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Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e25_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e27_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e27_success.mp4
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index 0000000000000000000000000000000000000000..84c42b5d8f251d75863bf0aebd677b16df52292f
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e27_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e28_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e28_success.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..324eb15a35189a2c3232a936e8d949aae9c62417
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e28_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e29_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e29_success.mp4
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index 0000000000000000000000000000000000000000..95835401854315412a275694c57b5ab9e40beace
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e29_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e30_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e30_success.mp4
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index 0000000000000000000000000000000000000000..3abd50807ce93f62072d7936b141d294b56ea9e1
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e30_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e35_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e35_success.mp4
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index 0000000000000000000000000000000000000000..33fb1a58de9af25a6a6779ba83325cfeeb8c415e
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e35_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e37_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e37_success.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e2cf3496c076c2cc40603aa4bba50cac3a02cb1
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e37_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e38_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e38_success.mp4
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index 0000000000000000000000000000000000000000..7499dd28abcd447c63908c5ced508a9f882008cb
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e38_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e39_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e39_success.mp4
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index 0000000000000000000000000000000000000000..00ec3a0db3a4a2bb8b14b8d0bc10c101700a23b1
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e39_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e43_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e43_success.mp4
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index 0000000000000000000000000000000000000000..89a0628401b3fc7306ce9d9e127d69a443c859e1
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e43_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e49_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e49_success.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6f265dcf64026245be07be475cfe2561f6dbdd2
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_0p75x/videos/spatial_0p75x/rank0_libero_spatial_speed0p75x_t09_e49_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/goal_1p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/goal_1p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..7f2d1fc765b3f1849f3ac20501d9b0483c0a7a5c
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/goal_1p0x.log
@@ -0,0 +1,72 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+19:44:26 [rank=1] suite=libero_goal task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=1 max_steps=300
+19:44:26 Waiting for server at ws://localhost:8021...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=1/libero_goal:   0%|          | 0/10 [00:00<?, ?it/s]
rank=1/libero_goal:  10%|█         | 1/10 [07:14<1:05:07, 434.13s/it]
rank=1/libero_goal:  20%|██        | 2/10 [12:26<48:21, 362.71s/it]  
rank=1/libero_goal:  30%|███       | 3/10 [18:07<41:09, 352.86s/it]
rank=1/libero_goal:  40%|████      | 4/10 [28:07<45:02, 450.36s/it]
rank=1/libero_goal:  50%|█████     | 5/10 [33:03<32:53, 394.70s/it]
rank=1/libero_goal:  60%|██████    | 6/10 [39:48<26:31, 397.98s/it]
rank=1/libero_goal:  70%|███████   | 7/10 [44:59<18:29, 369.71s/it]
rank=1/libero_goal:  80%|████████  | 8/10 [49:09<11:03, 331.64s/it]
rank=1/libero_goal:  90%|█████████ | 9/10 [53:34<05:10, 310.85s/it]
rank=1/libero_goal: 100%|██████████| 10/10 [1:01:02<00:00, 352.94s/it]
rank=1/libero_goal: 100%|██████████| 10/10 [1:01:02<00:00, 366.21s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=1] libero_goal speed=1x  success=492/500 (98.4%)  mean_steps_success=110.6 median=91.0  mean_steps_failure=300.0  mean_steps_all=113.6
+[rank=1] elapsed=3662.1s
+[rank=1] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/goal_1p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fce33ea7b00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 20:45:28 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7fce195c93d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fce33e7c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fce33e7c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fce33e3d050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7fce33ea79c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7fce195c93d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fce33e7c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fce33e7c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fce33e3d050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t0_1_1p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t0_1_1p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..888baedaeb323cdc15a71e9311f76c5152518c26
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t0_1_1p0x.log
@@ -0,0 +1,56 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+19:44:26 [rank=3] suite=libero_10 task_ids=[0, 1] n_trials=50 speed=1 max_steps=520
+19:44:26 Waiting for server at ws://localhost:8023...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=3/libero_10:   0%|          | 0/2 [00:00<?, ?it/s]
rank=3/libero_10:  50%|█████     | 1/2 [14:08<14:08, 848.31s/it]
rank=3/libero_10: 100%|██████████| 2/2 [27:10<00:00, 809.68s/it]
rank=3/libero_10: 100%|██████████| 2/2 [27:10<00:00, 815.48s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=3] libero_10 speed=1x  success=98/100 (98.0%)  mean_steps_success=267.1 median=263.5  mean_steps_failure=520.0  mean_steps_all=272.2
+[rank=3] elapsed=1631.0s
