwin', 'robotwin50',                  
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robotwin (data_config): []                            
+                 INFO     | >>  Loaded mixtures from Robotwin    registry.py:113
+                          (data_config): ['robotwin_all',                       
+                          'robotwin_all_50', 'robotwin',                        
+                          'robotwin_task1', 'robotwin_task2',                   
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          SimplerEnv: ['oxe_droid',                             
+                          'oxe_bridge', 'oxe_rt1']                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          SimplerEnv (data_config): []                          
+                 INFO     | >>  Loaded mixtures from SimplerEnv  registry.py:113
+                          (data_config): ['bridge',                             
+                          'bridge_rt_1']                                        
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          VLA-Arena: ['vla_arena_franka']                       
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          VLA-Arena (data_config): []                           
+                 INFO     | >>  Loaded mixtures from VLA-Arena   registry.py:113
+                          (data_config): ['vla_arena_L0_S',                     
+                          'vla_arena_L0_M', 'vla_arena_L0_L']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          rl_games: ['rl_games_flappy',                         
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          rl_games (data_config):                               
+                          ['rl_games_flappy',                                   
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded mixtures from rl_games    registry.py:113
+                          (data_config): ['flappy_train',                       
+                          'flappy_train__bridge',                               
+                          'flappy_mixed_latency_train',                         
+                          'flappy_mixed_latency_train__bridge',                 
+                          'demon_attack_train',                                 
+                          'demon_attack_train__bridge',                         
+                          'demon_attack_mixed_latency_train',                   
+                          'demon_attack_mixed_latency_train__bri                
+                          dge', 'defend_the_line_train',                        
+                          'defend_the_line_train__bridge',                      
+                          'defend_the_line_mixed_latency_train',                
+                          'defend_the_line_mixed_latency_train__                
+                          bridge', 'deadly_corridor_train',                     
+                          'deadly_corridor_train__bridge',                      
+                          'deadly_corridor_mixed_latency_train',                
+                          'deadly_corridor_mixed_latency_train__                
+                          bridge', 'asterix_train',                             
+                          'asterix_train__bridge',                              
+                          'asterix_mixed_latency_train',                        
+                          'asterix_mixed_latency_train__bridge',                
+                          'atlantis_train',                                     
+                          'atlantis_train__bridge',                             
+                          'atlantis_mixed_latency_train',                       
+                          'atlantis_mixed_latency_train__bridge'                
+                          , 'h1hand_balance_hard']                              
+                 INFO     | >> PolicyServerWrapper: loading policy_wrapper.py:73
+                          framework from                                        
+                          /workspace/hf/hub/models--latency                     
+                          -sensitive-bench--benchmark-model                     
+                          s/snapshots/180da0effdaaaeacef218                     
+                          cf5fbaa4db41af67495/latency-aware                     
+                          /inverted-pendulum/vla/starvla-qw                     
+                          engr00t-h1/ip_profile_gr00t_h1_5f                     
+                          ps_1h200_20260917/checkpoints/mod                     
+                          el.pt                                                 
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+[QWen3] loading /workspace/hf/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, 43.65it/s]
+[QWen3] gradient_checkpointing ENABLED (use_reentrant=False, active=True, text_use_cache=False)
+Total number of DiT parameters:  157032448
+09/30 [23:41:13] INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+                 INFO     | >> PolicyServerWrapper ready:  policy_wrapper.py:126
+                          action_chunk_size=1,                                  
+                          default_unnorm_key=new_embodimen                      
+                          t,                                                    
+                          available_unnorm_keys=['new_embo                      
+                          diment'],                                             
+                          action_keys=['action.button'],                        
+                          state_keys=['state.game_state']                       
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+09/30 [23:41:14] INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+[bench] sweep 1/1 episode 1/2 done
+[bench] sweep 1/1 episode 2/2 done
+[bench] sweep 1/1 complete elapsed=299.6s
+episode=0 return=1000.000 steps=1000 mean_latency_ms=68.77073682171084
+episode=1 return=1000.000 steps=1000 mean_latency_ms=67.66987699293159
+summary latency=measured episodes=2 mean_return=1000.000 std_return=0.000 mean_length=1000.0
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/steps.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/steps.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a70abdb785adc2ba038f8bb7de4e95de9063a963
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/steps.jsonl
@@ -0,0 +1,2000 @@
