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diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e36_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e36_success.mp4
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diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e37_failure.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e37_failure.mp4
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diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e38_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e38_success.mp4
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diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e39_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e39_success.mp4
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diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e40_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e40_success.mp4
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Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e40_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e41_failure.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e41_failure.mp4
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Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e41_failure.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e42_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e42_success.mp4
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diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e43_failure.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e43_failure.mp4
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diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e44_failure.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e44_failure.mp4
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diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e45_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e45_success.mp4
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Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e45_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e46_failure.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e46_failure.mp4
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Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e46_failure.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e47_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e47_success.mp4
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diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e48_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e48_success.mp4
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Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e48_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e49_failure.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e49_failure.mp4
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Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/spatial_0p5x/rank0_libero_spatial_speed0p5x_t09_e49_failure.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/goal_2p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/goal_2p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..3686b8eb4fc6342557207439c20acba05d9f1223
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/goal_2p0x.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.
+22:28:26 [rank=1] suite=libero_goal task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=2 max_steps=300
+22:28:26 Waiting for server at ws://localhost:8011...
+[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 [04:13<37:59, 253.27s/it]
rank=1/libero_goal:  20%|██        | 2/10 [13:33<57:49, 433.72s/it]
rank=1/libero_goal:  30%|███       | 3/10 [19:03<45:03, 386.25s/it]
rank=1/libero_goal:  40%|████      | 4/10 [29:58<49:15, 492.66s/it]
rank=1/libero_goal:  50%|█████     | 5/10 [43:05<49:54, 598.85s/it]
rank=1/libero_goal:  60%|██████    | 6/10 [55:58<43:51, 657.82s/it]
rank=1/libero_goal:  70%|███████   | 7/10 [1:02:36<28:38, 572.99s/it]
rank=1/libero_goal:  80%|████████  | 8/10 [1:08:40<16:52, 506.35s/it]
rank=1/libero_goal:  90%|█████████ | 9/10 [1:13:29<07:18, 438.60s/it]
rank=1/libero_goal: 100%|██████████| 10/10 [1:20:46<00:00, 438.00s/it]
rank=1/libero_goal: 100%|██████████| 10/10 [1:20:46<00:00, 484.66s/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!
+[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=2x  success=343/500 (68.6%)  mean_steps_success=88.5 median=69.0  mean_steps_failure=300.0  mean_steps_all=154.9
+[rank=1] elapsed=4846.6s
+[rank=1] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/goal_2p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f50cb59fb00>
+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: 23:49:13 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 0x7f50b0cc5350>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f50cb5740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f50cb5740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f50cb535050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f50cb59f9c0>
+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 0x7f50b0cc5350>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f50cb5740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f50cb5740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f50cb535050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t0_1_2p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t0_1_2p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..f9f65fce32ef455e5a9431fd9f6cbeca446982c3
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t0_1_2p0x.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.
+22:28:26 [rank=3] suite=libero_10 task_ids=[0, 1] n_trials=50 speed=2 max_steps=520
+22:28:26 Waiting for server at ws://localhost:8013...
+[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 [10:36<10:36, 636.48s/it]
rank=3/libero_10: 100%|██████████| 2/2 [25:50<00:00, 799.55s/it]
rank=3/libero_10: 100%|██████████| 2/2 [25:50<00:00, 775.09s/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=2x  success=82/100 (82.0%)  mean_steps_success=196.5 median=172.5  mean_steps_failure=520.0  mean_steps_all=254.8
+[rank=3] elapsed=1550.2s
+[rank=3] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/long_t0_1_2p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fe69b79fb00>
+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: 22:54:16 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 0x7fe680ebb650>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fe69b7740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fe69b7740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fe69b735050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7fe69b79f9c0>
+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 0x7fe680ebb650>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fe69b7740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fe69b7740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fe69b735050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t2_3_2p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t2_3_2p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..86252783cd6e0eabc276625d148d9afb0a062c4d
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t2_3_2p0x.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.
+22:28:26 [rank=4] suite=libero_10 task_ids=[2, 3] n_trials=50 speed=2 max_steps=520
+22:28:26 Waiting for server at ws://localhost:8014...
