Publish global128 walker2d gr00t profile checkpoint and evaluations

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/README.md

@@ -1,5 +1,5 @@
-# walker2d gr00t corrected profile checkpoint
+# walker2d gr00t profile
 
-Teacher-issued action labels, step 5000, seed 42.
-Evaluation: simulated IID, 100 episodes per condition, seeds 42–141, latency seed 0, cap 1000, simulated capacity 1.
-Training parameters and model-specific FPS are recorded in config.full.yaml and results.json.
+Global batch128, seed42, 5000 optimizer updates. Gradient checkpointing True.
+Evaluation: simulated IID, 100 episodes, seeds42-141, latency seed0, parallel32, 5 FPS, cap1000, per-environment capacity1.
+See config.full.yaml, training.complete.json, results.json and evaluation evidence.

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cc2dcb38bec71ee16c67ebcdc2f09170215f5755be56109881132825282d800
+size 9976860963

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/collection_protocol.json

@@ -1,5 +1,5 @@
 {
-  "teacher_source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/historical/latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1",
+  "teacher_source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/historical/latency-aware/walker2d/small-policy/sample-factory-qwengr00t-rtx3090-v1",
   "teacher_seed": 0,
   "gate": 3000,
   "max_episodes": 100,
@@ -8,7 +8,7 @@
   "split_seed": 0,
   "env_fps": 5.0,
   "obs_fps": 5.0,
-  "checkpoint": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/teacher/checkpoint.pth",
-  "profile": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json",
+  "checkpoint": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/teacher/checkpoint.pth",
+  "profile": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/profile/profile.json",
   "label_semantics": "teacher_issued_command"
 }

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/config.full.yaml

@@ -41,7 +41,7 @@ datasets:
     data_root_dir: /
     data_mix: train
     eval_data_mix: validation
-    custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/mixture.json
+    custom_mixtures_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/mixture.json
     action_type: continuous
     sequential_step_sampling: true
     eval_sequential_step_sampling: null
@@ -72,7 +72,7 @@ datasets:
       eval_at_phase_end: false
       save_at_phase_end: false
       computed_plan: null
-    per_device_batch_size: 32
+    per_device_batch_size: 64
     load_all_data_for_training: true
     num_obs_frames: 1
     image_mode: single
@@ -233,15 +233,15 @@ trainer:
     weight_decay: 1.0e-08
     fused: true
   save_format: pt
-run_id: walker2d_qwengr00t_issued_action_iid_s42_20261010
-run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/training
+run_id: walker2d_gr00t_profile_issued_iid_g128_s42_20261010
+run_root_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/training
 seed: 42
 is_debug: false
 version_id: '0.21'
 wandb_project: latency-sensitive-bench
 wandb_entity: saberrr-zju
-wandb_name: walker2d_qwengr00t_issued_action_iid_s42_20261010
-wandb_group: continuous-control-issued-iid-20261010
+wandb_name: walker2d_gr00t_profile_issued_iid_g128_s42_20261010
+wandb_group: continuous-control-g128-iid-20261010
 wandb_tags:
 - walker2d
 - gr00t
@@ -258,5 +258,5 @@ checkpoint:
   save_training_state: true
   local:
     keep_last_n: 1
-config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/train.yaml
-output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/training/walker2d_qwengr00t_issued_action_iid_s42_20261010
+config_yaml: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/train.yaml
+output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/training/walker2d_gr00t_profile_issued_iid_g128_s42_20261010