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 0, "episode_id": 0, "info": {"active_action_id": null, "active_action_obs_env_step": null, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 1, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 0.0, "sim_time_ms": 133.4311540727984, "wall_clock_lag_ms": 0.005384994437918067, "wall_elapsed_ms": 0.005384994437918067}, "reward": 1.0, "sim_time_ms": 0.0}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 1, "episode_id": 0, "info": {"active_action_id": 0, "active_action_obs_env_step": 0, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 2, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 133.4311540727984, "sim_time_ms": 266.8623081455968, "wall_clock_lag_ms": 1.1040539224151757, "wall_elapsed_ms": 134.53520799521357}, "reward": 1.0, "sim_time_ms": 133.4311540727984}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 2, "episode_id": 0, "info": {"active_action_id": 1, "active_action_obs_env_step": 1, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 3, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 266.8623081455968, "sim_time_ms": 400.2934622183952, "wall_clock_lag_ms": 0.2939168432698125, "wall_elapsed_ms": 267.1562249888666}, "reward": 1.0, "sim_time_ms": 266.8623081455968}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 3, "episode_id": 0, "info": {"active_action_id": 2, "active_action_obs_env_step": 2, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 4, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 400.2934622183952, "sim_time_ms": 533.7246162911936, "wall_clock_lag_ms": 0.3745627692856601, "wall_elapsed_ms": 400.66802498768084}, "reward": 1.0, "sim_time_ms": 400.2934622183952}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 4, "episode_id": 0, "info": {"active_action_id": 3, "active_action_obs_env_step": 3, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 5, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 533.7246162911936, "sim_time_ms": 667.1557703639919, "wall_clock_lag_ms": 1.0519817201827664, "wall_elapsed_ms": 534.7765980113763}, "reward": 1.0, "sim_time_ms": 533.7246162911936}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 5, "episode_id": 0, "info": {"active_action_id": 4, "active_action_obs_env_step": 4, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 6, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 667.1557703639919, "sim_time_ms": 800.5869244367904, "wall_clock_lag_ms": 0.6645146231094259, "wall_elapsed_ms": 667.8202849871013}, "reward": 1.0, "sim_time_ms": 667.1557703639919}
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/warmup_latencies.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/warmup_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b982a3259ebd355aa6528555a53c00cd4d2dbd3f
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/warmup_latencies.jsonl
@@ -0,0 +1,100 @@
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/warmup_pipeline_profile.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/warmup_pipeline_profile.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..813ad1068d08fbb4145e44da1bb6bd2b685ccbc3
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/46/warmup_pipeline_profile.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/e2e_latencies.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/e2e_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..44d4ed810e96ddf6927908e8df46ddfb0a44e1e8
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/e2e_latencies.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/episode_metrics.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/episode_metrics.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5f7d11c0d61abbd95928d16a1bd66bd6ec093dbe
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/episode_metrics.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/observation_attempts.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/observation_attempts.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d8f762dffd41b77207cb3dc4a542ce0e54692303
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/observation_attempts.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/queue_eval_latency_measured.json b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/queue_eval_latency_measured.json
new file mode 100644
index 0000000000000000000000000000000000000000..d129f90e691bea89045963b3d22fae36465af3b6
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/queue_eval_latency_measured.json
@@ -0,0 +1,21 @@
+{
+  "checkpoint_kind": "best",
+  "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwengr00t-h1/ip_profile_gr00t_h1_5fps_1h200_20260917/checkpoints/model.pt",
+  "experiment_name": "gr00t_inverted_pendulum_measured",
+  "latency": "measured",
+  "latency_type": "measured",
+  "lengths": [
+    1000,
+    704
+  ],
+  "mean_length": 852.0,
+  "mean_return": 852.0,
+  "returns": [
+    1000.0,
+    704.0
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+  "seed": 2000940,
+  "std_return": 148.0,
+  "suite_name": "measured",
+  "timestamp_utc": "2026-09-30T23:50:17.031131+00:00"
+}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/queue_eval_results.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/queue_eval_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0fe8d07b2461c329283529cefe593fee76891cef
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/queue_eval_results.jsonl
@@ -0,0 +1 @@
+{"checkpoint_kind": "best", "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwengr00t-h1/ip_profile_gr00t_h1_5fps_1h200_20260917/checkpoints/model.pt", "experiment_name": "gr00t_inverted_pendulum_measured", "latency": "measured", "latency_type": "measured", "lengths": [1000, 704], "mean_length": 852.0, "mean_return": 852.0, "returns": [1000.0, 704.0], "seed": 2000940, "std_return": 148.0, "suite_name": "measured", "timestamp_utc": "2026-09-30T23:50:17.031131+00:00"}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/realtime_pipeline_profile.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/realtime_pipeline_profile.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b55a265e8062890f78450fcfc085da628879b87a
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/realtime_pipeline_profile.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/realtime_pipeline_summary.json b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/realtime_pipeline_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..e14f7932c57c33a26f2421f5e9f45b53088bb064
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/realtime_pipeline_summary.json
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+      "max": 0.7605549693107605,
+      "mean": 0.43000334410106433,
+      "p50": 0.4509759843349457,
+      "p90": 0.5208190381526947