+[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 [12:02<12:02, 722.44s/it]
rank=4/libero_10: 100%|██████████| 2/2 [19:12<00:00, 550.68s/it]
rank=4/libero_10: 100%|██████████| 2/2 [19:12<00:00, 576.44s/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=2x  success=88/100 (88.0%)  mean_steps_success=141.2 median=138.0  mean_steps_failure=520.0  mean_steps_all=186.6
+[rank=4] elapsed=1152.9s
+[rank=4] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/long_t2_3_2p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fbe392a3b00>
+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: 22:47:39 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 0x7fbe1e9ba850>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fbe392780d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fbe392780d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fbe39239050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7fbe392a39c0>
+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 0x7fbe1e9ba850>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fbe392780d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fbe392780d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fbe39239050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t4_5_2p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t4_5_2p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..5a58e54a668bb941a5c39bdc066012c31dd74123
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t4_5_2p0x.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.
+22:28:26 [rank=5] suite=libero_10 task_ids=[4, 5] n_trials=50 speed=2 max_steps=520
+22:28:26 Waiting for server at ws://localhost:8015...
+[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 [08:46<08:46, 526.51s/it]
rank=5/libero_10: 100%|██████████| 2/2 [14:12<00:00, 408.42s/it]
rank=5/libero_10: 100%|██████████| 2/2 [14:12<00:00, 426.13s/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=2x  success=96/100 (96.0%)  mean_steps_success=125.6 median=131.5  mean_steps_failure=520.0  mean_steps_all=141.4
+[rank=5] elapsed=852.3s
+[rank=5] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/long_t4_5_2p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f807ab9fb00>
+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: 22:42:38 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 0x7f80602b9fd0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f807ab740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f807ab740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f807ab35050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f807ab9f9c0>
+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 0x7f80602b9fd0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f807ab740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f807ab740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f807ab35050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t6_7_2p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t6_7_2p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..1c2361ad9674378bbb7cb7d3d9ed16728fa11fc4
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t6_7_2p0x.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.
+22:28:26 [rank=6] suite=libero_10 task_ids=[6, 7] n_trials=50 speed=2 max_steps=520
+22:28:26 Waiting for server at ws://localhost:8016...
+[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 [15:42<15:42, 942.84s/it]
rank=6/libero_10: 100%|██████████| 2/2 [29:18<00:00, 868.24s/it]
rank=6/libero_10: 100%|██████████| 2/2 [29:18<00:00, 879.43s/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=2x  success=67/100 (67.0%)  mean_steps_success=210.0 median=178.0  mean_steps_failure=520.0  mean_steps_all=312.3
+[rank=6] elapsed=1758.9s
+[rank=6] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/long_t6_7_2p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f8a8b19fb00>
+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: 22:57:45 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 0x7f8a708b9ad0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f8a8b1740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f8a8b1740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f8a8b135050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f8a8b19f9c0>
+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 0x7f8a708b9ad0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f8a8b1740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f8a8b1740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f8a8b135050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t8_9_2p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t8_9_2p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..f7d53e1be204c297db15b3ebf53e4a3d199b79ab
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/long_t8_9_2p0x.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.
+22:28:26 [rank=7] suite=libero_10 task_ids=[8, 9] n_trials=50 speed=2 max_steps=520
+22:28:26 Waiting for server at ws://localhost:8017...
+[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 [18:17<18:17, 1097.39s/it]
rank=7/libero_10: 100%|██████████| 2/2 [28:18<00:00, 805.21s/it] 
rank=7/libero_10: 100%|██████████| 2/2 [28:18<00:00, 849.04s/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=2x  success=72/100 (72.0%)  mean_steps_success=202.9 median=171.5  mean_steps_failure=520.0  mean_steps_all=291.7
+[rank=7] elapsed=1698.1s
+[rank=7] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/long_t8_9_2p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fcc9199fb00>
+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: 22:56:44 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 0x7fcc770be150>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fcc919740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fcc919740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fcc91935050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7fcc9199f9c0>
+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 0x7fcc770be150>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fcc919740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fcc919740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fcc91935050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/object_2p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/object_2p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..4d657e283cf1a6b797df8fcc07892fdc630fecf1
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/object_2p0x.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.
+22:28:26 [rank=2] suite=libero_object task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=2 max_steps=280
+22:28:26 Waiting for server at ws://localhost:8012...
