diff --git a/eval.py b/eval.py
index 4e63a1f..7a9bff5 100644
--- a/eval.py
+++ b/eval.py
@@ -239,18 +239,19 @@ def run(cfg: DictConfig):
     if torch.cuda.is_available():
         torch.cuda.synchronize()
     start_time = time.time()
-    with profiler_ctx as profiler:
-        with inference_ctx:
-            with torch.profiler.record_function("eval.world_evaluate_from_dataset"):
-                metrics = world.evaluate_from_dataset(
-                    dataset,
-                    start_steps=eval_start_idx.tolist(),
-                    goal_offset_steps=cfg.eval.goal_offset_steps,
-                    eval_budget=cfg.eval.eval_budget,
-                    episodes_idx=eval_episodes.tolist(),
-                    callables=OmegaConf.to_container(cfg.eval.get("callables"), resolve=True),
-                    video_path=output_dir,
-                )
+    with torch.inference_mode():
+        with profiler_ctx as profiler:
+            with inference_ctx:
+                with torch.profiler.record_function("eval.world_evaluate_from_dataset"):
+                    metrics = world.evaluate_from_dataset(
+                        dataset,
+                        start_steps=eval_start_idx.tolist(),
+                        goal_offset_steps=cfg.eval.goal_offset_steps,
+                        eval_budget=cfg.eval.eval_budget,
+                        episodes_idx=eval_episodes.tolist(),
+                        callables=OmegaConf.to_container(cfg.eval.get("callables"), resolve=True),
+                        video_path=output_dir,
+                    )
     if torch.cuda.is_available():
         torch.cuda.synchronize()
     end_time = time.time()
diff --git a/sth.md b/sth.md
new file mode 100644
index 0000000..7ce0538
--- /dev/null
+++ b/sth.md
@@ -0,0 +1,192 @@
+1. 压 rollout 内环
+  这条最通用，而且基本不改算法语义，只是把实现做对。
+
+  在 jepa.py:129 这段里，当前问题是：
+
+  - 循环里每步都 action_encoder(next_act)，见 jepa.py:159
+  - history 每步用 torch.cat 重建，见 jepa.py:155 和 jepa.py:162
+  - 每步都走一次很短的 predict()，host 调度比例很高
+
+  通用改法：
+
+  - 整条 action_sequence 一次性做 action_encoder
+  - emb_hist / act_emb_hist 改成预分配 buffer
+  - 用 ring buffer 或 index rotate 更新历史
+  - 循环里只做 copy_ / 索引覆盖，不做 cat
+
+  这个优化对任何数据集都成立，因为它优化的是“rolling inference 实现方
+  式”，不是任务参数。
+
+  2. 用 torch.inference_mode()
+  你现在在 eval.py:242 这里只用了 autocast，没有 inference_mode()。
+
+  建议推理主路径外层直接包：
+
+  with torch.inference_mode():
+      with inference_ctx:
+          ...
