diff --git a/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/published/sim/temporal/4.json b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/published/sim/temporal/4.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ddb4401c7347761f434deec744d83e9e506de8f
--- /dev/null
+++ b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/published/sim/temporal/4.json
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\ No newline at end of file
diff --git a/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/DONE b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/DONE
new file mode 100644
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diff --git a/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/actions.jsonl b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67a4703c551fd3939b345791c6b0bb7cf1003d2c
--- /dev/null
+++ b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/actions.jsonl
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diff --git a/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/e2e_latencies.jsonl b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/e2e_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..88b008e3337e8b25d51661254fb49f56a31b7af0
--- /dev/null
+++ b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/e2e_latencies.jsonl
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diff --git a/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/episode_metrics.jsonl b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/episode_metrics.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d041aeba07ac49c916d700846a15e82f01ce4a2a
--- /dev/null
+++ b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/episode_metrics.jsonl
@@ -0,0 +1,2 @@
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diff --git a/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/infer_latencies.jsonl b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/infer_latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..69d3b34b18c28cf115b8b2542893fe1c4f9e33c3
--- /dev/null
+++ b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/infer_latencies.jsonl
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diff --git a/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/latencies.jsonl b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/latencies.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..69d3b34b18c28cf115b8b2542893fe1c4f9e33c3
--- /dev/null
+++ b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/latencies.jsonl
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index 0000000000000000000000000000000000000000..6953f5ba928275f8256af0fd0d43f9fd346ac51e
--- /dev/null
+++ b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/queue_eval_latency_profile_sample.json
@@ -0,0 +1,22 @@
+{
+  "checkpoint_kind": "best",
+  "checkpoint_path": "/workspace/.hf_home/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/checkpoints/model.pt",
+  "experiment_name": "pi05_ant_measured",
+  "latency": "profile_sample",
+  "latency_type": "profile_sample",
+  "lengths": [
+    376,
+    1000
+  ],
+  "mean_length": 688.0,
+  "mean_return": 1570.9053993594869,
+  "returns": [
+    839.2006235108203,
+    2302.6101752081536
+  ],
+  "seed": 2000180,
+  "source_profile_path": "/workspace/latency-sensitive-bench/results/sim2real/replays/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/93577f1d0e9f3d6dac1c9d5875530671e7a768a7/profile/profile.json",
+  "std_return": 731.7047758486667,
+  "suite_name": "profile_sample",
+  "timestamp_utc": "2026-09-29T03:46:25.324194+00:00"
+}
diff --git a/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/queue_eval_results.jsonl b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/queue_eval_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..533483c43026dca186022ca78bae57fbed358745
--- /dev/null
+++ b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/queue_eval_results.jsonl
@@ -0,0 +1 @@
+{"checkpoint_kind": "best", "checkpoint_path": "/workspace/.hf_home/hub/models--latency-sensitive-bench--benchmark-models/snapshots/180da0effdaaaeacef218cf5fbaa4db41af67495/latency-aware/ant/vla/starvla-qwenpi_v3-h1/ant_pi05_profile_h1_5fps_g128_20260920/checkpoints/model.pt", "experiment_name": "pi05_ant_measured", "latency": "profile_sample", "latency_type": "profile_sample", "lengths": [376, 1000], "mean_length": 688.0, "mean_return": 1570.9053993594869, "returns": [839.2006235108203, 2302.6101752081536], "seed": 2000180, "source_profile_path": "/workspace/latency-sensitive-bench/results/sim2real/replays/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/93577f1d0e9f3d6dac1c9d5875530671e7a768a7/profile/profile.json", "std_return": 731.7047758486667, "suite_name": "profile_sample", "timestamp_utc": "2026-09-29T03:46:25.324194+00:00"}
diff --git a/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/stdout.log b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/stdout.log
new file mode 100644
index 0000000000000000000000000000000000000000..a067eff3417033ca42aa96ad8498ad5a07f9dc5e
--- /dev/null
+++ b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/stdout.log
@@ -0,0 +1,250 @@
+[bench] run=pi05_ant_measured sweeps=1 episodes_per_sweep=2 total_episode_runs=2
+[bench] sweep 1/1: eval_latency=profile_sample
+09/29 [03:41:39] INFO     | >> Failed to load library (       ctypesloader.py:70
+                          'libOpenGL.so.0' ): libOpenGL.so.0:                   
+                          cannot open shared object file: No                    
+                          such file or directory                                
+                 INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+                 INFO     | >> Failed to load library (       ctypesloader.py:70
+                          'libOpenGL.so.0' ): libOpenGL.so.0:                   