+    },
+    "policy_build_example_ms": {
+      "count": 1700,
+      "max": 4.5312989968806505,
+      "mean": 2.4201379485620076,
+      "p50": 2.4464039888698608,
+      "p90": 2.5484310172032565
+    },
+    "policy_decode_ms": {
+      "count": 1700,
+      "max": 0.05994999082759023,
+      "mean": 0.024821529188878175,
+      "p50": 0.024360022507607937,
+      "p90": 0.027784000849351287
+    },
+    "policy_wrapper_predict_action_ms": {
+      "count": 1700,
+      "max": 141.45430098869838,
+      "mean": 69.53479879672693,
+      "p50": 67.83366602030583,
+      "p90": 68.94077800097875
+    },
+    "worker_observation_attach_ms": {
+      "count": 1700,
+      "max": 11.050647020339966,
+      "mean": 0.16953405367977478,
+      "p50": 0.15045899152755737,
+      "p90": 0.2599870264530182
+    },
+    "worker_observation_localize_ms": {
+      "count": 1700,
+      "max": 0.30394500494003296,
+      "mean": 0.09348650650066488,
+      "p50": 0.08963897824287415,
+      "p90": 0.12156200408935547
+    },
+    "worker_recv_overhead_ms": {
+      "count": 1700,
+      "max": 11.07057699561119,
+      "mean": 0.1834759561103933,
+      "p50": 0.1648559868335724,
+      "p90": 0.2829299569129944
+    },
+    "worker_to_parent_ipc_ms": {
+      "count": 1700,
+      "max": 1.7158080041408539,
+      "mean": 0.9140951680260546,
+      "p50": 0.8818769454956055,
+      "p90": 1.4295620024204254
+    }
+  }
+}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/stdout.log b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/stdout.log
new file mode 100644
index 0000000000000000000000000000000000000000..b48b1e5f9a63b915cfb0f0330f920aac6b110616
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/stdout.log
@@ -0,0 +1,244 @@
+[bench] run=gr00t_inverted_pendulum_measured sweeps=1 episodes_per_sweep=2 total_episode_runs=2
+[bench] sweep 1/1: eval_latency=measured
+09/30 [23:45:57] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/venv/sim2real/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+09/30 [23:46:02] INFO     | >>  Loaded mixtures from Behavior    registry.py:113
+                          (data_config): ['BEHAVIOR_challenge']                 
+                 INFO     | >>  Loaded data_config from DOMINO:  registry.py:107
+                          ['robotwin']                                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          DOMINO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from DOMINO      registry.py:113
+                          (data_config): ['domino',                             
+                          'domino_clean', 'domino_random',                      
+                          'domino_cotrain']                                     
+                 INFO     | >>  Loaded data_config from Franka:  registry.py:107
+                          ['custom_robot_config',                               
+                          'demo_sim_franka_delta_joints',                       
+                          'SO101']                                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Franka (data_config): []                              
+                 INFO     | >>  Loaded mixtures from Franka      registry.py:113
+                          (data_config): ['custom_dataset',                     
+                          'custom_dataset_2',                                   
+                          'demo_sim_pick_place', 'SO101_pick']                  
+                 INFO     | >>  Loaded data_config from LIBERO:  registry.py:107
+                          ['libero_franka']                                     
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          LIBERO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from LIBERO      registry.py:113
+                          (data_config): ['libero_all',                         
+                          'libero_goal', 'multi_robot']                         
+                 INFO     | >>  Loaded data_config from MIKASA:  registry.py:107
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          MIKASA (data_config):                                 
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded mixtures from MIKASA      registry.py:113
+                          (data_config):                                        
+                          ['local/intercept_grab_fast_vla_v0_h1_                
+                          train']                                               
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          RoboChallenge_table30v2:                              
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          RoboChallenge_table30v2 (data_config):                
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          RoboChallenge_table30v2 (data_config):                
+                          ['robochallenge_table30v2_shred_paper'                
+                          , 'robochallenge_table30v2_ur5_all',                  
+                          'robochallenge_table30v2_arx5_all',                   
+                          'robochallenge_table30v2_dosw1_all']                  
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_365:                                         
+                          ['panda_omron_robocasa365']                           
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_365 (data_config): []                        
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_365 (data_config):                           
+                          ['robocasa365_open_drawer_target_human                
+                          ',                                                    
+                          'robocasa365_atomic_target_human_all',                
+                          'robocasa365_composite_target_human_al                
+                          l', 'robocasa365_target_human_all']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_tabletop:                                    
+                          ['fourier_gr1_arms_waist']                            
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_tabletop (data_config): []                   
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_tabletop (data_config):                      
+                          ['fourier_gr1_unified_1000']                          
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robotwin: ['robotwin', 'robotwin50',                  
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robotwin (data_config): []                            