+[rank=3] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/long_t0_1_1p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f990e997b00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 20:11:37 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f98f40b36d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f990e96c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f990e96c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f990e92d050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f990e9979c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f98f40b36d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f990e96c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f990e96c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f990e92d050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t2_3_1p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t2_3_1p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..228ea4acdd260ffade72fddbddc95a75c4111f48
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t2_3_1p0x.log
@@ -0,0 +1,56 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+19:44:26 [rank=4] suite=libero_10 task_ids=[2, 3] n_trials=50 speed=1 max_steps=520
+19:44:26 Waiting for server at ws://localhost:8024...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=4/libero_10:   0%|          | 0/2 [00:00<?, ?it/s]
rank=4/libero_10:  50%|█████     | 1/2 [12:16<12:16, 736.97s/it]
rank=4/libero_10: 100%|██████████| 2/2 [24:25<00:00, 732.06s/it]
rank=4/libero_10: 100%|██████████| 2/2 [24:25<00:00, 732.80s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=4] libero_10 speed=1x  success=93/100 (93.0%)  mean_steps_success=236.5 median=231.0  mean_steps_failure=520.0  mean_steps_all=256.3
+[rank=4] elapsed=1465.6s
+[rank=4] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/long_t2_3_1p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f535749fb00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 20:08:52 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f533cbb68d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f53574740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f53574740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f5357435050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f535749f9c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f533cbb68d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f53574740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f53574740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f5357435050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t4_5_1p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t4_5_1p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..fbfe8861188266e9bdddd7f8a6734f19e4b93e43
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t4_5_1p0x.log
@@ -0,0 +1,56 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+19:44:26 [rank=5] suite=libero_10 task_ids=[4, 5] n_trials=50 speed=1 max_steps=520
+19:44:26 Waiting for server at ws://localhost:8025...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=5/libero_10:   0%|          | 0/2 [00:00<?, ?it/s]
rank=5/libero_10:  50%|█████     | 1/2 [12:04<12:04, 724.64s/it]
rank=5/libero_10: 100%|██████████| 2/2 [20:13<00:00, 585.84s/it]
rank=5/libero_10: 100%|██████████| 2/2 [20:13<00:00, 606.66s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=5] libero_10 speed=1x  success=97/100 (97.0%)  mean_steps_success=205.4 median=214.0  mean_steps_failure=520.0  mean_steps_all=214.9
+[rank=5] elapsed=1213.3s
+[rank=5] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/long_t4_5_1p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f879c59fb00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 20:04:39 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f8781cba1d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f879c5740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f879c5740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f879c535050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f879c59f9c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f8781cba1d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f879c5740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f879c5740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f879c535050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t6_7_1p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t6_7_1p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..36ba27abb3b34900e5a4703674e2102cd8b598d7
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t6_7_1p0x.log
@@ -0,0 +1,56 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+19:44:26 [rank=6] suite=libero_10 task_ids=[6, 7] n_trials=50 speed=1 max_steps=520
+19:44:26 Waiting for server at ws://localhost:8026...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=6/libero_10:   0%|          | 0/2 [00:00<?, ?it/s]
rank=6/libero_10:  50%|█████     | 1/2 [11:58<11:58, 718.88s/it]
rank=6/libero_10: 100%|██████████| 2/2 [26:02<00:00, 792.26s/it]
rank=6/libero_10: 100%|██████████| 2/2 [26:02<00:00, 781.26s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=6] libero_10 speed=1x  success=90/100 (90.0%)  mean_steps_success=251.5 median=237.5  mean_steps_failure=520.0  mean_steps_all=278.4
+[rank=6] elapsed=1562.5s
+[rank=6] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/long_t6_7_1p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f8313d97b00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 20:10:28 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f82f94b1b50>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f8313d6c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f8313d6c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f8313d2d050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f8313d979c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f82f94b1b50>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f8313d6c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f8313d6c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f8313d2d050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t8_9_1p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t8_9_1p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..51a615c176095ee5d0c444dcc7bfa77518111113
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/long_t8_9_1p0x.log
@@ -0,0 +1,56 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+19:44:26 [rank=7] suite=libero_10 task_ids=[8, 9] n_trials=50 speed=1 max_steps=520
+19:44:26 Waiting for server at ws://localhost:8027...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=7/libero_10:   0%|          | 0/2 [00:00<?, ?it/s]
rank=7/libero_10:  50%|█████     | 1/2 [20:53<20:53, 1253.23s/it]
rank=7/libero_10: 100%|██████████| 2/2 [34:03<00:00, 980.82s/it] 
rank=7/libero_10: 100%|██████████| 2/2 [34:03<00:00, 1021.68s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=7] libero_10 speed=1x  success=81/100 (81.0%)  mean_steps_success=327.1 median=277.0  mean_steps_failure=520.0  mean_steps_all=363.8
+[rank=7] elapsed=2043.4s