+                          cannot open shared object file: No                    
+                          such file or directory                                
+/venv/sim2real/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+09/29 [03:41:45] INFO     | >>  Loaded mixtures from Behavior    registry.py:113
+                          (data_config): ['BEHAVIOR_challenge']                 
+                 INFO     | >>  Loaded data_config from DOMINO:  registry.py:107
+                          ['robotwin']                                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          DOMINO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from DOMINO      registry.py:113
+                          (data_config): ['domino',                             
+                          'domino_clean', 'domino_random',                      
+                          'domino_cotrain']                                     
+                 INFO     | >>  Loaded data_config from Franka:  registry.py:107
+                          ['custom_robot_config',                               
+                          'demo_sim_franka_delta_joints',                       
+                          'SO101']                                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Franka (data_config): []                              
+                 INFO     | >>  Loaded mixtures from Franka      registry.py:113
+                          (data_config): ['custom_dataset',                     
+                          'custom_dataset_2',                                   
+                          'demo_sim_pick_place', 'SO101_pick']                  
+                 INFO     | >>  Loaded data_config from LIBERO:  registry.py:107
+                          ['libero_franka']                                     
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          LIBERO (data_config): []                              
+                 INFO     | >>  Loaded mixtures from LIBERO      registry.py:113
+                          (data_config): ['libero_all',                         
+                          'libero_goal', 'multi_robot']                         
+                 INFO     | >>  Loaded data_config from MIKASA:  registry.py:107
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          MIKASA (data_config):                                 
+                          ['mikasa_franka_h1']                                  
+                 INFO     | >>  Loaded mixtures from MIKASA      registry.py:113
+                          (data_config):                                        
+                          ['local/intercept_grab_fast_vla_v0_h1_                
+                          train']                                               
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          RoboChallenge_table30v2:                              
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          RoboChallenge_table30v2 (data_config):                
+                          ['ur5_robochallenge',                                 
+                          'arx5_robochallenge',                                 
+                          'dosw1_robochallenge']                                
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          RoboChallenge_table30v2 (data_config):                
+                          ['robochallenge_table30v2_shred_paper'                
+                          , 'robochallenge_table30v2_ur5_all',                  
+                          'robochallenge_table30v2_arx5_all',                   
+                          'robochallenge_table30v2_dosw1_all']                  
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_365:                                         
+                          ['panda_omron_robocasa365']                           
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_365 (data_config): []                        
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_365 (data_config):                           
+                          ['robocasa365_open_drawer_target_human                
+                          ',                                                    
+                          'robocasa365_atomic_target_human_all',                
+                          'robocasa365_composite_target_human_al                
+                          l', 'robocasa365_target_human_all']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robocasa_tabletop:                                    
+                          ['fourier_gr1_arms_waist']                            
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robocasa_tabletop (data_config): []                   
+                 INFO     | >>  Loaded mixtures from             registry.py:113
+                          Robocasa_tabletop (data_config):                      
+                          ['fourier_gr1_unified_1000']                          
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          Robotwin: ['robotwin', 'robotwin50',                  
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          Robotwin (data_config): []                            
+                 INFO     | >>  Loaded mixtures from Robotwin    registry.py:113
+                          (data_config): ['robotwin_all',                       
+                          'robotwin_all_50', 'robotwin',                        
+                          'robotwin_task1', 'robotwin_task2',                   
+                          'arx_x5']                                             
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          SimplerEnv: ['oxe_droid',                             