+                 INFO     | >>  Loaded mixtures from Robotwin    registry.py:113
+                          (data_config): ['robotwin_all',                       
+                          'robotwin_all_50', 'robotwin',                        
+                          'robotwin_task1', 'robotwin_task2',                   
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          SimplerEnv: ['oxe_droid',                             
+                          'oxe_bridge', 'oxe_rt1']                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          SimplerEnv (data_config): []                          
+                 INFO     | >>  Loaded mixtures from SimplerEnv  registry.py:113
+                          (data_config): ['bridge',                             
+                          'bridge_rt_1']                                        
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          VLA-Arena: ['vla_arena_franka']                       
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          VLA-Arena (data_config): []                           
+                 INFO     | >>  Loaded mixtures from VLA-Arena   registry.py:113
+                          (data_config): ['vla_arena_L0_S',                     
+                          'vla_arena_L0_M', 'vla_arena_L0_L']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          rl_games: ['rl_games_flappy',                         
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          rl_games (data_config):                               
+                          ['rl_games_flappy',                                   
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded mixtures from rl_games    registry.py:113
+                          (data_config): ['flappy_train',                       
+                          'flappy_train__bridge',                               
+                          'flappy_mixed_latency_train',                         
+                          'flappy_mixed_latency_train__bridge',                 
+                          'demon_attack_train',                                 
+                          'demon_attack_train__bridge',                         
+                          'demon_attack_mixed_latency_train',                   
+                          'demon_attack_mixed_latency_train__bri                
+                          dge', 'defend_the_line_train',                        
+                          'defend_the_line_train__bridge',                      
+                          'defend_the_line_mixed_latency_train',                
+                          'defend_the_line_mixed_latency_train__                
+                          bridge', 'deadly_corridor_train',                     
+                          'deadly_corridor_train__bridge',                      
+                          'deadly_corridor_mixed_latency_train',                
+                          'deadly_corridor_mixed_latency_train__                
+                          bridge', 'asterix_train',                             
+                          'asterix_train__bridge',                              
+                          'asterix_mixed_latency_train',                        
+                          'asterix_mixed_latency_train__bridge',                
+                          'atlantis_train',                                     
+                          'atlantis_train__bridge',                             
+                          'atlantis_mixed_latency_train',                       
+                          'atlantis_mixed_latency_train__bridge'                
+                          , 'h1hand_balance_hard']                              
+                 INFO     | >> PolicyServerWrapper: loading policy_wrapper.py:73
+                          framework from                                        
+                          /workspace/hf/hub/models--latency                     
+                          -sensitive-bench--benchmark-model                     
+                          s/snapshots/180da0effdaaaeacef218                     
+                          cf5fbaa4db41af67495/latency-aware                     
+                          /inverted-pendulum/vla/starvla-qw                     
+                          engr00t-h1/ip_profile_gr00t_h1_5f                     
+                          ps_1h200_20260917/checkpoints/mod                     
+                          el.pt                                                 
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+[QWen3] loading /workspace/hf/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, 40.30it/s]
+[QWen3] gradient_checkpointing ENABLED (use_reentrant=False, active=True, text_use_cache=False)
+Total number of DiT parameters:  157032448
+09/30 [23:46:16] INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+                 INFO     | >> PolicyServerWrapper ready:  policy_wrapper.py:126
+                          action_chunk_size=1,                                  
+                          default_unnorm_key=new_embodimen                      
+                          t,                                                    
+                          available_unnorm_keys=['new_embo                      
+                          diment'],                                             
+                          action_keys=['action.button'],                        
+                          state_keys=['state.game_state']                       
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+[bench] sweep 1/1 episode 1/2 done
+[bench] sweep 1/1 episode 2/2 done
+[bench] sweep 1/1 complete elapsed=261.0s
+episode=0 return=1000.000 steps=1000 mean_latency_ms=71.50234825573759
+episode=1 return=704.000 steps=704 mean_latency_ms=73.0710637687354
+summary latency=measured episodes=2 mean_return=852.000 std_return=148.000 mean_length=852.0
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/steps.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/steps.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dff1982344e5296c6e8845bf9448682b2fcb7c59
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/steps.jsonl
@@ -0,0 +1,1704 @@