+
+  这是纯通用优化，所有数据集都受益。
+
+  3. 只编译 predictor / predict，不要编译整个 solver
+  当前热点是大量小 predict() 调用，不是整条 eval graph。
+
+  通用建议：
+
+  - 先只编译 self.predictor
+  - 或只编译 JEPA.predict()
+  - 模式优先试 reduce-overhead
+
+  不要先编译整个 WorldModelPolicy 或 CEM solver；那通常图不稳定，泛化收益
+  反而差。
+
+  4. 减少循环里的张量形状重排和临时对象
+  这也是实现层通用优化。
+
+  可以继续查：
+
+  - rearrange 是否能前移到循环外
+  - 是否有重复的 slice/view 触发隐式拷贝
+  - pred_proj(rearrange(...)) 这类 reshape 往返是否能合并
+
+  这类优化对所有任务都有效，因为是在降 Python 和 tensor bookkeeping 成
+  本。
+
+  5. 再考虑结构级优化，但放后面
+  比如 predictor 深度、MLP 宽度、heads 数量。这也通用，但已经开始碰模型容
+  量和精度，不该是第一刀。
+
+  不建议优先做的
+  这些更偏任务/数据集相关，不算你要的“泛用优化”：
+
+  - 先调 num_samples/topk/n_steps
+  - 先缩 horizon
+  - 先按 tworoom 特性做 shortcut
+  - 先针对某个 dataset 做 cache 规则
+
+  一句话判断
+  你现在最像是“算法没错，但 rollout 实现过于碎片化”，所以第一优先级应该
+  是：
+  一次性 action encode + 预分配历史 buffer + 去掉循环内 torch.cat +
+  inference_mode + compile predictor
+
+  如果你要，我下一步就直接改 jepa.py 做这套通用优化，不碰任何数据集特化逻
+  辑。
+
+  除开 CEM solve 本体，剩下这些杂项可以这样优化。
+
+  最高优先级
+
+  1. 保证传给环境的是 numpy，不要让 Gym 代转
+     你日志已经说明 env step() 收到了 torch.Tensor。这会带来拷贝、同步、
+     checker 额外开销。
+     做法：
+
+  - 在 policy 输出动作、准备喂给 env 的那一层，显式转成
+    action.detach().cpu().numpy()
+  - 最好一次性转好，别在 env 内部或 wrapper 内隐式转换
+
+  收益：
+
+  - 去掉 Gym warning
+  - 减少同步和类型检查开销
+  - 通常是最直接的非模型提速点
+
+  2. 关掉 Gym passive checker
+     这些 warning 本身就说明 checker 在持续检查类型和空间匹配。
+     做法：
+
+  - 尽量用禁 checker 的构造方式
+  - 或在你自己的 env wrapper 里保证输入输出符合 Gym 预期，避免它每步检查
+
+  收益：
+
+  - 每步少一层 Python 校验
+  - 对长 episode / 多 episode 累积明显
+
+  中优先级
+
+  3. 把预处理前移，避免每步重复做能缓存的东西
+     如果 goal、初始条件、某些 dataset 字段在 episode 里不变，就不要每次
+     都重新组织。
+     做法：
+
+  - goal 相关 embedding 已经有缓存，继续扩展到更多静态字段
+  - 固定的 callables 参数尽量预解析
+  - 能在 episode 开头准备好的，不要放在 step 循环里
+
+  收益：
+
+  - 降低 Python dict 操作和小张量处理开销
+
+  4. 避免频繁 CPU/GPU 来回切
+     如果模型在 GPU，但环境在 CPU，就要非常小心中间格式。
+     做法：
+
+  - 模型侧尽量连续留在 GPU
+  - 到真正 env step 前再一次性转 CPU numpy
+  - 不要中间反复 .cpu() / .to(device) / np.array(...)
+
+  收益：
+
+  - 减少隐式同步
+  - 稳定延迟
+
+  5. 缩减 Python 层对象操作
+     dict 组装、字段拷贝、wrapper 嵌套太多时，端到端会慢。
+     做法：
+
+  - 关键热路径里少做深拷贝
+  - 少重复构造新的 info / obs 容器
+  - 固定结构优先原地更新
+
+  收益：
+
+  - 对小步高频调用路径有效
+
+  如果你要继续压评测时间
+
+  6. 降低日志和 warning 输出
+     频繁 warning 会拖慢，而且污染 timing。
+     做法：
+
+  - 修掉类型不匹配后 warning 自然消失
+  - 非必要的 print 尤其是 step 内 print 要去掉
+
+  7. 针对环境 step 做批量化检查
+     如果 num_envs=50，尽量确认 env wrapper 没有在内部退化成逐环境 Python
+     for-loop。
+     做法：
+
+  - 查 world.evaluate_from_dataset() 到 env step() 之间是不是 batch 接口
+  - 如果 batch env 里还有逐个 env 转换/检查，尽量前移或向量化
+
+  收益：
+
+  - 这类经常能解释“为什么 solver 时间之外还有很多时间”
+
+  8. 把 callables 的执行成本单独看
+     你这里有：
+
+  - _set_state
+  - _set_goal_state
+
+
+  - 确认它们只在必要时执行
+  - 能批量设置就别逐条 Python 调
+  2. 消掉 Gym warning
+  3. 单独量 env.step 总时间
+  4. 检查是否有反复 CPU/GPU 转换
+  5. 再看 wrapper / callable / obs 组装
+
+  一句话总结
+  剩下的杂项优化，核心不是“再多上几张卡”，而是：
+
+  - 去掉隐式类型转换
+  - 去掉多余检查
+  - 去掉重复数据整理
+  - 减少 CPU/GPU 往返
+  - 减少 Python 高频小开销
+
+  如果你要，我下一步可以直接帮你定位“动作是在哪一层以 torch.Tensor 传进
+  env 的”，给你指出具体应该改哪个函数。
\ No newline at end of file
diff --git a/tworoom_results.txt b/tworoom_results.txt
index 8cb928b..b4f9ac8 100644
--- a/tworoom_results.txt
+++ b/tworoom_results.txt
@@ -458,3 +458,589 @@ metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False,  True,
         True,  True,  True,  True,  True]), 'seeds': None}
 evaluation_time: 86.20240807533264 seconds
 inference_precision: fp16
+
+==== CONFIG ====
+cache_dir: null
+solver:
+  _target_: stable_worldmodel.solver.CEMSolver
+  model: ???