+[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 [07:59<1:11:52, 479.15s/it]
rank=2/libero_object:  20%|██        | 2/10 [13:15<51:07, 383.44s/it]  
rank=2/libero_object:  30%|███       | 3/10 [18:04<39:42, 340.34s/it]
rank=2/libero_object:  40%|████      | 4/10 [24:33<35:55, 359.31s/it]
rank=2/libero_object:  50%|█████     | 5/10 [30:15<29:26, 353.35s/it]
rank=2/libero_object:  60%|██████    | 6/10 [37:03<24:47, 371.88s/it]
rank=2/libero_object:  70%|███████   | 7/10 [43:36<18:55, 378.57s/it]
rank=2/libero_object:  80%|████████  | 8/10 [49:12<12:10, 365.21s/it]
rank=2/libero_object:  90%|█████████ | 9/10 [56:37<06:30, 390.09s/it]
rank=2/libero_object: 100%|██████████| 10/10 [1:02:06<00:00, 371.21s/it]
rank=2/libero_object: 100%|██████████| 10/10 [1:02:06<00:00, 372.63s/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=2x  success=467/500 (93.4%)  mean_steps_success=105.6 median=100.0  mean_steps_failure=280.0  mean_steps_all=117.2
+[rank=2] elapsed=3726.3s
+[rank=2] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/object_2p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f5c3bd9bb00>
+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: 23:30:32 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 0x7f5c214b5bd0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f5c3bd700d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f5c3bd700d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f5c3bd35050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f5c3bd9b9c0>
+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 0x7f5c214b5bd0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f5c3bd700d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f5c3bd700d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f5c3bd35050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/spatial_2p0x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/spatial_2p0x.log
new file mode 100644
index 0000000000000000000000000000000000000000..6a9cc30377e5a6e71b6f2000b757fe91ca733cf8
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/logs/spatial_2p0x.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.
+22:28:26 [rank=0] suite=libero_spatial task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=2 max_steps=220
+22:28:26 Waiting for server at ws://localhost:8010...
+[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 [06:06<55:01, 366.82s/it]
rank=0/libero_spatial:  20%|██        | 2/10 [12:41<51:05, 383.19s/it]
rank=0/libero_spatial:  30%|███       | 3/10 [17:28<39:34, 339.25s/it]
rank=0/libero_spatial:  40%|████      | 4/10 [23:19<34:24, 344.05s/it]
rank=0/libero_spatial:  50%|█████     | 5/10 [32:29<34:50, 418.07s/it]
rank=0/libero_spatial:  60%|██████    | 6/10 [37:42<25:30, 382.58s/it]
rank=0/libero_spatial:  70%|███████   | 7/10 [42:45<17:49, 356.57s/it]
rank=0/libero_spatial:  80%|████████  | 8/10 [48:47<11:56, 358.33s/it]
rank=0/libero_spatial:  90%|█████████ | 9/10 [53:49<05:40, 340.73s/it]
rank=0/libero_spatial: 100%|██████████| 10/10 [1:03:29<00:00, 414.40s/it]
rank=0/libero_spatial: 100%|██████████| 10/10 [1:03:29<00:00, 380.94s/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=2x  success=424/500 (84.8%)  mean_steps_success=82.1 median=75.0  mean_steps_failure=220.0  mean_steps_all=103.1
+[rank=0] elapsed=3809.4s
+[rank=0] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/spatial_2p0x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f21e4f97b00>
+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: 23:31:55 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 0x7f21ca6bccd0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f21e4f6c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f21e4f6c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f21e4f31050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f21e4f979c0>
+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 0x7f21ca6bccd0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f21e4f6c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f21e4f6c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f21e4f31050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/videos/goal_2p0x/rank1_libero_goal_speed2x_t00_e00_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/videos/goal_2p0x/rank1_libero_goal_speed2x_t00_e00_success.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..172fd54d743b6ce6dbe1a70d5ec4b155e3a00285
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/videos/goal_2p0x/rank1_libero_goal_speed2x_t00_e00_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/videos/goal_2p0x/rank1_libero_goal_speed2x_t00_e02_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/videos/goal_2p0x/rank1_libero_goal_speed2x_t00_e02_success.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f08dda8a7052323982ee6045db87ef8c27b5a0d
Binary files /dev/null and b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/videos/goal_2p0x/rank1_libero_goal_speed2x_t00_e02_success.mp4 differ
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/videos/goal_2p0x/rank1_libero_goal_speed2x_t00_e03_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_2p0x/videos/goal_2p0x/rank1_libero_goal_speed2x_t00_e03_success.mp4
new file mode 100644
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