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 0, "episode_id": 0, "info": {"active_action_id": null, "active_action_obs_env_step": null, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 1, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 0.0, "sim_time_ms": 133.4311540727984, "wall_clock_lag_ms": 0.005852984031662345, "wall_elapsed_ms": 0.005852984031662345}, "reward": 1.0, "sim_time_ms": 0.0}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 1, "episode_id": 0, "info": {"active_action_id": 0, "active_action_obs_env_step": 0, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 2, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 133.4311540727984, "sim_time_ms": 266.8623081455968, "wall_clock_lag_ms": 0.20908890054414542, "wall_elapsed_ms": 133.64024297334254}, "reward": 1.0, "sim_time_ms": 133.4311540727984}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 2, "episode_id": 0, "info": {"active_action_id": 1, "active_action_obs_env_step": 1, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 3, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 266.8623081455968, "sim_time_ms": 400.2934622183952, "wall_clock_lag_ms": 0.7136518495593691, "wall_elapsed_ms": 267.57595999515615}, "reward": 1.0, "sim_time_ms": 266.8623081455968}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 3, "episode_id": 0, "info": {"active_action_id": 2, "active_action_obs_env_step": 2, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 4, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 400.2934622183952, "sim_time_ms": 533.7246162911936, "wall_clock_lag_ms": 0.3062357647300473, "wall_elapsed_ms": 400.5996979831252}, "reward": 1.0, "sim_time_ms": 400.2934622183952}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 4, "episode_id": 0, "info": {"active_action_id": 3, "active_action_obs_env_step": 3, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 5, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 533.7246162911936, "sim_time_ms": 667.1557703639919, "wall_clock_lag_ms": 0.19787769046956782, "wall_elapsed_ms": 533.9224939816631}, "reward": 1.0, "sim_time_ms": 533.7246162911936}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 5, "episode_id": 0, "info": {"active_action_id": 4, "active_action_obs_env_step": 4, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 6, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 667.1557703639919, "sim_time_ms": 800.5869244367904, "wall_clock_lag_ms": 0.6777656262202072, "wall_elapsed_ms": 667.8335359902121}, "reward": 1.0, "sim_time_ms": 667.1557703639919}
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/warmup_latencies.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/warmup_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc8d7137a9443695fefa10ed5e543f6bfad2b6cb
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/warmup_latencies.jsonl
@@ -0,0 +1,100 @@
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/warmup_pipeline_profile.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/warmup_pipeline_profile.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eee463fe3039a5043944db498b3ca50cee8476bf
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/47/warmup_pipeline_profile.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/DONE b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/DONE
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/actions.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3583a52d578823f468ac478ac7b248c98cbfcdf8
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/actions.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/e2e_latencies.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/e2e_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ac9e0ae3f813b1bfeb2025423bcf4221e9e56f0
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/e2e_latencies.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/observation_attempts.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/observation_attempts.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dda97357d10f78b6752b0cb8068ebe29bfa9aa87
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/observation_attempts.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/queue_eval_latency_measured.json b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/queue_eval_latency_measured.json
new file mode 100644
index 0000000000000000000000000000000000000000..65ca0cf10cf3c4b3956340f8b0a73c16eb6979a2
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/queue_eval_latency_measured.json
@@ -0,0 +1,21 @@
+{
+  "checkpoint_kind": "best",
+  "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwengr00t-h1/ip_profile_gr00t_h1_5fps_1h200_20260917/checkpoints/model.pt",
+  "experiment_name": "gr00t_inverted_pendulum_measured",
+  "latency": "measured",
+  "latency_type": "measured",
+  "lengths": [
+    66,
+    1000
+  ],
+  "mean_length": 533.0,
+  "mean_return": 533.0,
+  "returns": [
+    66.0,
+    1000.0
+  ],
+  "seed": 2000960,
+  "std_return": 467.0,
+  "suite_name": "measured",
+  "timestamp_utc": "2026-09-30T23:53:19.084947+00:00"
+}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/queue_eval_results.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/queue_eval_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0598355fda3391c84340da29dea8050b48a5588a
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/queue_eval_results.jsonl
@@ -0,0 +1 @@
+{"checkpoint_kind": "best", "checkpoint_path": "/workspace/hf/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/inverted-pendulum/vla/starvla-qwengr00t-h1/ip_profile_gr00t_h1_5fps_1h200_20260917/checkpoints/model.pt", "experiment_name": "gr00t_inverted_pendulum_measured", "latency": "measured", "latency_type": "measured", "lengths": [66, 1000], "mean_length": 533.0, "mean_return": 533.0, "returns": [66.0, 1000.0], "seed": 2000960, "std_return": 467.0, "suite_name": "measured", "timestamp_utc": "2026-09-30T23:53:19.084947+00:00"}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/realtime_pipeline_profile.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/realtime_pipeline_profile.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b72a8bc5a24fcbd551ad253f5ec36db516eadab
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/realtime_pipeline_profile.jsonl