+  batch_size: 1
+  num_samples: 300
+  var_scale: 1.0
+  n_steps: 30
+  topk: 30
+  device: cuda
+  seed: ${seed}
+world:
+  env_name: swm/TwoRoom-v1
+  num_envs: ${eval.num_eval}
+  max_episode_steps: 100
+  history_size: 1
+  frame_skip: 1
+seed: 42
+policy: two-room/tworoom/lejepa
+inference_precision: fp16
+dataset:
+  stats: ${eval.dataset_name}
+  keys_to_cache:
+  - action
+  - proprio
+plan_config:
+  horizon: 5
+  receding_horizon: 5
+  action_block: 5
+eval:
+  num_eval: 50
+  goal_offset_steps: 25
+  eval_budget: 50
+  img_size: 224
+  dataset_name: tworoom
+  callables:
+  - method: _set_state
+    args:
+      state:
+        value: proprio
+  - method: _set_goal_state
+    args:
+      goal_state:
+        value: goal_proprio
+output:
+  filename: tworoom_results.txt
+profile:
+  enabled: true
+  export_tensorboard: false
+  export_chrome_trace: false
+
+==== RESULTS ====
+metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False,  True, False,  True,  True,  True,  True, False,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True, False,  True,  True,  True,  True,
+        True,  True,  True, False,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True]), 'seeds': None}
+evaluation_time: 518.512722492218 seconds
+inference_precision: fp16
+profile_dir: /mnt/ASC1637/lewm_baseline/le-wm/torch_profile
+profile_summary: /mnt/ASC1637/lewm_baseline/le-wm/torch_profile/key_averages.txt
+
+==== CONFIG ====
+cache_dir: null
+solver:
+  _target_: stable_worldmodel.solver.CEMSolver
+  model: ???
+  batch_size: 1
+  num_samples: 300
+  var_scale: 1.0
+  n_steps: 30
+  topk: 30
+  device: cuda
+  seed: ${seed}
+world:
+  env_name: swm/TwoRoom-v1
+  num_envs: ${eval.num_eval}
+  max_episode_steps: 100
+  history_size: 1
+  frame_skip: 1
+seed: 42
+policy: two-room/tworoom/lejepa
+inference_precision: fp16
+dataset:
+  stats: ${eval.dataset_name}
+  keys_to_cache:
+  - action
+  - proprio
+plan_config:
+  horizon: 5
+  receding_horizon: 5
+  action_block: 5
+eval:
+  num_eval: 50
+  goal_offset_steps: 25
+  eval_budget: 50
+  img_size: 224
+  dataset_name: tworoom
+  callables:
+  - method: _set_state
+    args:
+      state:
+        value: proprio
+  - method: _set_goal_state
+    args:
+      goal_state:
+        value: goal_proprio
+output:
+  filename: tworoom_results.txt
+
+==== RESULTS ====
+metrics: {'success_rate': 86.0, 'episode_successes': array([ True, False,  True, False,  True,  True,  True,  True, False,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True, False,  True,  True,  True, False,
+        True,  True, False, False,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True]), 'seeds': None}
+evaluation_time: 89.49835586547852 seconds
+inference_precision: fp16
+
+==== CONFIG ====
+cache_dir: null
+solver:
+  _target_: stable_worldmodel.solver.CEMSolver
+  model: ???