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/config.yaml

@@ -0,0 +1,139 @@
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    enable_gradient_checkpointing: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 6
+    state_dim: 17
+    task_objective: null
+    action_horizon: 1
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    action_env_dim: 6
+    future_action_window_size: 0
+    past_action_window_size: 0
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size:
+    - 224
+    - 224
+    image_mode: single
+    stitch_grid:
+    - 2
+    - 2
+    num_obs_frames: 1
+    gymnasium_task_contract: &id001
+      action_space:
+        dtype: float32
+        high:
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        - 1.0
+        labels:
+        - right_thigh_torque
+        - right_leg_torque
+        - right_foot_torque
+        - left_thigh_torque
+        - left_leg_torque
+        - left_foot_torque
+        low:
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        - -1.0
+        type: box
+      base_prompt: Move the Walker2d robot forward while keeping its torso upright.
+        Predict six continuous torques in [-1, 1] ordered as right thigh, right leg,
+        right foot, left thigh, left leg, and left foot.
+      env_fps: 5.0
+      env_id: LatencyBench/Walker2dContinuous-v0
+      frame_stack: 1
+      make_kwargs:
+        base_env_id: Walker2d-v4
+        base_make_kwargs:
+          ctrl_cost_weight: 0.001
+          exclude_current_positions_from_observation: true
+          forward_reward_weight: 1.0
+          healthy_reward: 1.0
+          reset_noise_scale: 0.005
+          terminate_when_unhealthy: true
+        render_mode: rgb_array
+      noop_action:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      obs_fps: 5.0
+      registration_imports:
+      - latency_bench.envs.tasks.walker2d
+      state_space:
+        labels:
+        - torso_height
+        - torso_angle
+        - right_thigh_angle
+        - right_leg_angle
+        - right_foot_angle
+        - left_thigh_angle
+        - left_leg_angle
+        - left_foot_angle
+        - torso_x_velocity
+        - torso_z_velocity
+        - torso_angular_velocity
+        - right_thigh_angular_velocity
+        - right_leg_angular_velocity
+        - right_foot_angular_velocity
+        - left_thigh_angular_velocity
+        - left_leg_angular_velocity
+        - left_foot_angular_velocity
+      task_name: walker2d
+    robot_type: rl_games_gymnasium
+trainer:
+  pretrained_checkpoint: null
+  profile_timing:
+    enabled: false
+    log_interval: 10
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  revision: ebb281ec70b05090aa6165b016eac8ec08e71b17
+rl_games:
+  model_alias: gr00t
+  task: gymnasium
+  action_carrier: native
+  gymnasium:
+    task_contract: *id001
+  env_eval:
+    image_size: 224
+    frameskip: 1
+    image_transform: raw_rgb
+    prompt_mode: raw

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/dataset_statistics.json

@@ -0,0 +1,180 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
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+        1.0,
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+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true
+      ]
+    },
+    "state": {
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+        10.0,
+        10.0,
+        10.0,
+        10.0
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+    },
+    "num_transitions": 89918,
+    "num_trajectories": 90
+  }
+}

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/{issued_action_iid_20261010/profile → g128_iid_20261010/iid}/eval_config.yaml

@@ -94,7 +94,7 @@ env:
 latency:
   method: iid
   sync_cuda: false
-  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json
+  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/profile/profile.json
   profile_worker_slot: 0
   seed: 0
 scheduler:
@@ -102,12 +102,12 @@ scheduler:
   ordering_policy: issue_order_fifo
 policy:
   type: starvla
-  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/checkpoints/model.pt
-  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/config.yaml
+  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/new_bundle/checkpoints/model.pt
+  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/new_bundle/config.yaml
   backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
   device: cuda:0
-  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/manifest.json
-  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/new_bundle/latency_prompt_map.json
+  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/new_bundle/manifest.json
+  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/new_bundle/latency_prompt_map.json
   latency_prompt_key: 1
 training:
   train_for_env_steps: 10000000
@@ -156,7 +156,7 @@ evaluation:
   eval_latency_values: null
   episode_seed_offset: 0
 logging:
-  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/profile_parallel32
+  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/evaluation/iid_parallel32_ib8
   video:
     enabled: false
     num_bins: 1

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/latency_prompt_map.json

@@ -0,0 +1,7 @@
+{
+  "1": {
+    "prompt": "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 1 raw frames (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.",
+    "latency_raw_frames": 1,
+    "latency_ms": 200.0
+  }
+}