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+{"action_id": 1062, "apply_raw_frame": 999, "bench_overhead_ms": 2.404030978679657, "device": "cuda:0", "env_action_recv_to_enqueue_ms": 0.19463497400283813, "env_observe_ms": 0.25379300117492676, "env_scheduler_update_ms": 0.02332499623298645, "env_step_ms": 2.063570022583008, "env_to_parent_ipc_ms": 0.3463920056819916, "env_wall_lag_ms": 0.7513313470699359, "inference_latency_ms": 68.91958400956355, "obs_env_step": 998, "obs_id": 1164, "parent_observation_handle_ms": 0.1922360360622406, "parent_release_ms": 0.04128900170326233, "parent_to_env_ipc_ms": 0.33903297781944275, "parent_to_worker_ipc_ms": 0.2833560109138489, "policy_build_example_ms": 2.1677309996448457, "policy_decode_ms": 0.021790998289361596, "policy_wrapper_predict_action_ms": 66.59664399921894, "ready_step_float": 998.5221487878207, "ready_time_ms": 133233.96268000943, "worker_observation_attach_ms": 0.08199897408485413, "worker_observation_localize_ms": 0.06327599287033081, "worker_recv_overhead_ms": 0.08690598607063293, "worker_to_parent_ipc_ms": 0.6430659890174866}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/realtime_pipeline_summary.json b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/realtime_pipeline_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..08b86a71a5d574e76bdf82db36273549986ff160
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/realtime_pipeline_summary.json
@@ -0,0 +1,138 @@
+{
+  "bench_overhead_ms": {
+    "count": 1062,
+    "max": 9.403973072767258,
+    "mean": 2.9182070994332237,
+    "p50": 2.9038100242614746,
+    "p90": 3.3848060369491577
+  },
+  "inference_latency_ms": {
+    "count": 1062,
+    "max": 134.42398598999716,
+    "mean": 71.66691085749233,
+    "p50": 69.549800013192,
+    "p90": 72.37068598624319
+  },
+  "num_profiled_actions": 1062,
+  "stages": {
+    "env_action_recv_to_enqueue_ms": {
+      "count": 1062,
+      "max": 0.3241879642009735,
+      "mean": 0.20550021130710897,
+      "p50": 0.20247501134872437,
+      "p90": 0.22451499104499817
+    },
+    "env_observe_ms": {
+      "count": 1062,
+      "max": 0.38707101345062256,
+      "mean": 0.26804565446075973,
+      "p50": 0.26332399249076843,
+      "p90": 0.2970230281352997
+    },
+    "env_scheduler_update_ms": {
+      "count": 1062,
+      "max": 0.060560017824172974,
+      "mean": 0.024862412538681104,
+      "p50": 0.02387899160385132,
+      "p90": 0.029252976179122925
+    },
+    "env_step_ms": {
+      "count": 1062,
+      "max": 6.056040972471237,
+      "mean": 2.129192720053335,
+      "p50": 2.085161030292511,
+      "p90": 2.2967589795589447
+    },
+    "env_to_parent_ipc_ms": {
+      "count": 1062,
+      "max": 0.8815800249576569,
+      "mean": 0.41035329905494683,
+      "p50": 0.38269197940826416,
+      "p90": 0.49754899740219116
+    },
+    "env_wall_lag_ms": {
+      "count": 1062,
+      "max": 4.523851751930124,
+      "mean": 0.658715207232797,
+      "p50": 0.6635844373213331,
+      "p90": 1.0524172472505597
+    },
+    "parent_observation_handle_ms": {
+      "count": 1062,
+      "max": 0.47846001386642456,
+      "mean": 0.20820856386209835,
+      "p50": 0.20302000641822815,
+      "p90": 0.2276950180530548
+    },
+    "parent_release_ms": {
+      "count": 1062,
+      "max": 0.07458803057670593,
+      "mean": 0.04781825366217762,
+      "p50": 0.04628801345825195,
+      "p90": 0.05636399984359741
+    },
+    "parent_to_env_ipc_ms": {
+      "count": 1062,
+      "max": 3.2088509798049927,
+      "mean": 0.33871407231593087,
+      "p50": 0.3303230106830597,
+      "p90": 0.35663798451423645
+    },
+    "parent_to_worker_ipc_ms": {
+      "count": 1062,
+      "max": 0.6169339716434479,
+      "mean": 0.3405608037546305,
+      "p50": 0.3098070025444031,
+      "p90": 0.4528439939022064
+    },
+    "policy_build_example_ms": {
+      "count": 1062,
+      "max": 5.511633993592113,
+      "mean": 2.288442403821296,
+      "p50": 2.189204009482637,
+      "p90": 2.363983017858118
+    },
+    "policy_decode_ms": {
+      "count": 1062,
+      "max": 0.055074982810765505,
+      "mean": 0.02585487175389086,
+      "p50": 0.024816981749609113,
+      "p90": 0.029768998501822352
+    },
+    "policy_wrapper_predict_action_ms": {
+      "count": 1062,
+      "max": 128.35914100287482,
+      "mean": 69.20173634080986,
+      "p50": 67.18024099245667,
+      "p90": 69.85002898727544
+    },
+    "worker_observation_attach_ms": {
+      "count": 1062,
+      "max": 6.43902000784874,
+      "mean": 0.10650844950572695,
+      "p50": 0.07289198040962219,
+      "p90": 0.18514898419380188
+    },
+    "worker_observation_localize_ms": {
+      "count": 1062,
+      "max": 0.31931599974632263,
+      "mean": 0.0777404905768662,
+      "p50": 0.0676790177822113,
+      "p90": 0.10836097598075867
+    },
+    "worker_recv_overhead_ms": {
+      "count": 1062,
+      "max": 6.459278047084808,
+      "mean": 0.11387390928192102,
+      "p50": 0.0782410204410553,
+      "p90": 0.19834202527999878
+    },
+    "worker_to_parent_ipc_ms": {
+      "count": 1062,
+      "max": 1.7386859953403473,
+      "mean": 0.9602699191949686,
+      "p50": 0.9501180052757263,
+      "p90": 1.4101180136203766
+    }
+  }
+}
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/stdout.log b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/stdout.log
new file mode 100644
index 0000000000000000000000000000000000000000..262725abf1094acbcaf203bcf636b25855d9f4b1
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/stdout.log
@@ -0,0 +1,244 @@
+[bench] run=gr00t_inverted_pendulum_measured sweeps=1 episodes_per_sweep=2 total_episode_runs=2
+[bench] sweep 1/1: eval_latency=measured
+09/30 [23:50:20] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/venv/sim2real/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+09/30 [23:50:26] INFO     | >>  Loaded mixtures from Behavior    registry.py:113
+                          (data_config): ['BEHAVIOR_challenge']                 
+                 INFO     | >>  Loaded data_config from DOMINO:  registry.py:107
+                          ['robotwin']                                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          DOMINO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from DOMINO      registry.py:113
+                          (data_config): ['domino',                             
+                          'domino_clean', 'domino_random',                      
+                          'domino_cotrain']                                     
+                 INFO     | >>  Loaded data_config from Franka:  registry.py:107
+                          ['custom_robot_config',                               
+                          'demo_sim_franka_delta_joints',                       
+                          'SO101']                                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Franka (data_config): []                              
+                 INFO     | >>  Loaded mixtures from Franka      registry.py:113
+                          (data_config): ['custom_dataset',                     
+                          'custom_dataset_2',                                   
+                          'demo_sim_pick_place', 'SO101_pick']                  