+                          'oxe_bridge', 'oxe_rt1']                              
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          SimplerEnv (data_config): []                          
+                 INFO     | >>  Loaded mixtures from SimplerEnv  registry.py:113
+                          (data_config): ['bridge',                             
+                          'bridge_rt_1']                                        
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          VLA-Arena: ['vla_arena_franka']                       
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          VLA-Arena (data_config): []                           
+                 INFO     | >>  Loaded mixtures from VLA-Arena   registry.py:113
+                          (data_config): ['vla_arena_L0_S',                     
+                          'vla_arena_L0_M', 'vla_arena_L0_L']                   
+                 INFO     | >>  Loaded data_config from          registry.py:107
+                          rl_games: ['rl_games_flappy',                         
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded embodiment_tags from      registry.py:110
+                          rl_games (data_config):                               
+                          ['rl_games_flappy',                                   
+                          'rl_games_demon_attack',                              
+                          'rl_games_defend_the_line',                           
+                          'rl_games_deadly_corridor',                           
+                          'rl_games_asterix',                                   
+                          'rl_games_atlantis',                                  
+                          'rl_games_gymnasium',                                 
+                          'rl_games_gymnasium_discrete',                        
+                          'rl_games_gymnasium_native']                          
+                 INFO     | >>  Loaded mixtures from rl_games    registry.py:113
+                          (data_config): ['flappy_train',                       
+                          'flappy_train__bridge',                               
+                          'flappy_mixed_latency_train',                         
+                          'flappy_mixed_latency_train__bridge',                 
+                          'demon_attack_train',                                 
+                          'demon_attack_train__bridge',                         
+                          'demon_attack_mixed_latency_train',                   
+                          'demon_attack_mixed_latency_train__bri                
+                          dge', 'defend_the_line_train',                        
+                          'defend_the_line_train__bridge',                      
+                          'defend_the_line_mixed_latency_train',                
+                          'defend_the_line_mixed_latency_train__                
+                          bridge', 'deadly_corridor_train',                     
+                          'deadly_corridor_train__bridge',                      
+                          'deadly_corridor_mixed_latency_train',                
+                          'deadly_corridor_mixed_latency_train__                
+                          bridge', 'asterix_train',                             
+                          'asterix_train__bridge',                              
+                          'asterix_mixed_latency_train',                        
+                          'asterix_mixed_latency_train__bridge',                
+                          'atlantis_train',                                     
+                          'atlantis_train__bridge',                             
+                          'atlantis_mixed_latency_train',                       
+                          'atlantis_mixed_latency_train__bridge'                
+                          , 'h1hand_balance_hard']                              
+                 INFO     | >> PolicyServerWrapper: loading policy_wrapper.py:73
+                          framework from                                        
+                          /workspace/.hf_home/hub/models--l                     
+                          atency-sensitive-bench--benchmark                     
+                          -models/snapshots/180da0effdaaaea                     
+                          cef218cf5fbaa4db41af67495/latency                     
+                          -aware/ant/vla/starvla-qwenpi_v3-                     
+                          h1/ant_pi05_profile_h1_5fps_g128_                     
+                          20260920/checkpoints/model.pt                         
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/.hf_home/hub/models--la                   
+                          tency-sensitive-bench--benchmark-mo                   
+                          dels/snapshots/180da0effdaaaeacef21                   
+                          8cf5fbaa4db41af67495/latency-aware/                   
+                          ant/vla/starvla-qwenpi_v3-h1/ant_pi                   
+                          05_profile_h1_5fps_g128_20260920/ch                   
+                          eckpoints/model.pt`                                   
+[QWen3] loading /workspace/.hf_home/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 with gradient_checkpointing=False
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00, 25.29it/s]
+Total number of DiT parameters:  533349376
+09/29 [03:42:07] INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/.hf_home/hub/models--la                   