+  batch_size: 1
+  num_samples: 300
+  var_scale: 1.0
+  n_steps: 30
+  topk: 30
+  device: cuda
+  seed: ${seed}
+world:
+  env_name: swm/TwoRoom-v1
+  num_envs: ${eval.num_eval}
+  max_episode_steps: 100
+  history_size: 1
+  frame_skip: 1
+seed: 42
+policy: two-room/tworoom/lejepa
+inference_precision: fp16
+dataset:
+  stats: ${eval.dataset_name}
+  keys_to_cache:
+  - action
+  - proprio
+plan_config:
+  horizon: 5
+  receding_horizon: 5
+  action_block: 5
+eval:
+  num_eval: 50
+  goal_offset_steps: 25
+  eval_budget: 50
+  img_size: 224
+  dataset_name: tworoom
+  callables:
+  - method: _set_state
+    args:
+      state:
+        value: proprio
+  - method: _set_goal_state
+    args:
+      goal_state:
+        value: goal_proprio
+output:
+  filename: tworoom_results.txt
+
+==== RESULTS ====
+metrics: {'success_rate': 86.0, 'episode_successes': array([ True, False,  True, False,  True,  True,  True,  True, False,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True, False,  True,  True,  True, False,
+        True,  True, False, False,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True]), 'seeds': None}
+evaluation_time: 105.07861399650574 seconds
+inference_precision: fp16
+
+==== CONFIG ====
+cache_dir: null
+solver:
+  _target_: stable_worldmodel.solver.CEMSolver
+  model: ???
+  batch_size: 1
+  num_samples: 300
+  var_scale: 1.0
+  n_steps: 30
+  topk: 30
+  device: cuda
+  seed: ${seed}
+world:
+  env_name: swm/TwoRoom-v1
+  num_envs: ${eval.num_eval}
+  max_episode_steps: 100
+  history_size: 1
+  frame_skip: 1
+seed: 42
+policy: two-room/tworoom/lejepa
+inference_precision: fp16
+dataset:
+  stats: ${eval.dataset_name}
+  keys_to_cache:
+  - action
+  - proprio
+plan_config:
+  horizon: 5
+  receding_horizon: 5
+  action_block: 5
+eval:
+  num_eval: 50
+  goal_offset_steps: 25
+  eval_budget: 50
+  img_size: 224
+  dataset_name: tworoom
+  callables:
+  - method: _set_state
+    args:
+      state:
+        value: proprio
+  - method: _set_goal_state
+    args:
+      goal_state:
+        value: goal_proprio
+output:
+  filename: tworoom_results.txt
+
+==== RESULTS ====
+metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False,  True, False,  True,  True,  True,  True, False,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True, False,  True,  True,  True,  True,
+        True,  True,  True, False,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True]), 'seeds': None}
+evaluation_time: 152.31250739097595 seconds
+inference_precision: fp16
+
+==== CONFIG ====
+cache_dir: null
+solver:
+  _target_: stable_worldmodel.solver.CEMSolver
+  model: ???