+                 INFO     | >>  Loaded data_config from LIBERO:  registry.py:107
+                          ['libero_franka']                                     
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          LIBERO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from LIBERO      registry.py:113
+                          (data_config): ['libero_all',                         
+                          'libero_goal', 'multi_robot']                         
+                 INFO     | >>  Loaded data_config from MIKASA:  registry.py:107
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          MIKASA (data_config):                                 
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded mixtures from MIKASA      registry.py:113
+                          (data_config):                                        
+                          ['local/intercept_grab_fast_vla_v0_h1_                
+                          train']                                               
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          RoboChallenge_table30v2:                              
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          RoboChallenge_table30v2 (data_config):                
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          RoboChallenge_table30v2 (data_config):                
+                          ['robochallenge_table30v2_shred_paper'                
+                          , 'robochallenge_table30v2_ur5_all',                  
+                          'robochallenge_table30v2_arx5_all',                   
+                          'robochallenge_table30v2_dosw1_all']                  
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_365:                                         
+                          ['panda_omron_robocasa365']                           
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_365 (data_config): []                        
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_365 (data_config):                           
+                          ['robocasa365_open_drawer_target_human                
+                          ',                                                    
+                          'robocasa365_atomic_target_human_all',                
+                          'robocasa365_composite_target_human_al                
+                          l', 'robocasa365_target_human_all']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_tabletop:                                    
+                          ['fourier_gr1_arms_waist']                            
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_tabletop (data_config): []                   
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_tabletop (data_config):                      
+                          ['fourier_gr1_unified_1000']                          
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robotwin: ['robotwin', 'robotwin50',                  
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robotwin (data_config): []                            
+                 INFO     | >>  Loaded mixtures from Robotwin    registry.py:113
+                          (data_config): ['robotwin_all',                       
+                          'robotwin_all_50', 'robotwin',                        
+                          'robotwin_task1', 'robotwin_task2',                   
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          SimplerEnv: ['oxe_droid',                             
+                          'oxe_bridge', 'oxe_rt1']                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          SimplerEnv (data_config): []                          
+                 INFO     | >>  Loaded mixtures from SimplerEnv  registry.py:113
+                          (data_config): ['bridge',                             
+                          'bridge_rt_1']                                        
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          VLA-Arena: ['vla_arena_franka']                       
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          VLA-Arena (data_config): []                           
+                 INFO     | >>  Loaded mixtures from VLA-Arena   registry.py:113
+                          (data_config): ['vla_arena_L0_S',                     
+                          'vla_arena_L0_M', 'vla_arena_L0_L']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          rl_games: ['rl_games_flappy',                         
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          rl_games (data_config):                               
+                          ['rl_games_flappy',                                   
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded mixtures from rl_games    registry.py:113
+                          (data_config): ['flappy_train',                       
+                          'flappy_train__bridge',                               
+                          'flappy_mixed_latency_train',                         
+                          'flappy_mixed_latency_train__bridge',                 
+                          'demon_attack_train',                                 
+                          'demon_attack_train__bridge',                         
+                          'demon_attack_mixed_latency_train',                   
+                          'demon_attack_mixed_latency_train__bri                
+                          dge', 'defend_the_line_train',                        
+                          'defend_the_line_train__bridge',                      
+                          'defend_the_line_mixed_latency_train',                
+                          'defend_the_line_mixed_latency_train__                
+                          bridge', 'deadly_corridor_train',                     
+                          'deadly_corridor_train__bridge',                      
+                          'deadly_corridor_mixed_latency_train',                
+                          'deadly_corridor_mixed_latency_train__                
+                          bridge', 'asterix_train',                             
+                          'asterix_train__bridge',                              
+                          'asterix_mixed_latency_train',                        
+                          'asterix_mixed_latency_train__bridge',                
+                          'atlantis_train',                                     