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/manifest.json

@@ -0,0 +1,184 @@
+{
+  "dataset_name": "lerobot",
+  "env_name": "walker2d",
+  "episodes": 90,
+  "frames": 89918,
+  "task_prompts": [
+    "Move the Walker2d robot forward while keeping its torso upright. Predict six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot, left thigh, left leg, and left foot. Current action latency is 1 raw frames (200.00 ms).  The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action."
+  ],
+  "format": "lerobot_v2_image_parquet",
+  "source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/raw",
+  "integration_name": "gymnasium",
+  "task_name": "walker2d",
+  "action_layout": "gymnasium_continuous_v1",
+  "action_labels": [
+    "right_thigh_torque",
+    "right_leg_torque",
+    "right_foot_torque",
+    "left_thigh_torque",
+    "left_leg_torque",
+    "left_foot_torque"
+  ],
+  "carrier_action_labels": [
+    "right_thigh_torque",
+    "right_leg_torque",
+    "right_foot_torque",
+    "left_thigh_torque",
+    "left_leg_torque",
+    "left_foot_torque"
+  ],
+  "action_dim": 6,
+  "active_action_dim": 6,
+  "action_carrier": "native",
+  "rows_unit": "decision_step",
+  "obs_fps": 5.0,
+  "obs_stride_raw_frames": 1,
+  "uses_state": true,
+  "state_dim": 17,
+  "state_labels": [
+    "torso_height",
+    "torso_angle",
+    "right_thigh_angle",
+    "right_leg_angle",
+    "right_foot_angle",
+    "left_thigh_angle",
+    "left_leg_angle",
+    "left_foot_angle",
+    "torso_x_velocity",
+    "torso_z_velocity",
+    "torso_angular_velocity",
+    "right_thigh_angular_velocity",
+    "right_leg_angular_velocity",
+    "right_foot_angular_velocity",
+    "left_thigh_angular_velocity",
+    "left_leg_angular_velocity",
+    "left_foot_angular_velocity"
+  ],
+  "state_normalization": {
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+  "custom_mixtures_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/_generated_mixtures/lerobot.json",
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+    },
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+    "env_fps": 5.0,
+    "env_id": "LatencyBench/Walker2dContinuous-v0",
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+    ],
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+        "torso_height",
+        "torso_angle",
+        "right_thigh_angle",
+        "right_leg_angle",
+        "right_foot_angle",
+        "left_thigh_angle",
+        "left_leg_angle",
+        "left_foot_angle",
+        "torso_x_velocity",
+        "torso_z_velocity",
+        "torso_angular_velocity",
+        "right_thigh_angular_velocity",
+        "right_leg_angular_velocity",
+        "right_foot_angular_velocity",
+        "left_thigh_angular_velocity",
+        "left_leg_angular_velocity",
+        "left_foot_angular_velocity"
+      ]
+    },
+    "task_name": "walker2d"
+  },
+  "validation_dataset_name": "lerobot__val",
+  "validation_episodes": 10,
+  "validation_frames": 10000
+}

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/result.json

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latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/g128_iid_20261010/iid/source_identity.json

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+{
+  "revision": "a7001d2227fa8b0cbcd58b7b0e32db3dba147810",
+  "source": "current worktree snapshot",
+  "dirty_paths": [
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+    " M configs/experiments/memory/small_model/flappy_capped.yaml",
+    " M configs/experiments/memory/small_model/flappy_extended.yaml",
+    " M configs/experiments/observation_stride/flappy_capped.yaml",
+    " M configs/experiments/observation_stride/flappy_extended.yaml",
+    " M configs/experiments/sim2real.yaml",
+    " M scripts/experiments/memory/small_model/run.sh",
+    " M scripts/experiments/observation_stride/run.sh",
+    " M scripts/experiments/sim2real/study.py",
+    " M tests/scripts/test_sim2real.py",
+    "?? configs/experiments/sim2real/five_gpu.yaml",
+    "?? docs/cleanup-refactor/",
+    "?? lagen/",
+    "?? scripts/experiments/sim2real/campaign.py",
+    "?? servers.md"
+  ],
+  "runtime_patches": [
+    {
+      "path": "third_party/starVLA/starVLA/training/train_starvla.py",
+      "change": "Full DeepSpeed state-directory resume loads config/statistics from owning run directory without resolving a standalone model file.",
+      "validation": "6 existing resume/statistics tests passed; see previous campaign resume_fix_tests.log"
+    }
+  ],
+  "frozen_code": "/home/ubuntu/lzj/latency-sensitive-bench/code/continuous-control-issued-iid-20261010"
+}

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/evaluations/issued_action_iid_20261010/l0/eval_config.yaml