+  batch_size: 1
+  num_samples: 300
+  var_scale: 1.0
+  n_steps: 30
+  topk: 30
+  device: cuda
+  seed: ${seed}
+world:
+  env_name: swm/TwoRoom-v1
+  num_envs: ${eval.num_eval}
+  max_episode_steps: 100
+  history_size: 1
+  frame_skip: 1
+seed: 42
+policy: two-room/tworoom/lejepa
+inference_precision: fp16
+dataset:
+  stats: ${eval.dataset_name}
+  keys_to_cache:
+  - action
+  - proprio
+plan_config:
+  horizon: 5
+  receding_horizon: 5
+  action_block: 5
+eval:
+  num_eval: 50
+  goal_offset_steps: 25
+  eval_budget: 50
+  img_size: 224
+  dataset_name: tworoom
+  callables:
+  - method: _set_state
+    args:
+      state:
+        value: proprio
+  - method: _set_goal_state
+    args:
+      goal_state:
+        value: goal_proprio
+output:
+  filename: tworoom_results.txt
+
+==== RESULTS ====
+metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False,  True, False,  True,  True,  True,  True, False,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True, False,  True,  True,  True,  True,
+        True,  True,  True, False,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True]), 'seeds': None}
+evaluation_time: 122.81560277938843 seconds
+inference_precision: fp16
+
+==== CONFIG ====
+cache_dir: null
+solver:
+  _target_: stable_worldmodel.solver.CEMSolver
+  model: ???
+  batch_size: 1
+  num_samples: 300
+  var_scale: 1.0
+  n_steps: 30
+  topk: 30
+  device: cuda
+  seed: ${seed}
+world:
+  env_name: swm/TwoRoom-v1
+  num_envs: ${eval.num_eval}
+  max_episode_steps: 100
+  history_size: 1
+  frame_skip: 1
+seed: 42
+policy: two-room/tworoom/lejepa
+inference_precision: fp16
+dataset:
+  stats: ${eval.dataset_name}
+  keys_to_cache:
+  - action
+  - proprio
+plan_config:
+  horizon: 5
+  receding_horizon: 5
+  action_block: 5
+eval:
+  num_eval: 50
+  goal_offset_steps: 25
+  eval_budget: 50
+  img_size: 224
+  dataset_name: tworoom
+  callables:
+  - method: _set_state
+    args:
+      state:
+        value: proprio
+  - method: _set_goal_state
+    args:
+      goal_state:
+        value: goal_proprio
+output:
+  filename: tworoom_results.txt
+
+==== RESULTS ====
+metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False,  True, False,  True,  True,  True,  True, False,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True, False,  True,  True,  True,  True,
+        True,  True,  True, False,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True]), 'seeds': None}
+evaluation_time: 101.30036067962646 seconds
+inference_precision: fp16
+
+==== CONFIG ====
+cache_dir: null
+solver:
+  _target_: stable_worldmodel.solver.CEMSolver
+  model: ???
+  batch_size: 1
+  num_samples: 300
+  var_scale: 1.0
+  n_steps: 30
+  topk: 30
+  device: cuda
+  seed: ${seed}
+world:
+  env_name: swm/TwoRoom-v1
+  num_envs: ${eval.num_eval}
+  max_episode_steps: 100
+  history_size: 1
+  frame_skip: 1
+seed: 42
+policy: two-room/tworoom/lejepa
+inference_precision: fp16
+dataset:
+  stats: ${eval.dataset_name}
+  keys_to_cache:
+  - action
+  - proprio
+plan_config:
+  horizon: 5
+  receding_horizon: 5
+  action_block: 5
+eval:
+  num_eval: 50
+  goal_offset_steps: 25
+  eval_budget: 50
+  img_size: 224
+  dataset_name: tworoom
+  callables:
+  - method: _set_state
+    args:
+      state:
+        value: proprio
+  - method: _set_goal_state
+    args:
+      goal_state:
+        value: goal_proprio
+output:
+  filename: tworoom_results.txt
+
+==== RESULTS ====
+metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False,  True, False,  True,  True,  True,  True, False,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True, False,  True,  True,  True,  True,
+        True,  True,  True, False,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True]), 'seeds': None}
+evaluation_time: 122.01387643814087 seconds
+inference_precision: fp16
+
+==== CONFIG ====
+cache_dir: null
+solver:
+  _target_: stable_worldmodel.solver.CEMSolver
+  model: ???