+                          'atlantis_train__bridge',                             
+                          'atlantis_mixed_latency_train',                       
+                          'atlantis_mixed_latency_train__bridge'                
+                          , 'h1hand_balance_hard']                              
+                 INFO     | >> PolicyServerWrapper: loading policy_wrapper.py:73
+                          framework from                                        
+                          /workspace/hf/hub/models--latency                     
+                          -sensitive-bench--benchmark-model                     
+                          s/snapshots/180da0effdaaaeacef218                     
+                          cf5fbaa4db41af67495/latency-aware                     
+                          /inverted-pendulum/vla/starvla-qw                     
+                          engr00t-h1/ip_profile_gr00t_h1_5f                     
+                          ps_1h200_20260917/checkpoints/mod                     
+                          el.pt                                                 
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+[QWen3] loading /workspace/hf/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, 22.91it/s]
+[QWen3] gradient_checkpointing ENABLED (use_reentrant=False, active=True, text_use_cache=False)
+Total number of DiT parameters:  157032448
+09/30 [23:50:42] INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+                 INFO     | >> PolicyServerWrapper ready:  policy_wrapper.py:126
+                          action_chunk_size=1,                                  
+                          default_unnorm_key=new_embodimen                      
+                          t,                                                    
+                          available_unnorm_keys=['new_embo                      
+                          diment'],                                             
+                          action_keys=['action.button'],                        
+                          state_keys=['state.game_state']                       
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/hf/hub/models--latency-                   
+                          sensitive-bench--benchmark-models/s                   
+                          napshots/180da0effdaaaeacef218cf5fb                   
+                          aa4db41af67495/latency-aware/invert                   
+                          ed-pendulum/vla/starvla-qwengr00t-h                   
+                          1/ip_profile_gr00t_h1_5fps_1h200_20                   
+                          260917/checkpoints/model.pt`                          
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[5]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+[bench] sweep 1/1 episode 1/2 done
+[bench] sweep 1/1 episode 2/2 done
+[bench] sweep 1/1 complete elapsed=180.3s
+episode=0 return=66.000 steps=66 mean_latency_ms=79.44392670671313
+episode=1 return=1000.000 steps=1000 mean_latency_ms=71.21923570314708
+summary latency=measured episodes=2 mean_return=533.000 std_return=467.000 mean_length=533.0
diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/steps.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/steps.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8dce4c2344ed9e291989832e31016ec33de70060
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/steps.jsonl
@@ -0,0 +1,1066 @@
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 0, "episode_id": 0, "info": {"active_action_id": null, "active_action_obs_env_step": null, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 1, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 0.0, "sim_time_ms": 133.4311540727984, "wall_clock_lag_ms": 0.011966010788455606, "wall_elapsed_ms": 0.011966010788455606}, "reward": 1.0, "sim_time_ms": 0.0}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 1, "episode_id": 0, "info": {"active_action_id": 0, "active_action_obs_env_step": 0, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 2, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 133.4311540727984, "sim_time_ms": 266.8623081455968, "wall_clock_lag_ms": 0.8213489467263457, "wall_elapsed_ms": 134.25250301952474}, "reward": 1.0, "sim_time_ms": 133.4311540727984}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 2, "episode_id": 0, "info": {"active_action_id": 1, "active_action_obs_env_step": 1, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 3, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 266.8623081455968, "sim_time_ms": 400.2934622183952, "wall_clock_lag_ms": 0.22142586637926343, "wall_elapsed_ms": 267.08373401197605}, "reward": 1.0, "sim_time_ms": 266.8623081455968}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 3, "episode_id": 0, "info": {"active_action_id": 2, "active_action_obs_env_step": 2, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 4, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 400.2934622183952, "sim_time_ms": 533.7246162911936, "wall_clock_lag_ms": 0.39724280228398356, "wall_elapsed_ms": 400.69070502067916}, "reward": 1.0, "sim_time_ms": 400.2934622183952}
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "zero_force", "value": 2}, "done": false, "env_step": 4, "episode_id": 0, "info": {"active_action_id": 3, "active_action_obs_env_step": 3, "applied_action": 2, "applied_action_name": "zero_force", "env_step": 5, "frame_time_ms": 133.4311540727984, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "measured", "observation_dropped": false, "observation_submitted": true, "scheduled_time_ms": 533.7246162911936, "sim_time_ms": 667.1557703639919, "wall_clock_lag_ms": 0.8932987307605345, "wall_elapsed_ms": 534.6179150219541}, "reward": 1.0, "sim_time_ms": 533.7246162911936}
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/warmup_latencies.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/warmup_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..05a8f62da092fa0d133c424935f471ff6d04036c
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/warmup_latencies.jsonl
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diff --git a/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/warmup_pipeline_profile.jsonl b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/warmup_pipeline_profile.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3061220babe12da068ecbf2eede79413d52b9f8
--- /dev/null
+++ b/sim2real/inverted_pendulum/qwengr00t/1x-l40s/instance_6c834e505bd4a4ca/20260930T205300036712Z/real/48/warmup_pipeline_profile.jsonl
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+}