+[rank=7] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/long_t8_9_1p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ff72b2a3b00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 20:18:29 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7ff7109babd0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7ff72b2780d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7ff72b2780d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7ff72b239050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7ff72b2a39c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7ff7109babd0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7ff72b2780d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7ff72b2780d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7ff72b239050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/object_1p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/object_1p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..a42c0a559a9e3df02fb75bbd50dd55123a852b38
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/object_1p0x.log
@@ -0,0 +1,72 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+19:44:26 [rank=2] suite=libero_object task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=1 max_steps=280
+19:44:26 Waiting for server at ws://localhost:8022...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=2/libero_object:   0%|          | 0/10 [00:00<?, ?it/s]
rank=2/libero_object:  10%|█         | 1/10 [09:01<1:21:15, 541.71s/it]
rank=2/libero_object:  20%|██        | 2/10 [15:54<1:02:07, 465.98s/it]
rank=2/libero_object:  30%|███       | 3/10 [22:07<49:24, 423.47s/it]  
rank=2/libero_object:  40%|████      | 4/10 [29:11<42:23, 423.84s/it]
rank=2/libero_object:  50%|█████     | 5/10 [36:39<36:01, 432.35s/it]
rank=2/libero_object:  60%|██████    | 6/10 [43:56<28:55, 433.88s/it]
rank=2/libero_object:  70%|███████   | 7/10 [51:32<22:04, 441.35s/it]
rank=2/libero_object:  80%|████████  | 8/10 [58:17<14:19, 429.68s/it]
rank=2/libero_object:  90%|█████████ | 9/10 [1:06:04<07:21, 441.22s/it]
rank=2/libero_object: 100%|██████████| 10/10 [1:12:27<00:00, 423.17s/it]
rank=2/libero_object: 100%|██████████| 10/10 [1:12:27<00:00, 434.70s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=2] libero_object speed=1x  success=491/500 (98.2%)  mean_steps_success=141.7 median=136.0  mean_steps_failure=280.0  mean_steps_all=144.2
+[rank=2] elapsed=4347.0s
+[rank=2] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/object_1p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ff280093b00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 20:56:53 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7ff2657aa150>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7ff2800680d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7ff2800680d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7ff280029050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7ff2800939c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7ff2657aa150>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7ff2800680d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7ff2800680d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7ff280029050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/spatial_1p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/spatial_1p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..a88b27718c28a6f0f6baa29ae72b37b7b18687a2
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/logs/spatial_1p0x.log
@@ -0,0 +1,72 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+19:44:26 [rank=0] suite=libero_spatial task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=1 max_steps=220
+19:44:26 Waiting for server at ws://localhost:8020...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=0/libero_spatial:   0%|          | 0/10 [00:00<?, ?it/s]
rank=0/libero_spatial:  10%|█         | 1/10 [05:13<46:59, 313.33s/it]
rank=0/libero_spatial:  20%|██        | 2/10 [11:58<48:56, 367.07s/it]
rank=0/libero_spatial:  30%|███       | 3/10 [18:21<43:43, 374.78s/it]
rank=0/libero_spatial:  40%|████      | 4/10 [23:51<35:41, 356.92s/it]
rank=0/libero_spatial:  50%|█████     | 5/10 [31:34<32:56, 395.29s/it]
rank=0/libero_spatial:  60%|██████    | 6/10 [37:38<25:37, 384.42s/it]
rank=0/libero_spatial:  70%|███████   | 7/10 [43:57<19:08, 382.91s/it]
rank=0/libero_spatial:  80%|████████  | 8/10 [50:59<13:10, 395.25s/it]
rank=0/libero_spatial:  90%|█████████ | 9/10 [56:54<06:22, 382.64s/it]
rank=0/libero_spatial: 100%|██████████| 10/10 [1:03:51<00:00, 393.30s/it]
rank=0/libero_spatial: 100%|██████████| 10/10 [1:03:51<00:00, 383.17s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=0] libero_spatial speed=1x  success=496/500 (99.2%)  mean_steps_success=102.7 median=102.0  mean_steps_failure=220.0  mean_steps_all=103.7
+[rank=0] elapsed=3831.7s
+[rank=0] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/spatial_1p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fbb2ab93b00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 20:48:18 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7fbb102c0d50>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fbb2ab680d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fbb2ab680d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fbb2ab29050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7fbb2ab939c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7fbb102c0d50>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fbb2ab680d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fbb2ab680d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fbb2ab29050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e01_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e01_success.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbb654292a397fe7553ae42a0214b502c3ab3788
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e01_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e06_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e06_success.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e5919f6e31e605dd7d469af460178e7349425a5
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e06_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e07_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e07_success.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38858e9a800a8588b03093c66243227aec1a3b9f
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e07_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e08_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e08_success.mp4
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index 0000000000000000000000000000000000000000..2bda595c52cdc53b02b654ae082e7ad452dbc753
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e08_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e09_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e09_success.mp4
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index 0000000000000000000000000000000000000000..82494747d0f9e08bf402250bc2e73e69daa1ccfb
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e09_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e10_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1x/videos/goal_1p0x/rank1_libero_goal_speed1x_t00_e10_success.mp4
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