+  batch_size: 1
+  num_samples: 300
+  var_scale: 1.0
+  n_steps: 30
+  topk: 30
+  device: cuda
+  seed: ${seed}
+world:
+  env_name: swm/TwoRoom-v1
+  num_envs: ${eval.num_eval}
+  max_episode_steps: 100
+  history_size: 1
+  frame_skip: 1
+seed: 42
+policy: two-room/tworoom/lejepa
+inference_precision: fp16
+dataset:
+  stats: ${eval.dataset_name}
+  keys_to_cache:
+  - action
+  - proprio
+plan_config:
+  horizon: 5
+  receding_horizon: 5
+  action_block: 5
+eval:
+  num_eval: 50
+  goal_offset_steps: 25
+  eval_budget: 50
+  img_size: 224
+  dataset_name: tworoom
+  callables:
+  - method: _set_state
+    args:
+      state:
+        value: proprio
+  - method: _set_goal_state
+    args:
+      goal_state:
+        value: goal_proprio
+output:
+  filename: tworoom_results.txt
+
+==== RESULTS ====
+metrics: {'success_rate': 86.0, 'episode_successes': array([ True, False,  True, False,  True,  True,  True,  True, False,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True, False,  True,  True,  True, False,
+        True,  True, False, False,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True]), 'seeds': None}
+evaluation_time: 110.37948775291443 seconds
+inference_precision: fp16
+
+==== CONFIG ====
+cache_dir: null
+solver:
+  _target_: stable_worldmodel.solver.CEMSolver
+  model: ???
+  batch_size: 1
+  num_samples: 300
+  var_scale: 1.0
+  n_steps: 30
+  topk: 30
+  device: cuda
+  seed: ${seed}
+world:
+  env_name: swm/TwoRoom-v1
+  num_envs: ${eval.num_eval}
+  max_episode_steps: 100
+  history_size: 1
+  frame_skip: 1
+seed: 42
+policy: two-room/tworoom/lejepa
+inference_precision: fp16
+dataset:
+  stats: ${eval.dataset_name}
+  keys_to_cache:
+  - action
+  - proprio
+plan_config:
+  horizon: 5
+  receding_horizon: 5
+  action_block: 5
+eval:
+  num_eval: 50
+  goal_offset_steps: 25
+  eval_budget: 50
+  img_size: 224
+  dataset_name: tworoom
+  callables:
+  - method: _set_state
+    args:
+      state:
+        value: proprio
+  - method: _set_goal_state
+    args:
+      goal_state:
+        value: goal_proprio
+output:
+  filename: tworoom_results.txt
+
+==== RESULTS ====
+metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False,  True, False,  True,  True,  True,  True, False,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True, False,  True,  True,  True,  True,
+        True,  True,  True, False,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True]), 'seeds': None}
+evaluation_time: 94.35640263557434 seconds
+inference_precision: fp16
+
+==== CONFIG ====
+cache_dir: null
+solver:
+  _target_: stable_worldmodel.solver.CEMSolver
+  model: ???
+  batch_size: 1
+  num_samples: 300
+  var_scale: 1.0
+  n_steps: 30
+  topk: 30
+  device: cuda
+  seed: ${seed}
+world:
+  env_name: swm/TwoRoom-v1
+  num_envs: ${eval.num_eval}
+  max_episode_steps: 100
+  history_size: 1
+  frame_skip: 1
+seed: 42
+policy: two-room/tworoom/lejepa
+inference_precision: fp16
+dataset:
+  stats: ${eval.dataset_name}
+  keys_to_cache:
+  - action
+  - proprio
+plan_config:
+  horizon: 5
+  receding_horizon: 5
+  action_block: 5
+eval:
+  num_eval: 50
+  goal_offset_steps: 25
+  eval_budget: 50
+  img_size: 224
+  dataset_name: tworoom
+  callables:
+  - method: _set_state
+    args:
+      state:
+        value: proprio
+  - method: _set_goal_state
+    args:
+      goal_state:
+        value: goal_proprio
+output:
+  filename: tworoom_results.txt
+
+==== RESULTS ====
+metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False,  True, False,  True,  True,  True,  True, False,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True,  True,  True,  True,  True,
+        True,  True,  True,  True, False,  True,  True,  True,  True,
+        True,  True,  True, False,  True,  True,  True,  True,  True,
+        True,  True,  True,  True,  True]), 'seeds': None}
+evaluation_time: 98.5384590625763 seconds
+inference_precision: fp16