@@ -1,166 +0,0 @@
-experiment:
-  name: walker2d_gr00t_l0_iid_100ep
-  seed: 42
-backend:
-  type: sample_factory
-  algo: APPO
-  device: cuda
-  train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/walker2d
-  restart_behavior: overwrite
-  run_mode: eval
-executor:
-  mode: simulated
-  inference_devices:
-  - cuda:0
-  - cuda:1
-  inference_batch_size: 8
-  simulated_inference_pool: true
-  simulated_worker_capacity: 1
-env:
-  name: gymnasium
-  task_name: walker2d
-  env_id: LatencyBench/Walker2dContinuous-v0
-  registration_imports:
-  - latency_bench.envs.tasks.walker2d
-  make_kwargs:
-    base_env_id: Walker2d-v4
-    base_make_kwargs:
-      ctrl_cost_weight: 0.001
-      exclude_current_positions_from_observation: true
-      forward_reward_weight: 1.0
-      healthy_reward: 1.0
-      reset_noise_scale: 0.005
-      terminate_when_unhealthy: true
-    render_mode: rgb_array
-  env_fps: 5
-  obs_fps: 5
-  frame_stack: 1
-  action_space:
-    dtype: float32
-    high:
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    labels:
-    - right_thigh_torque
-    - right_leg_torque
-    - right_foot_torque
-    - left_thigh_torque
-    - left_leg_torque
-    - left_foot_torque
-    low:
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-    - -1.0
-    - -1.0
-    - -1.0
-    - -1.0
-    - -1.0
-    type: box
-  noop_action:
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-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  base_prompt: Move the Walker2d robot forward while keeping its torso upright. Predict
-    six continuous torques in [-1, 1] ordered as right thigh, right leg, right foot,
-    left thigh, left leg, and left foot.
-  state_space:
-    labels:
-    - torso_height
-    - torso_angle
-    - right_thigh_angle
-    - right_leg_angle
-    - right_foot_angle
-    - left_thigh_angle
-    - left_leg_angle
-    - left_foot_angle
-    - torso_x_velocity
-    - torso_z_velocity
-    - torso_angular_velocity
-    - right_thigh_angular_velocity
-    - right_leg_angular_velocity
-    - right_foot_angular_velocity
-    - left_thigh_angular_velocity
-    - left_leg_angular_velocity
-    - left_foot_angular_velocity
-  obs_resize:
-  - 224
-  - 224
-latency:
-  method: iid
-  sync_cuda: false
-  profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/profile/profile.json
-  profile_worker_slot: 0
-  seed: 0
-scheduler:
-  hold_policy: hold
-  ordering_policy: issue_order_fifo
-policy:
-  type: starvla
-  checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/checkpoints/model.pt
-  model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/config.yaml
-  backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17
-  device: cuda:0
-  task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/manifest.json
-  latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/l0_bundle/latency_prompt_map.json
-  latency_prompt_key: 0
-training:
-  train_for_env_steps: 10000000
-  num_workers: 8
-  num_envs_per_worker: 8
-  worker_num_splits: 2
-  num_policies: 1
-  batch_size: 1024
-  rollout: 64
-  recurrence: 1
-  num_epochs: 2
-  num_batches_per_epoch: 4
-  max_policy_lag: 300
-  learning_rate: 0.00295
-  gamma: 0.99
-  gae_lambda: 0.95
-  ppo_clip_ratio: 0.2
-  ppo_clip_value: 0.2
-  value_loss_coeff: 1.3
-  max_grad_norm: 3.5
-  exploration_loss_coeff: 0.0
-  async_rl: false
-  batched_sampling: false
-  use_rnn: false
-  encoder_mlp_layers:
-  - 64
-  - 64
-  normalize_input: true
-  normalize_returns: true
-  save_every_sec: 600
-  keep_checkpoints: 5
-  lr_schedule: linear_decay
-  kl_loss_coeff: 0.1
-  serial_mode: false
-  nonlinearity: tanh
-  adaptive_stddev: false
-  policy_initialization: torch_default
-  initial_stddev: 1.0
-  shuffle_minibatches: false
-  value_bootstrap: true
-evaluation:
-  eval_episodes: 100
-  eval_parallel_envs: 32
-  eval_max_steps: 1000
-  eval_deterministic: true
-  eval_latency_values: null
-  episode_seed_offset: 0
-logging:
-  output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/evaluation/l0_parallel32
-  video:
-    enabled: false
-    num_bins: 1
-  save_step_records: true
-  save_action_records: true
-  save_latency_records: true
-  realtime_pipeline_profile: false

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/provenance.json

@@ -1,9 +1,9 @@
 {
   "task": "walker2d",
   "model": "gr00t",
-  "training_run_id": "walker2d_qwengr00t_issued_action_iid_s42_20261010",
+  "training_run_id": "walker2d_gr00t_profile_issued_iid_g128_s42_20261010",
   "steps": 5000,
   "seed": 42,
-  "source_identity": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/source_identity.json",
-  "collection_protocol": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_iid_20261010/walker2d/gr00t/collection_protocol.json"
+  "source_identity": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/source_identity.json",
+  "data_source": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/walker2d/gr00t/collection_protocol.json"
 }

latency-aware/walker2d/vla/starvla-qwengr00t-h1/walker2d_profile_gr00t_h1_5fps_2h200_20260917/results.json

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 {
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   "latency_seed": 0,
   "eval_max_steps": 1000,
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     "?? lagen/",
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 }

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