+                          tency-sensitive-bench--benchmark-mo                   
+                          dels/snapshots/180da0effdaaaeacef21                   
+                          8cf5fbaa4db41af67495/latency-aware/                   
+                          ant/vla/starvla-qwenpi_v3-h1/ant_pi                   
+                          05_profile_h1_5fps_g128_20260920/ch                   
+                          eckpoints/model.pt`                                   
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/.hf_home/hub/models--la                   
+                          tency-sensitive-bench--benchmark-mo                   
+                          dels/snapshots/180da0effdaaaeacef21                   
+                          8cf5fbaa4db41af67495/latency-aware/                   
+                          ant/vla/starvla-qwenpi_v3-h1/ant_pi                   
+                          05_profile_h1_5fps_g128_20260920/ch                   
+                          eckpoints/model.pt`                                   
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/.hf_home/hub/models--la                   
+                          tency-sensitive-bench--benchmark-mo                   
+                          dels/snapshots/180da0effdaaaeacef21                   
+                          8cf5fbaa4db41af67495/latency-aware/                   
+                          ant/vla/starvla-qwenpi_v3-h1/ant_pi                   
+                          05_profile_h1_5fps_g128_20260920/ch                   
+                          eckpoints/model.pt`                                   
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[8]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+                 INFO     | >> PolicyServerWrapper ready:  policy_wrapper.py:126
+                          action_chunk_size=1,                                  
+                          default_unnorm_key=new_embodimen                      
+                          t,                                                    
+                          available_unnorm_keys=['new_embo                      
+                          diment'],                                             
+                          action_keys=['action.button'],                        
+                          state_keys=['state.game_state']                       
+                 INFO     | >> [*] Loading from local         share_tools.py:418
+                          checkpoint path                                       
+                          `/workspace/.hf_home/hub/models--la                   
+                          tency-sensitive-bench--benchmark-mo                   
+                          dels/snapshots/180da0effdaaaeacef21                   
+                          8cf5fbaa4db41af67495/latency-aware/                   
+                          ant/vla/starvla-qwenpi_v3-h1/ant_pi                   
+                          05_profile_h1_5fps_g128_20260920/ch                   
+                          eckpoints/model.pt`                                   
+                 INFO     | >> PolicyNormProcessor  policy_norm_processor.py:333
+                          ready:                                                
+                          robot_type=rl_games_gymna                             
+                          sium,                                                 
+                          unnorm_key=new_embodiment                             
+                          ,                                                     
+                          action_keys=['action.butt                             
+                          on'] (dims=[8]),                                      
+                          state_keys=['state.game_s                             
+                          tate']                                                
+[bench] sweep 1/1 episode 1/2 done
+[bench] sweep 1/1 episode 2/2 done
+[bench] sweep 1/1 complete elapsed=287.6s
+episode=0 return=839.201 steps=376 mean_latency_ms=188.43668733551692
+episode=1 return=2302.610 steps=1000 mean_latency_ms=189.1439576319839
+summary latency=profile_sample episodes=2 mean_return=1570.905 std_return=731.705 mean_length=688.0
diff --git a/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/steps.jsonl b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/steps.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c748a7c79a95acf87a372570842fda6c000361c
--- /dev/null
+++ b/sim2real/ant/qwenpi_v3/1x-rtx3090/instance_33621945a15d3b38/20260928T224938800288Z/sim/temporal/4/steps.jsonl
@@ -0,0 +1,1376 @@
+{"active_action": {"is_noop": true, "is_oneshot": false, "name": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]", "value": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "done": false, "env_step": 0, "episode_id": 0, "info": {"active_action_id": null, "active_action_obs_env_step": null, "applied_action": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "applied_action_name": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]", "distance_from_origin": 0.05843043232242802, "env_step": 1, "forward_reward": -0.13917013849189272, "frame_time_ms": 255.672207764667, "idle_worker_count": 0, "in_flight_count": 1, "latency_type": "profile_sample", "observation_dropped": false, "observation_submitted": true, "reward_ctrl": -0.0, "reward_forward": -0.13917013849189272, "reward_survive": 1.0, "scheduled_time_ms": 0.0, "sim_time_ms": 255.672207764667, "x_position": -0.012662252124635797, "x_velocity": -0.13917013849189272, "y_position": 0.05704193889164355, "y_velocity": -0.0381821527544951}, "reward": 0.8608298615081073, "sim_time_ms": 0.0}
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